EMERGENCY MANAGEMENT USING A ROBOT FLEET

Abstract

A server includes a memory storing a map, the map representing locations of a plurality of mobile units; and a processor configured to: generate an emergency response plan based on sensor data and the map, the emergency response plan comprising actions to be performed by a plurality of robots in a vicinity of the mobile units; and instruct a transceiver to transmit a signal representing the emergency response plan.

Description

Technical field

[0001] Various aspects of this disclosure generally relate to the use of robots to manage emergency situations, such as in a warehouse environment. background

[0002] Fires in warehouses are surprisingly common, and such fires can result in injuries, loss of life, and property damage. In addition to fires, other situations, such as floods, earthquakes, severe storms, or other natural disasters, can similarly pose a threat to human safety and / or property damage. Current strategies to maintain safety and / or minimize property losses involve reactive solutions, such as the use of water sprinklers, which can themselves cause property damage. Furthermore, existing solutions treat all goods within a warehouse as equal and do not prioritize the need to protect some goods at the expense of others. Furthermore, existing solutions do not consider the danger to human safety and life caused by damage to goods and / or damaged shelving during an emergency situation. Short description of the drawings

[0003] In the drawings, like reference characters generally designate the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead generally being placed upon illustrating the exemplary principles of the disclosure. In the following description, various embodiments of the disclosure are described with reference to the following drawings, in which: Fig. 1 shows an example of a warehouse in which an emergency procedure is initiated; Fig. 2 an evacuation or relocation of the mobile units after the implementation of the optimization formula; Fig. 3 a targeted evacuation of mobile units using lights with predefined frequencies; Fig. 4 a server containing a memory on which a map is stored, the map showing locations of a plurality of mobile units; Fig. 5 a central disaster management infrastructure; Fig. 6 a warehouse with edge infrastructure in an emergency situation; and Fig. 7 a server for implementing the second aspect of the disclosure. Description

[0004] The following detailed description refers to the accompanying drawings, which show, by way of illustration, exemplary details and embodiments in which aspects of the present disclosure may be practiced.

[0005] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments or designs.

[0006] In the drawings, please note that like reference numerals are used to represent the same or similar elements, features and structures unless otherwise indicated.

[0007] The phrase "at least one" and "one or more" may be understood to include a numerical quantity greater than or equal to one (e.g., one, two, three, four, [...], etc.). The phrase "at least one of" with respect to a group of items may be used herein to mean at least one item from the group consisting of the items. For example, the phrase "at least one of" with respect to a group of items may be used herein to mean a selection of: one of the listed items, a plurality of one of the listed items, a plurality of individual listed items, or a plurality of multiple individual listed items.

[0008] The terms "plurality" and "multiple" in the description and claims expressly refer to a quantity greater than one. Accordingly, any phrases explicitly using the above-mentioned phrases (e.g., "a plurality of [elements]," "multiple [elements]") referring to a quantity of elements expressly refer to more than one of the elements. For example, the phrase "a plurality" may be understood to include a numerical quantity greater than or equal to two (e.g., two, three, four, five, [...], etc.).

[0009] The phrases "group of," "set of," "collection of," "series of," "sequence of," "grouping of," etc., when used in the description and claims, refer to a set equal to or greater than one, i.e., one or more. The terms "proper subset," "reduced subset," and "smaller subset" refer to a subset of a set that is not equal to the set, i.e., a subset of a set that contains fewer elements than the set.

[0010] The term "data" as used herein may be understood to include, for example, information in any suitable analog or digital form, provided, for example, as a file, a portion of a file, a set of files, a signal or stream, a portion of a signal or stream, a set of signals or streams, and the like. Furthermore, the term "data" may also be used to mean a reference to information, for example, in the form of a pointer. However, the term "data" is not limited to the aforementioned examples, but may take various forms and represent any type of information as understood in the art.

[0011] The terms "processor" or "controller," as used herein, for example, can be understood as any type of technological entity that enables data processing. The data can be processed according to one or more specific functions performed by the processor or controller. Furthermore, a processor or controller, as used herein, can be understood as any type of circuit, e.g., any type of analog or digital circuit. A processor or controller can thus be an analog circuit, a digital circuit, a mixed-signal circuit, a logic circuit, a processor, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), an integrated circuit, an application-specific integrated circuit (ASIC), etc.or any combination thereof. Any other type of implementation of the respective functions described in more detail below may also be considered a processor, controller, or logic circuit. It is understood that two (or more) of the processors, controllers, or logic circuits described herein may be implemented as a single unit with equivalent functionality or the like, and conversely, that any individual processor, controller, or logic circuit described herein may be implemented as two (or more) separate units with equivalent functionality or the like.

[0012] As used herein, "memory" is understood to mean a computer-readable medium (e.g., a non-transitory computer-readable medium) in which data or information can be stored for retrieval. References herein to "memory" may therefore be understood to refer to volatile or non-volatile memory, including random-access memory (RAM), read-only memory (ROM), flash memory, solid-state memory, magnetic tape, hard disk drive, optical drive, 3D XPoint™, and others, or any combination thereof. Registers, shift registers, processor registers, data buffers, and others are also collectively referred to herein as memory. The term "software" refers to all types of executable instructions, including firmware.

[0013] Unless explicitly stated, the term "transmit" includes both direct (point-to-point) and indirect transmission (via one or more intermediate points). Similarly, the term "receive" includes both direct and indirect reception. Furthermore, the terms "send," "receive," "communicate," and similar terms include both physical transmission (e.g., the transmission of radio signals) and logical transmission (e.g., the transmission of digital data over a logical connection at the software level).For example, a processor or controller may transmit or receive data over a software-level connection with another processor or controller in the form of radio signals, with the physical transmission and reception being handled by radio-layer components such as RF transceivers and antennas, and the logical transmission and reception over the software-level connection being performed by the processors or controllers. The term "communicate" includes both sending and receiving, i.e., unidirectional or bidirectional communication in one or both directions, i.e., inbound and outbound. The term "compute" includes both "direct" computations via a mathematical expression / formula / relationship and "indirect" computations via lookup or hash tables and other array indexing or searching operations.

[0014] Throughout this disclosure, the term "robot" is used. A robot, as used herein, is intended to refer to any unmanned, autonomous device, whether a land-based device or an aerial device. That is, a robot may be or include a land-based autonomous robot and / or an unmanned aerial vehicle.

[0015] Throughout this disclosure, the term "mobile unit" is used at least to refer to any mobile device on which goods can be stored. As described herein, other environments beyond a warehouse are contemplated, and therefore, the term mobile unit should be construed broadly to include any environment in which the emergency management principles disclosed herein can be implemented. In particular, the principles and methods disclosed herein can be implemented in a hospital environment, so patient beds can be analogous to the mobile units used throughout. The term mobile unit should be construed broadly to include such patient beds.

[0016] The first aspect of the disclosure describes various strategies for mitigating damage and risks caused by fire or natural disasters. This may be particularly relevant in a warehouse environment, such as one where goods may be present and stacked on mobile units for easy movement. The principles and methods disclosed herein may involve the movement or evacuation of mobile units during an emergency according to a priority-based evacuation plan.

[0017] In most autonomous warehouses, objects are stored and organized on mobile units. The mobile unit typically has an autonomous mobile robot on the bottom (the robot can be part of the mobile unit, or the robot can be independent of the mobile unit and move from mobile unit to mobile unit as needed for the movement of goods) that moves the mobile units around a warehouse.

[0018] Although conventional mobile units are little more than a rack on which goods rest, meaningful use can be achieved by equipping the mobile units with sensors that can provide valuable information that can be used in the emergency management procedures disclosed herein. For example, the mobile units can be equipped with sensors for detecting signs of an emergency situation. These may include one or more smoke detectors, one or more fire detectors (e.g., a heat sensor), one or more gas detectors (e.g., carbon monoxide), or the like. These may be in addition to the sensors already present in the warehouse itself, such as additional smoke detectors or the like, or may even provide access to a larger, more systematic emergency notification system (e.g., a system for warning a city of a natural disaster).In any case, once a fire or other emergency situation is detected - and regardless of whether the fire or emergency situation is detected by a warehouse sensor or a sensor of a mobile unit - the fire or emergency signal can be sent to an edge server, and the edge server can analyze / assess the situation to initiate an emergency plan.

[0019] Beyond simply detecting the presence of an emergency situation, additional sensors may be present to assess the condition of the various mobile units. An underlying assumption here is that an emergency situation can affect the overall condition of the mobile unit. For example, heat from a fire can deform a mobile unit or otherwise weaken the structural integrity of a mobile unit; burning mobile units can be damaged in a variety of ways; and other events, such as explosions, objects falling onto the mobile units, or objects being thrown into the mobile units, can also negatively affect the condition of the mobile units.

[0020] However, the condition of the mobile unit is a meaningful criterion for a priority-based evacuation plan. That is, if the condition of the mobile unit is poor, the probability of its survivability is low, and therefore the mobile unit may not be selected for deployment to a safe zone.

[0021] In one configuration, the health of each mobile unit can be measured by checking both the robot located beneath the mobile unit (or, if it is not a fixed robot, by moving a robot beneath the mobile unit) and the mobile unit itself. Using, for example, the robot's inertial measurement unit (IMU) and wheel encoders, the robot can wobble the robot (e.g., perform a back-and-forth motion) to verify that the robot's moving components are functioning. Furthermore, the robot itself can inform the edge server if any of the mobile unit's sensors are damaged.

[0022] Using a camera and a temperature sensor on the mobile unit, the edge server can determine whether the mobile unit itself is on fire. For example, if flames are detected in the camera data, this would be an indication that a fire is present. In this way, a camera on any given mobile unit can detect a fire in that mobile unit or in any other mobile unit within its camera's line of sight. This can also be applied to other sensors, e.g., detecting flooding with the mobile unit's humidity sensor, etc. Finally, the edge server module can consider the state of the robot (assuming the robot is part of the mobile unit itself) and the state of the mobile unit to create a state score for each mobile unit. The state score can be used in the optimizer to select the mobile unit.

[0023] Additional measures can be taken to protect goods on the mobile units or even the mobile units themselves. Here, it can be of particular importance to protect goods from water damage that would occur during firefighting operations. For example, in emergencies, the sprinkler system can be activated, causing large amounts of water to rain from the ceiling, which in turn can damage objects on the mobile units. To minimize the risk of water damage, a waterproof curtain can be attached to the mobile units, and this waterproof curtain can be lowered during emergencies. To prevent the objects stored in these mobile units from catching fire, the mobile units can also be equipped with fire-resistant and / or waterproof curtains, which can also be lowered around the mobile units in the event of a fire.

[0024] A plurality of emergency response robots (also referred to herein as Emergency Response Robots or ERRs) may be equipped with various resources for responding to an emergency situation. For example, the robots may be equipped with one or more fire extinguishers (e.g., any or all of the five classes of fire extinguishers (e.g., Class A, Class B, Class C, Class D, and Class K). The plurality of robots may include redundant multimodal sensors, such as radar, LiDAR, and cameras, so that the plurality of robots are capable of performing SLAM (Simultaneous Localization and Mapping) analysis, such as in low-light conditions and / or harsh environments. The plurality of robots may include a robust powertrain so that the robots can be deployed on rugged terrain.

[0025] The EERs can be assigned any of the following tasks:

[0026] First, the ERRs can be tasked with guiding people to a safety zone. Based on the received sensor data, the edge server can determine a first part of the environment as an area of increased risk of harm and a second part of the environment as an area of relative safety. The EERs can be tasked with locating and / or approaching people within the first part of the environment and guiding them to the second part of the environment. This can be done by escorting people from the first part of the environment to the second part of the environment, illuminating the path from the first part of the environment to the second part of the environment, verbally instructing people on how to reach the second part of the environment, gesturing toward the second part of the environment, or using another technique to guide people to safety.

[0027] Second, ERRs can be tasked with guiding mobile units into a safe zone. Otherwise, self-propelled mobile units (mobile units that have their own engine and equipment for self-propulsion within a warehouse environment) may not have enough sensors to safely navigate themselves in certain emergency situations. In these cases, ERRs can guide the mobile units along a safe path from the first part of the environment to the second part of the environment. This guidance can be provided by the robots literally blazing the trail, lighting the way for the mobile units, or sending messages or instructions (e.g., wirelessly as a radio link, via an optical link, or by other means) with additional information to assist the mobile units in reaching the second section safely.If the mobile units themselves are not equipped with a motor for self-propulsion, the ERRs can move the mobile units themselves from the first part of the environment to the second part of the environment.

[0028] Third, the ERRs can be configured to perform one or more fire suppression activities (assuming that the emergency situation is indeed a fire). That is, these robots, which can be equipped with one or more fire extinguishers as described above, can use the fire extinguishers to contain the fire, prevent the fire from spreading, or even extinguish the fire. These robots can be configured to communicate with the edge server to determine the various products and, accordingly, the various product properties within a robot's environment and / or within the fire zone. Using this information, the ERRs can be configured to select one or more fire extinguishing substances for use in fire suppression. For example, hazardous materials, such as lithium batteries, can generate toxic gases upon ignition.Such materials should receive special treatment / planning.

[0029] Fourth, the ERRs can be configured to receive sensor information regarding the warehouse and / or its surroundings and update a map of the warehouse and / or its surroundings based on the sensor data. This may include, for example, updating the map to reflect the presence of obstacles or blockages along a travel path. This may account for the fact that in an emergency situation, various objects may shift or be displaced, and such shifted or displaced objects may functionally become an obstacle or obstruction to the mobile units.

[0030] The edge server and / or ERRs can use an optimization formula to reduce damage during emergencies by optimizing the selection of mobile units. This optimization formula can consider the sum of the values in each mobile unit, the distance of the mobile unit from the danger zone, and the condition of the mobile unit. This optimization formula can be understood as follows: Optimize Ri under the condition w1R(v)+w2R(d)+w3R(h) where V→total value of the stored objects, ∈ mobile unit (R); d → distance of the mobile unit (R) from the danger (fire) zone; h → state of the mobile unit (R); and w1 ..w3 → weight component(s).

[0031] This optimization problem ensures the selection of a mobile unit that is healthy (i.e., not damaged so that the mobile unit can travel to a safe location), is closest or at least close to the danger zone so that it can leave the harsh environment as quickly as possible before being damaged, and that transports a high value of goods.

[0032] Other objectives can be added to the optimization formula. For example, if a mobile unit contains hazardous materials, it may be desirable to immediately move the mobile unit out of the hazard zone, assuming the mobile unit is not already on fire.

[0033] It may be desirable to designate one or more zones in the environment as safety zones and / or zones preselected for evacuation zones (e.g., zones along or through which objects or people may move while being evacuated). Evacuation zones may be given specific categories or subcategories. For example, an evacuation zone may be categorized as a flammable zone (e.g., a zone containing combustible materials) or a non-flammable zone (e.g., a zone containing no combustible materials). Since the categories are not limited, other example categories include a wet zone and a dry zone, a water-compatible zone and a water-incompatible zone, a hazardous materials zone and a hazardous materials-free zone, etc.

[0034] The edge server and / or robots can use sensor information to determine whether a zone is reaching its capacity. That is, is the total number of people in the zone near, at, or above the total number of people allowed for the zone; is the total number of mobile units in the zone near, at, or above the total number of mobile units allowed in the zone; is the total number of combustible goods in the zone near, at, or above the total number of combustible goods allowed in the zone, etc.

[0035] In an optional configuration, the floor of the environment (e.g., the warehouse floor) can be equipped with lights (e.g., floor lights, ceiling lights that illuminate the floor, etc.) that can indicate an escape route. These lights can be activated in emergency situations, so that the activated lights are closely linked to an active evacuation plan.

[0036] In another optional configuration, these lights can have variable frequencies. These variable frequencies can be used to cause a robot to move along a preferred path. That is, a first portion of the floor path can be illuminated at a first frequency, where the first frequency can hypothetically indicate that the path is not safe to travel on or that travel along that path is not recommended in any case. A second portion of the floor path can be illuminated at a second frequency, where the second frequency can hypothetically indicate that this portion of the floor path is safe to travel on. Beyond simply labeling paths as safe or unsafe, the frequencies can be used for any other category or purpose, e.g.by marking a part of the floor as suitable for combustible materials, suitable for non-combustible materials, suitable for water-compatible materials, suitable for water-incompatible materials, suitable for heat-compatible materials, suitable for heat-incompatible materials, etc.

[0037] Although a particular focus has been placed on a warehouse environment, the principles and procedures disclosed herein are not limited to use within a warehouse, but rather can readily be applied to other environments. Such an environment may include a hospital. Although the objectives of a hospital are quite different from those of a warehouse, hospitals may experience emergency situations (e.g., fires, floods, earthquakes, other natural disasters, etc.), and in such situations, it may be of utmost importance to evacuate patients from the hospital or move the patients to a safe zone within the hospital.This requires many of the same functionalities as described above with respect to a warehouse, such as designating a first part of the hospital as a high-risk area and a second part of the hospital as a safe area, and moving patient beds from the first area to the second area. Similar to testing mobile units in a warehouse, it may be necessary or desirable to test a patient's bed for structural integrity to determine whether the bed can be safely moved from a high-risk area to a safe area. In the event that a bed is so severely damaged that it cannot be moved, emergency measures can be initiated to evacuate the patient, whether by moving the patient to a new bed, carrying the patient out of harm's way, or otherwise.

[0038] Likewise, although a strong emphasis has been placed on fires, the principles and procedures disclosed herein can be applied to any type of natural disaster. Of course, strategies for one fire may require slight modification to suit a different natural disaster. For example, while a fire may require the movement of mobile units from an area where the fire is present to the area where no fire is present, flooding is largely expected to occur at the same elevation in all areas. Thus, movement of mobile units (e.g., from an area of increased danger to an area of reduced danger) may be less important than movement of goods from a lower position on the mobile unit to a higher position on the mobile unit.In this context, in the event of a tornado or other severe storm, it may be desirable to move the mobile units away from windows or exterior walls and to areas protected on all sides by interior walls or into a basement.

[0039] Fig. Figure 1 illustrates an example of a warehouse in which an emergency procedure is initiated. This warehouse includes a first evacuation zone 102, a second evacuation zone 104, a third evacuation zone 106, and a fourth evacuation zone 108. Both the first evacuation zone 102 and the third evacuation zone 106 are reserved for combustible objects, whereas the second evacuation zone 104 and the fourth evacuation zone 108 are reserved for non-combustible objects. Although not drawn to scale, it is apparent from the relative sizes of the evacuation zones that the zones have different capacities, and therefore, the optimization formula described here can determine which mobile unit should be assigned to which zone, such as based on the product or products on the mobile unit and the distance of the mobile unit from the respective zone.The warehouse further includes a plurality of mobile units (as indicated by the square boxes; an example mobile unit is labeled 110). The storage area further includes a plurality of robots (as indicated by the circles; an example robot is labeled 112). In this example, a fire is detected in the lower left portion of the warehouse, as indicated by 114.

[0040] As described here, the mobile units can be equipped with various sensors capable of detecting a fire. In this case, the mobile units' sensors detect the fire and report it to the edge server. The edge server deploys a variety of robots to the fire scene, such as those with fire extinguishers, to control the fire until the fire department arrives. Meanwhile, other robots are deployed along safe routes to guide the mobile units to safety.

[0041] Fig. Figure 2 shows an evacuation or relocation of the mobile units after implementing the optimization formula. In this figure, the group of mobile units marked with an 'x' and numbered 202 is determined to be damaged by the fire and cannot be relocated. Thus, they remain in their current positions. Various other mobile units in this figure are shown with a number, such as 2, 3, or 4. These correspond to the evacuation zone to which the mobile unit is sent. For example, the mobile units marked with a 2 are sent to the second evacuation zone 104; the mobile unit marked with a 3 is sent to the third evacuation zone 106; and the mobile unit marked with a 4 is sent to the fourth evacuation zone 108.For clarity, the mobile unit marked with a 3 contains a combustible material and is therefore sent to one of the combustible evacuation zones (e.g., 102 or 106). Conversely, the remaining mobile units do not contain any combustible material and are therefore sent to the non-combustible evacuation zones (e.g., 104 or 108).

[0042] It is explicitly noted that the two mobile units marked with a 2 (at the top of the image) are quite far from the danger zone (e.g., the fire), but these mobile units are nevertheless designated for evacuation (e.g., due to their high priority) because they contain valuable objects. Only a small number of the mobile units shown in this figure have been given an identification number indicating whether and, if so, where the mobile units will be evacuated. However, it should be noted that the optimization formula can be applied to all mobile units, so that any of the mobile units is placed in an evacuation area, moved to a new location within the warehouse, or allowed to remain in their current positions.

[0043] Fig. Figure 3 shows a targeted evacuation of mobile units using lights with predefined frequencies to guide the mobile units to the appropriate evacuation zones. In this figure, a warehouse includes a first evacuation zone 302 and a second evacuation zone 304. Two mobile units (the first mobile unit 306 and a second mobile unit 308) have been designated for evacuation. The first mobile unit 306 should be evacuated to evacuation zone one 302, and the second mobile unit 308 should be evacuated to evacuation zone 304. Lights along a common evacuation route 310 are displayed at a frequency indicating a path to be followed. Note that the light frequencies in this figure are shown as patterns for demonstrative purposes, such that a first pattern corresponds to a first frequency, a second pattern corresponds to a second frequency, and so on.A light with a first frequency 312 corresponding to evacuation zone 2 302 shows the path from an intersection (e.g., the 'T' area at the end of the common path is illuminated by 310) to evacuation zone one 302, and a light with a second frequency 314 corresponding to evacuation zone 2 304 shows the path from the intersection to evacuation zone 2 304. In this way, one or more sensors on the mobile unit and / or one or more sensors on a robot carrying the mobile unit can detect the frequency of the switched-on light and, based on this detected frequency, determine a path to follow to reach the appropriate evacuation zone.

[0044] Fig. 4 shows a server 402 including a memory 404 storing a map, the map representing locations of a plurality of mobile units; and a processor 406 configured to: generate an emergency response plan based on sensor data and the map, the emergency response plan including actions to be performed by a plurality of robots in a vicinity of the mobile units; and instruct a transceiver 408 to transmit a signal representing the emergency response plan. The sensor data may optionally include first sensor data from a plurality of robots and second sensor data from the plurality of mobile units. The first sensor data may include, for example, image sensor data, LiDAR data, or radar data from a sensor of a robot of the plurality of robots.In this way, the first sensor data may provide information about an environment of the one or more robots providing the sensor data. The first sensor data may further include any of temperature sensor data, humidity sensor data, or smoke detector data, which may be used, for example, to detect a fire or a floor. This sensor data may, of course, be adapted (e.g., the type of sensor used may be adapted) to be able to detect any type of disaster or emergency situation that is to be detected. The second sensor data may include any of image sensor data, temperature sensor data, humidity sensor data, or smoke detector data.

[0045] Generating the emergency response plan may include generating a priority ranking of the mobile units, such as a priority ranking for the mobile units to be evacuated (e.g., which units should be evacuated, in what order, and to what location). This prioritization may be performed using the optimization formula disclosed herein. This optimization formula may consider value information representing a value of goods stored on each of the plurality of mobile units. The processor may be configured to generate the priority ranking based on the sensor data, the map, and the value of goods stored on each of the plurality of mobile units.

[0046] If integrity data (e.g., first sensor data and / or second sensor data related to the state of the mobile units) is available, the processor may be further configured to determine an integrity of a mobile unit of the plurality of mobile units using the first sensor data and / or the second sensor data; and wherein the processor is configured to generate the emergency response plan using the determined integrity and a location of a corresponding mobile unit.

[0047] The processor 406 generating the emergency response plan may include the processor 406 generating a priority ranking of each of the plurality of mobile units. In this way, the processor 406 may be configured to generate the priority ranking based on at least two of a value of goods stored on each of the plurality of mobile units, a location of a hazard, or an integrity of each mobile unit of the plurality of mobile units. The processor 406 may be configured to generate the priority ranking based on the value of objects on each mobile unit of the plurality of mobile units, a position of each mobile unit of the plurality of mobile units relative to the hazard; and the integrity of each mobile unit of the plurality of mobile units.

[0048] The processor 406 may be further configured to generate the priority ranking by determining a maximum or a minimum of an operation that lists weighted variables representing the value of objects on each mobile unit of the plurality of mobile units, the position of each mobile unit of the plurality of mobile units relative to a hazard, and the integrity of each mobile unit of the plurality of mobile units. For an example of this calculation, see the optimization formula above. The processor 406 may be further configured to determine a location of a hazard based on the first sensor data or the second sensor data, and wherein the processor is further configured to generate the emergency response plan using the location of the hazard. The hazard may be, for example, a fire or flood or any natural disaster.

[0049] The service may include an antenna interface 110. In this way, the transceiver 408 may be configured to transmit the signal representing the emergency response plan over the antenna interface. The processor 406 generating the emergency response plan may then include the processor 406 determining a first portion of an environment of the mobile units as a first environment and a second portion of the environment of the mobile units as a second environment. The first environment may be understood as an area with an increased risk of damage due to the emergency situation, and the second environment may be understood as an area with a lower risk of damage due to the emergency situation than the first environment. The damage may include, for example, injury to people or loss of property.

[0050] The processor 406 may be further configured to instruct the transceiver 408 to transmit an instruction to one or more of the plurality of robots to move a mobile unit of the plurality of mobile units from the first environment to the second environment. The processor 406 may be further configured to select the mobile unit of the plurality of mobile units to be moved from the first environment to the second environment based on the priority ranking of the mobile unit. The processor may be further configured to control the transceiver to transmit the signal instructing a first plurality of lights to operate at a first frequency and a second plurality of lights to operate at a second frequency.

[0051] In this way, the first plurality of lights may be a plurality of lights in the first environment, and the second plurality of lights may be a plurality of lights in the second environment. The plurality of mobile units may be movable mobile units on which goods are stored.

[0052] The emergency response plan may include an instruction for a mobile unit of the plurality of mobile units to activate a fire-resistant curtain and / or a water-resistant curtain.

[0053] The emergency response plan may include an instruction for a mobile unit of the plurality of mobile units to activate a fire extinguishing device. The emergency response plan may include an instruction for a robot to activate a fire extinguishing device. The emergency response plan may include an instruction for a robot to activate a fire extinguishing process to transport a human to a desired location.

[0054] According to a second aspect of the disclosure, a system can use warehouse data to assign clear evacuation routes to personnel and / or robots, with a primary focus on safety by avoiding hazardous materials, areas prone to falling objects, and fragile mobile units. The system can thereby ensure the availability of clear and reliable exit routes, easily accessible doors, and efficient evacuation procedures, all of which contribute to an increased level of safety. Additionally, it can tailor individualized emergency plans to each robot, creating dynamic exit routes that maintain a safe distance from hazardous materials.

[0055] The proposed system can help dynamically create evacuation plans for personnel by prioritizing safety. This can enable the generation of real-time adaptable evacuation plans and facilitate data-driven decision-making during an evacuation. The system disclosed here can generate comprehensive reports and compliance records that can be invaluable for meeting regulatory requirements and conducting post-incident analyses to improve safety measures.

[0056] In an emergency, the system (e.g., the edge server and robots) is prepared to receive and respond to critical alerts sent by the central disaster management team, which serves as the authoritative hub for monitoring and coordinating disaster-related actions across the region or country. These alerts act as central notifications that relay critical information about impending threats, natural disasters, or other emergency situations, ensuring a rapid and organized response to protect lives and assets.

[0057] Fig. 5 depicts a centralized disaster management infrastructure. Whenever an emergency occurs, existing sensors or emergency notification technology are assumed to generate an appropriate emergency alert 502. This may, for example, simply be a smoke detector or a moisture detector or other information available from a local sensor, or information derived from a more systematic disaster warning system, such as a system for alerting communities to the presence of natural disasters. Regardless of the source, once the emergency alert 502 is issued, the edge infrastructure 504 receives the alert and can initiate the development of an evacuation strategy. In doing so, the edge infrastructure 504 can utilize any relevant data within its range.This may include, for example, warehouse details, including the locations of goods that may contain hazardous materials such as oxidizers.

[0058] The edge infrastructure 504 or any other component described herein may generate, update, and / or maintain a warehouse map. This warehouse map may include real-time visualization of the positions of goods within the facility. Beyond mere spatial representations, the map may include a risk assessment aspect. In particular, the map may include information about potential risks, such as those posed by earthquakes and fires, thereby providing an intelligent and adaptive perspective for the placement of goods within the warehouse. This dynamic map can serve as a valuable tool in optimizing both the safety and efficiency of warehouse operations, ensuring that goods are strategically positioned to mitigate potential hazards and respond effectively to emergency situations.

[0059] As a fallback plan, and specifically for the situation in which the edge infrastructure 504 is impacted by the emergency (e.g., the edge infrastructure 504 cannot provide real-time plans to the robots), the edge infrastructure 504 can develop a backup plan 506 that can be sent to the robots at regular intervals and stored locally in the robots themselves. This backup plan can be updated on the robots with a frequency that depends on a variety of variables. For example, the frequency of backup plan updates can depend on the robots' current location, load, mission, etc. In other words, in addition to the real-time instructions that the robots receive from the edge server, the robots each have a backup plan stored locally in their memory. In case the robots become disconnected from the edge server (e.g.,In the event that the edge server loses power, becomes damaged, or is otherwise unable to provide regular instructions to the robots, the robots can implement the backup plan. In some configurations, the backup plan can be activated whenever a predetermined period of time passes without instructions from the edge server. The presence of the stored backup plan can allow the robots to create a rule-driven emergency mission and follow it to the nearest good parking position, avoiding critical areas (e.g., human escape routes and exits and the aforementioned areas with hazardous materials).

[0060] It's worth noting that this setup allows for various types of robot control. It's possible for all robots to outsource at least some of their tasks to the edge system, allowing them to directly detect edge failures through communication timeouts. If robots operate in complete isolation, it's also possible to establish a heartbeat signal to the edge system to detect timeouts or failures. Finally, it's also possible to set up an emergency broadcasting system similar to other wireless emergency systems. These messages could then contain the emergency plan to be implemented.

[0061] Fig. Figure 6 depicts a warehouse with edge infrastructure in an emergency situation. In this figure, a first group of mobile units 602 is indicated as falling objects (e.g., objects fall from these shelves to the floor, creating a hazard (e.g., falling objects) as well as potential obstacles to evacuation). A second group of mobile units 604 is indicated as carrying hazardous materials (e.g., flammable or explosive materials). An escape route is marked as 606. Various sensors 608 for the edge infrastructure are shown.

[0062] In this figure, the deployed robots, in conjunction with the edge infrastructure, continuously scan for the presence of humans using their perception systems and localized sensors. The collected information is then distributed to all edge devices, and the remaining people are guided to the exit routes via the communication channels accessible by the robots. As shown in Fig. As shown in Figure 6, the warehouse emergency response system skillfully monitors high-risk zones, managing situations involving trapped people and precarious shelving. The edge infrastructure maintains continuous monitoring of these areas via deployed perception systems to identify potential risk zones. It proactively restricts human access to these areas and expeditiously communicates this critical information to both the edge and local emergency response teams, including the fire department, to ensure rapid and responsive actions.

[0063] In an optional configuration, badge scanning data can be integrated into the solution disclosed here, recording the number of people entering and leaving the storage area during the evacuation. This information can be critical to ensuring that no person is inadvertently left behind. If someone is accidentally left behind for a limited period, one or more robots can be deployed to search for and rescue the person.

[0064] Another optional configuration allows one or more robust evacuation robots to be maintained within a fleet of robots. This proactive measure increases preparedness to respond to emergency situations by addressing high-risk zones and comprehensively monitoring the situation.

[0065] Fig.7 shows a server 702 for implementing the second aspect of the disclosure. This server 702 may include a memory 704 on which a map is stored, wherein the map may represent locations of a plurality of mobile units. The server 702 may include a processor 706 that may be configured to generate an emergency response plan based on sensor data and the map. The emergency response plan may include actions to be performed by a plurality of robots in an environment of the mobile units. The server 702 may be configured to instruct a transceiver 708 to transmit a signal representing the emergency response plan.

[0066] The map may further include entry or exit zones of an environment of the plurality of mobile units. Thus, the emergency response plan may include a robot transporting a human to one of the entry or exit zones.

[0067] The processor 706 generating the emergency response plan may include the processor 706 determining a first portion of an environment of the mobile units as a first environment and a second portion of the environment of the mobile units as a second environment. In this way, the first environment may be an area with an increased risk of damage due to the emergency situation, and the second environment may be an area with a lower risk of damage due to the emergency situation than the first environment. Accordingly, the emergency response plan may include an instruction for a robot to transport a human through the second environment to the entry area or the exit area. The emergency response plan may further include an instruction for the robot to transport the human to the entry area or the exit area by avoiding an area of the second environment.

[0068] The emergency response plan may further include an instruction for the robot to notify a human of a hazard. Thus, the emergency response plan may further include an instruction for the robot to restrict human access to an area of increased hazard. The memory may further include identifiers of humans located in an area surrounding the plurality of mobile units.

[0069] In an optional configuration, the server 702 may be further configured to receive first information representing identifiers of the people entering the vicinity of the plurality of mobile units and second information representing identifiers of the people leaving the vicinity of the plurality of mobile units and update the identifiers of the people located in the vicinity of the plurality of mobile units as stored in memory.

[0070] The processor 706 may be configured to control a transceiver 708 to periodically transmit a signal representing the emergency response plan to be implemented in the event of a loss of connection between the server and a robot. In this way, the emergency response plan is stored locally on the various robots, which can then implement the emergency response plan if the connection to the edge server 702 is lost. The emergency response plan may include an instruction for a robot to move one of the plurality of mobile units from high-risk areas to a low-risk area and / or an instruction for a robot to increase a height of a mobile unit.

[0071] Further aspects of the disclosure are described by way of example:

[0072] In example 1, a server including: a memory storing a map, the map representing locations of a plurality of mobile units; and a processor configured to: generate an emergency response plan based on sensor data and the map, the emergency response plan including actions to be performed by a plurality of robots in a vicinity of the mobile units; and instruct a transceiver to transmit a signal representing the emergency response plan.

[0073] In Example 2, the server of Example 1, wherein the sensor data includes first sensor data from a plurality of robots and second sensor data from the plurality of mobile units.

[0074] In Example 3, the server of Example 2, wherein the first sensor data includes image sensor data, LiDAR data, or radar data from a sensor of a robot of the plurality of robots.

[0075] In example 4, the server of example 3, wherein the first sensor data further includes any of temperature sensor data, humidity sensor data, or smoke detector data.

[0076] In example 5, the server of any one of examples 2 to 4, wherein the second sensor data includes any of image sensor data, temperature sensor data, humidity sensor data, or smoke detector data.

[0077] In example 6, the server of any one of examples 1 to 5, wherein generating the emergency response plan includes generating a priority ranking of the mobile units.

[0078] In example 7, the server of example 6, further including value information representing a value of goods stored on each of the plurality of mobile units; and wherein the processor is configured to generate the priority ranking based on the sensor data, the map, and the value of goods stored on each of the plurality of mobile units.

[0079] In example 8, the server of example 7, wherein the processor is further configured to determine an integrity of a mobile unit of the plurality of mobile units using at least one of the first sensor data and the second sensor data; and wherein the processor is configured to generate the emergency response plan using the determined integrity and a location of a corresponding mobile unit.

[0080] In example 9, the server of any one of examples 2 to 8, wherein the processor generating the emergency response plan includes the processor generating a priority ranking of each of the plurality of mobile units; wherein the processor is configured to generate the priority ranking based on at least two of a value of goods stored on each of the plurality of mobile units, a location of a hazard, or an integrity of each mobile unit of the plurality of mobile units.

[0081] In Example 10, the server of Example 9, wherein the processor is configured to generate the priority ranking based on the value of objects on each mobile unit of the plurality of mobile units, a position of each mobile unit of the plurality of mobile units relative to the hazard; and the integrity of each mobile unit of the plurality of mobile units.

[0082] In Example 11, the server of Example 10, wherein the processor is further configured to generate the priority ranking by determining a maximum or a minimum of an operation that lists weighted variables representing the value of objects on each mobile unit of the plurality of mobile units, the position of each mobile unit of the plurality of mobile units relative to a hazard; and the integrity of each mobile unit of the plurality of mobile units.

[0083] In example 12, the server of any one of examples 2 to 11, wherein the processor is further configured to determine a location of a hazard based on the first sensor data or the second sensor data, and wherein the processor is further configured to generate the emergency response plan using the location of the hazard.

[0084] In Example 13, the server of Example 12, where the hazard is a fire.

[0085] In Example 14, the server of Example 12, where the threat is a flood.

[0086] In example 15, the server of example 14, further including an antenna interface, wherein the transceiver is configured to transmit the signal representing the emergency response plan over the antenna interface.

[0087] In example 16, the server of any of examples 2 to 15, wherein the processor generating the emergency response plan includes the processor determining a first portion of an environment of the mobile units as a first environment and a second portion of the environment of the mobile units as a second environment; wherein the first environment is an area of increased risk of damage due to the emergency situation, and wherein the second environment is an area of lower risk of damage due to the emergency situation than the first environment.

[0088] In Example 17, the server of Example 16, wherein the damage includes injury to persons or loss of property.

[0089] In example 18, the server of example 16 or 17, wherein the processor is further configured to instruct the transceiver to send an instruction to one or more of the plurality of robots to move a mobile unit of the plurality of mobile units from the first environment to the second environment.

[0090] In example 19, the server of example 18, wherein the processor is further configured to select the mobile unit of the plurality of mobile units to be moved from the first environment to the second environment based on the priority ranking of the mobile unit.

[0091] In example 20, the server of any one of examples 17 to 19, wherein the processor is further configured to control the transceiver to transmit a signal instructing a first plurality of lights to operate at a first frequency and a second plurality of lights to operate at a second frequency.

[0092] In Example 21, the server of Example 20, wherein the first plurality of lights is a plurality of lights in the first environment and the second plurality of lights is a plurality of lights in the second environment.

[0093] In example 22, the server of any one of examples 1 to 21, wherein the plurality of mobile units are movable mobile units on which goods are stored.

[0094] In example 23, the server of any one of examples 1 to 22, wherein the emergency response plan includes an instruction for a mobile unit of the plurality of mobile units to activate a fire-resistant curtain and / or a water-resistant curtain.

[0095] In example 24, the server of any one of examples 1 to 23, wherein the emergency response plan includes an instruction for a mobile unit of the plurality of mobile units to activate a fire suppression device.

[0096] In example 25, the server of any one of examples 1 to 24, wherein the emergency response plan includes an instruction for a robot to activate a fire extinguishing device.

[0097] In example 26, the server of any one of examples 1 to 25, wherein the emergency response plan includes an instruction for a robot to activate a fire extinguishing process to transport a human to a desired location.

[0098] In example 27, the server of any one of examples 1 to 26, further including the transceiver.

[0099] In Example 28, a non-transitory computer-readable medium including instructions that, when executed by a processor, cause the processor to: generate an emergency response plan based on sensor data and a map representing locations of a plurality of mobile units, the emergency response plan including actions to be performed by a plurality of robots in an environment of the mobile units; and instruct a transceiver to transmit a signal representing the emergency response plan.

[0100] In Example 29, the non-transitory computer-readable medium of Example 28, wherein the sensor data includes first sensor data from a plurality of robots and second sensor data from the plurality of mobile units.

[0101] In Example 30, the non-transitory computer-readable medium of Example 29, wherein the first sensor data includes image sensor data, LiDAR data, or radar data from a sensor of a robot of the plurality of robots.

[0102] In Example 31, the non-transitory computer-readable medium of Example 30, wherein the first sensor data further includes any of temperature sensor data, humidity sensor data, or smoke detector data.

[0103] In Example 32, the non-transitory computer-readable medium of any one of Examples 29 to 31, wherein the second sensor data includes any of image sensor data, temperature sensor data, humidity sensor data, or smoke detector data.

[0104] In example 33, the non-transitory computer-readable medium of any one of examples 28 to 32, wherein generating the emergency response plan includes generating a priority ranking of the mobile units.

[0105] In example 34, the non-transitory computer-readable medium of example 33, further including value information representing a value of goods stored on each of the plurality of mobile devices; and wherein the instructions are configured to cause the processor to generate the priority ranking based on the sensor data, the map, and the value of goods stored on each of the plurality of mobile devices.

[0106] In Example 35, the non-transitory computer-readable medium of Example 34, wherein the instructions are further configured to cause the processor to determine an integrity of a mobile device of the plurality of mobile devices using at least one of the first sensor data and the second sensor data; and wherein the processor is configured to generate the emergency response plan using the determined integrity and a location of a corresponding mobile device.

[0107] In example 36, the non-transitory computer-readable medium of any one of examples 29 to 35, wherein generating the emergency response plan includes generating a priority ranking of each of the plurality of mobile units; wherein the instructions are configured to cause the processor to generate the priority ranking based on at least two of a value of goods stored on each of the plurality of mobile units, a location of a hazard, or an integrity of each mobile unit of the plurality of mobile units.

[0108] In Example 37, the non-transitory computer-readable medium of Example 36, wherein the instructions are configured to cause the processor to generate the priority ranking based on the value of elements on each mobile unit of the plurality of mobile units, a position of each mobile unit of the plurality of mobile units relative to the hazard; and the integrity of each mobile unit of the plurality of mobile units.

[0109] In Example 38, the non-transitory computer-readable medium of Example 37, wherein the instructions are further configured to cause the processor to generate the priority ranking by determining a maximum or a minimum of an operation that lists weighted variables representing the value of objects on each mobile unit of the plurality of mobile units, the position of each mobile unit of the plurality of mobile units relative to a hazard; and the integrity of each mobile unit of the plurality of mobile units.

[0110] In Example 39, the non-transitory computer-readable medium of any one of Examples 29 to 38, wherein the instructions are further configured to cause the processor to determine a location of a hazard based on the first sensor data or the second sensor data, and wherein the instructions are further configured to cause the processor to generate the emergency response plan using the location of the hazard.

[0111] In Example 40, the non-transitory computer-readable medium of Example 39, wherein the hazard is fire.

[0112] In Example 41, the non-transitory computer-readable medium of Example 39, wherein the hazard is flooding.

[0113] In Example 42, the non-transitory computer-readable medium of any one of Examples 29 to 41, wherein the instructions to cause the processor to generate the emergency response plan include the instructions to cause the processor to designate a first portion of an environment of the mobile units as a first environment and a second portion of the environment of the mobile units as a second environment; wherein the first environment is an area of increased risk of damage due to the emergency situation, and wherein the second environment is an area of lower risk of damage due to the emergency situation than the first environment.

[0114] In Example 43, the non-transitory computer-readable medium of Example 42, wherein the damage includes personal injury or property loss.

[0115] In example 44, the non-transitory computer-readable medium of example 42 or 43, wherein the instructions are further configured to cause the processor to instruct the transceiver to send an instruction to one or more of the plurality of robots to move a mobile unit of the plurality of mobile units from the first environment to the second environment.

[0116] In Example 45, the non-transitory computer-readable medium of Example 44, wherein the instructions are further configured to cause the processor to select the mobile device of the plurality of mobile devices to be moved from the first environment to the second environment based on the priority ranking of the mobile device.

[0117] In example 46, the non-transitory computer-readable medium of any one of examples 43 to 45, wherein the instructions are further configured to cause the processor to control the transceiver to transmit a signal instructing a first plurality of lights to operate at a first frequency and a second plurality of lights to operate at a second frequency.

[0118] In Example 47, the non-transitory computer-readable medium of Example 46, wherein the first plurality of lights is a plurality of lights in the first environment and the second plurality of lights is a plurality of lights in the second environment.

[0119] In example 48, the non-transitory computer-readable medium of any one of examples 28 to 47, wherein the plurality of mobile units are movable mobile units on which goods are stored.

[0120] In Example 49, the non-transitory computer-readable medium of any one of Examples 28 to 48, wherein the emergency response plan includes an instruction for a mobile unit of the plurality of mobile units to activate a fire-resistant curtain and / or a water-resistant curtain.

[0121] In example 50, the non-transitory computer-readable medium of any one of examples 28 to 49, wherein the emergency response plan includes an instruction for a mobile unit of the plurality of mobile units to activate a fire suppression device.

[0122] In example 51, the non-transitory computer-readable medium of any of examples 28 to 50, wherein the emergency response plan includes an instruction for a robot to activate a fire extinguishing device.

[0123] In Example 52, the non-transitory computer-readable medium of any one of Examples 28 to 51, wherein the emergency response plan includes an instruction for a robot to activate a fire extinguishing operation to transport a human to a desired location.

[0124] In Example 53, an emergency management procedure that includes:

[0125] Generating an emergency response plan based on sensor data and a map, wherein the map represents locations of a plurality of mobile units, and wherein the emergency response plan includes actions to be performed by a plurality of robots in an environment of the mobile units; and instructing a transceiver to transmit a signal representing the emergency response plan.

[0126] In Example 54, the method of Example 53, wherein the sensor data includes first sensor data from a plurality of robots and second sensor data from the plurality of mobile units.

[0127] In example 55, the method of example 54, wherein the first sensor data includes image sensor data, LiDAR data, or radar data from a sensor of a robot of the plurality of robots.

[0128] In example 56, the method of example 55, wherein the first sensor data further includes any of temperature sensor data, humidity sensor data, or smoke detector data.

[0129] In example 57, the method of any one of examples 54 to 56, wherein the second sensor data includes any of image sensor data, temperature sensor data, humidity sensor data, or smoke detector data.

[0130] In example 58, the method of any one of examples 53 to 57, wherein generating the emergency response plan includes generating a priority ranking of the mobile units.

[0131] In Example 59, the method of Example 58, further including value information representing a value of goods stored on each of the plurality of mobile units; and further including generating the priority ranking based on the sensor data, the map, and the value of goods stored on each of the plurality of mobile units.

[0132] In Example 60, the method of Example 59, further including determining an integrity of a mobile unit of the plurality of mobile units using at least one of the first sensor data and the second sensor data; and generating the emergency response plan using the determined integrity and a location of a corresponding mobile unit.

[0133] In example 61, the method of any one of examples 54 to 60, wherein generating the emergency response plan includes generating a priority ranking of each of the plurality of mobile units; wherein generating the priority ranking includes generating the priority ranking based on at least two of a value of goods stored on each of the plurality of mobile units, a location of a hazard, or an integrity of each mobile unit of the plurality of mobile units.

[0134] In Example 62, the method of Example 61 further includes generating the priority ranking based on the value of objects on each mobile unit of the plurality of mobile units, a position of each mobile unit of the plurality of mobile units relative to the hazard; and the integrity of each mobile unit of the plurality of mobile units.

[0135] In Example 63, the method of Example 62 further includes generating the priority ranking by determining a maximum or a minimum of an operation listing weighted variables representing the value of objects on each mobile unit of the plurality of mobile units, the position of each mobile unit of the plurality of mobile units relative to a hazard; and the integrity of each mobile unit of the plurality of mobile units.

[0136] In example 64, the method of any one of examples 54 to 63, further including determining a location of a hazard based on the first sensor data or the second sensor data, and wherein the processor is further configured to generate the emergency response plan using the location of the hazard.

[0137] In Example 65, the method of Example 64, wherein the hazard is a fire.

[0138] In Example 66, the method of Example 64, wherein the hazard is a flood.

[0139] In example 67, the method of any one of examples 54 to 66, wherein generating the emergency response plan includes determining a first portion of an environment of the mobile units as a first environment and a second portion of the environment of the mobile units as a second environment; wherein the first environment is an area with an increased risk of damage due to the emergency situation, and wherein the second environment is an area with a lower risk of damage due to the emergency situation than the first environment.

[0140] In Example 68, the method of Example 67, wherein the damage includes injury to persons or loss of property.

[0141] In example 69, the method of example 67 or 68, further comprising instructing the transceiver to send an instruction to one or more of the plurality of robots to move a mobile unit of the plurality of mobile units from the first environment to the second environment.

[0142] In example 70, the method of example 69, further including selecting the mobile unit of the plurality of mobile units to be moved from the first environment to the second environment based on the priority ranking of the mobile unit.

[0143] In Example 71, the method of any one of Examples 68 to 70, further including controlling the transceiver to transmit a signal instructing a first plurality of lights to operate at a first frequency and a second plurality of lights to operate at a second frequency.

[0144] In Example 72, the method of Example 71, wherein the first plurality of lights is a plurality of lights in the first environment and the second plurality of lights is a plurality of lights in the second environment.

[0145] In example 73, the method of any one of examples 53 to 72, wherein the plurality of mobile units are movable mobile units on which goods are stored.

[0146] In example 74, the method of any one of examples 53 to 73, wherein the emergency response plan includes an instruction for a mobile unit of the plurality of mobile units to activate a fire-resistant curtain and / or a water-resistant curtain.

[0147] In example 75, the method of any one of examples 53 to 74, wherein the emergency response plan includes an instruction for a mobile unit of the plurality of mobile units to activate a fire suppression device.

[0148] In example 76, the method of any one of examples 53 to 75, wherein the emergency response plan includes an instruction for a robot to activate a fire extinguishing device.

[0149] In example 77, the method of any of examples 53 to 76, wherein the emergency response plan includes an instruction for a robot to activate a fire extinguishing operation to transport a human to a desired location.

[0150] In example 78, the server of any one of examples 53 to 77, wherein the map further includes entry areas or exit areas of an environment of the plurality of mobile units, and wherein the emergency response plan includes a robot transporting a human to one of the entry areas or the exit areas.

[0151] In Example 79, the server of Example 1, wherein the processor generating the emergency response plan includes the processor determining a first portion of an environment of the mobile units as a first environment and a second portion of the environment of the mobile units as a second environment; wherein the first environment is an area of increased risk of damage due to the emergency situation and wherein the second environment is an area of lower risk of damage due to the emergency situation than the first environment; and wherein the emergency response plan includes an instruction for a robot to transport a human through the second environment to the entry area or the exit area.

[0152] In example 80, the server of example 79, wherein the emergency response plan further includes an instruction for the robot to deliver the human to the entry area or the exit area by avoiding an area of the second environment.

[0153] In example 81, the server of example 80, wherein the emergency response plan further includes an instruction for the robot to notify a human of a hazard.

[0154] In example 82, the server of any one of examples 53 to 81, wherein the emergency response plan further includes an instruction for the robot to restrict human access to an area of increased danger.

[0155] In example 83, the server of any of examples 53 to 82, wherein the storage further includes identifiers of people located in an environment of the plurality of mobile devices.

[0156] In Example 84, the server of Example 83, wherein the server is further configured to receive first information representing identifiers of the people entering the vicinity of the plurality of mobile units and second information representing identifiers of the people leaving the vicinity of the plurality of mobile units and update the identifiers of the people located in the vicinity of the plurality of mobile units as stored in memory.

[0157] In example 85, the server of any one of examples 53 to 84, wherein the processor is configured to periodically send the signal representing the emergency response plan to the transceiver for implementation upon a loss of connection between the server and a robot.

[0158] In example 86, the server of any one of examples 53 to 85, wherein the emergency response plan includes an instruction for a robot to move a mobile unit of the plurality of mobile units from a high-risk area to a low-risk area.

[0159] In example 87, the server of any of examples 53 to 86, wherein the emergency response plan includes an instruction for a robot to increase a height of a mobile unit.

[0160] In Example 88, a non-transitory computer-readable medium including instructions that, when executed by a processor, cause the processor to: generate an emergency response plan based on sensor data and a map representing locations of a plurality of mobile units, the emergency response plan including actions to be performed by a plurality of robots in an environment of the mobile units; and instruct a transceiver to transmit a signal representing the emergency response plan.

[0161] In Example 89, the non-transitory computer-readable medium of Example 88, wherein the map further includes entry areas or exit areas of an environment of the plurality of mobile units, and wherein the emergency response plan includes a robot transporting a human to one of the entry areas or the exit areas.

[0162] In example 90, the non-transitory computer-readable medium of example 89 or 89, wherein the instructions are configured to cause the processor to generate the emergency response plan by determining a first portion of an environment of the mobile units as a first environment and a second portion of the environment of the mobile units as a second environment; wherein the first environment is an area of increased risk of damage due to the emergency situation, and wherein the second environment is an area of lower risk of damage due to the emergency situation than the first environment; and wherein the emergency response plan includes an instruction for a robot to transport a human through the second environment to the entry area or the exit area.

[0163] In Example 91, the non-transitory computer-readable medium of Example 90, wherein the emergency response plan further includes an instruction for the robot to escort the human to the entry area or the exit area by avoiding an area of the second environment.

[0164] In Example 92, the non-transitory computer-readable medium of Example 91, wherein the emergency response plan further includes an instruction for the robot to notify a human of a hazard.

[0165] In example 93, the non-transitory computer-readable medium of any one of examples 88 to 92, wherein the emergency response plan further includes an instruction for the robot to restrict human access to an area of increased danger.

[0166] In example 94, the non-transitory computer-readable medium of any one of examples 88 to 93, wherein the storage further includes identifiers of humans located in an environment of the plurality of mobile devices.

[0167] In Example 95, the non-transitory computer-readable medium of Example 94, wherein the instructions are further configured to cause the processor to receive first information representing identifiers of the people entering the environment of the plurality of mobile devices and second information representing identifiers of the people leaving the environment of the plurality of mobile devices and to update the identifiers of the people in the environment of the plurality of mobile devices as stored in memory.

[0168] In example 96, the non-transitory computer-readable medium of any one of examples 88 to 95, wherein the instructions are configured to periodically send the signal representing the emergency response plan to the transceiver for implementation upon a loss of connection between the server and a robot.

[0169] In example 97, the non-transitory computer-readable medium of any one of examples 88 to 96, wherein the emergency response plan includes an instruction for a robot to move a mobile unit of the plurality of mobile units from a high-risk area to a low-risk area.

[0170] In example 98, the non-transitory computer-readable medium of any of examples 88 to 97, wherein the emergency response plan includes an instruction for a robot to increase a height of a mobile unit.

[0171] In Example 99, a method for emergency management, including: generating an emergency response plan based on sensor data and a map, wherein the map represents locations of a plurality of mobile units, and wherein the emergency response plan includes actions to be performed by a plurality of robots in a vicinity of the mobile units; and instructing a transceiver to transmit a signal representing the emergency response plan.

[0172] In example 100, the method of any one of examples 99 to 99, wherein the map further includes entry areas or exit areas of an environment of the plurality of mobile units, and wherein the emergency response plan includes a robot transporting a human to one of the entry areas or the exit areas.

[0173] In example 101, the method of any of examples 100 to 100, wherein generating the emergency response plan includes determining a first portion of an environment of the mobile units as a first environment and a second portion of the environment of the mobile units as a second environment; wherein the first environment is an area with an increased risk of damage due to the emergency situation and wherein the second environment is an area with a lower risk of damage due to the emergency situation than the first environment; and wherein the emergency response plan includes an instruction for a robot to transport a human through the second environment to the entry area or the exit area.

[0174] In example 102, the method of example 101, wherein the emergency response plan further includes an instruction for the robot to escort the human to the entry area or the exit area by avoiding an area of the second environment.

[0175] In example 103, the method of example 102, wherein the emergency response plan further includes an instruction for the robot to notify a human of a hazard.

[0176] In example 104, the method of any of examples 99 to 103, wherein the emergency response plan further includes an instruction for the robot to restrict human access to an area of increased danger.

[0177] In example 105, the method of any of examples 99 to 104, wherein the memory further includes identifiers of people located in an environment of the plurality of mobile devices.

[0178] In example 106, the method of example 105, further including receiving first information representing identifiers of the people entering the vicinity of the plurality of mobile units and second information representing identifiers of the people leaving the vicinity of the plurality of mobile units, and updating the identifiers of the people in the vicinity of the plurality of mobile units as stored in memory.

[0179] In example 107, the method of any one of examples 99 to 106, further comprising periodically sending the signal representing the emergency response plan to the transceiver for implementation upon a loss of connection between the server and a robot.

[0180] In example 108, the method of any one of examples 99 to 107, wherein the emergency response plan includes an instruction for a robot to move a mobile unit of the plurality of mobile units from high-risk areas to a low-risk area.

[0181] In example 109, the method of any of examples 99 to 108, wherein the emergency response plan includes an instruction for a robot to increase a height of a mobile unit.

[0182] Although the above descriptions and the associated figures may depict components as separate elements, those skilled in the art will understand the various ways to combine or integrate discrete elements into a single element. This may include combining two or more circuits to form a single circuit, mounting two or more circuits on a common chip or chassis to form an integrated element, executing discrete software components on a common processor core, etc. Conversely, one skilled in the art will recognize the possibility of separating a single element into two or more discrete elements, such as splitting a single circuit into two or more separate circuits, separating a chip or chassis into discrete elements originally provided thereon, separating a software component into two or more sections and executing each on a separate processor core, etc.

[0183] It is understood that implementations of methods described in detail herein are illustrative in nature and thus are understood to be capable of being implemented in a corresponding apparatus. Likewise, it is understood that implementations of apparatuses described in detail herein are understood to be capable of being implemented as a corresponding method. It is thus understood that an apparatus corresponding to a method described in detail herein may include one or more components configured to perform any aspect of the associated method.

[0184] All acronyms defined in the above description shall additionally apply in all claims contained herein.

Claims

[1] Server, including: a memory in which a map is stored, the map representing locations of a plurality of mobile units; and a processor configured to: Generating an emergency response plan based on sensor data and the map, the emergency response plan comprising actions to be performed by a plurality of robots in an environment of the plurality of mobile units; and Instructing a transceiver to transmit a signal representing the emergency response plan. [2] Server according to claim 1, wherein the sensor data comprises first sensor data from a plurality of robots and second sensor data from the plurality of mobile units; and / or wherein generating the emergency response plan comprises generating a priority ranking of the plurality of mobile units; further comprising value information representing a value of goods stored on each of the plurality of mobile units; and wherein the processor is configured to generate the priority ranking based on the sensor data, the map, and the value of goods stored on each of the plurality of mobile units. [3] Server according to claim 2, wherein the processor is further configured to determine an integrity of a mobile unit of the plurality of mobile units using the first sensor data and / or the second sensor data; and wherein the processor is configured to generate the emergency response plan using the integrity and a location of a corresponding mobile unit; and / or [4] Server according to one of claims 2 or 3, wherein the processor generating the emergency response plan comprises the processor generating a priority ranking of each of the plurality of mobile units; wherein the processor is configured to generate the priority ranking based on at least two of a value of goods stored on each of the plurality of mobile units, a location of a hazard, or an integrity of each of the plurality of mobile units; optionally, wherein the processor is configured to generate the priority ranking based on the value of objects on each mobile unit of the plurality of mobile units, a position of each mobile unit of the plurality of mobile units relative to the hazard; and the integrity of each mobile unit of the plurality of mobile units; Further optionally, wherein the processor is further configured to generate the priority ranking by determining a maximum or a minimum of an operation that lists weighted variables representing the value of objects on each mobile unit of the plurality of mobile units, the position of each mobile unit of the plurality of mobile units relative to a hazard; and the integrity of each mobile unit of the plurality of mobile units. [5] Server according to one of claims 2 to 4, wherein the processor generating the emergency response plan comprises the processor determining a first portion of an environment of the plurality of mobile units as a first environment and a second portion of the environment of the plurality of mobile units as a second environment; wherein the first environment is an area with an increased risk of damage due to an emergency situation, and wherein the second environment is an area with a lower risk of damage due to the emergency situation than the first environment; optionally, wherein the processor is further configured to instruct the transceiver to send an instruction to one or more of the plurality of robots to move a mobile unit of the plurality of mobile units from the first environment to the second environment, and wherein the processor is further configured to select the mobile unit of the plurality of mobile units to be moved from the first environment to the second environment based on the priority ranking of the mobile unit; and / or optionally wherein the processor is further configured to control the transceiver to transmit a signal instructing a first plurality of lights to operate at a first frequency and a second plurality of lights to operate at a second frequency, the first plurality of lights being a plurality of lights in the first environment and the second plurality of lights being a plurality of lights in the second environment. [6] Server according to one of claims 1 to 5, wherein the emergency response plan comprises an instruction for a mobile unit of the plurality of mobile units to activate a fire-resistant curtain and / or a water-resistant curtain, or wherein the emergency response plan comprises an instruction for a mobile unit of the plurality of mobile units to activate a fire extinguishing device. [7] Server according to one of claims 1 to 6, wherein the emergency response plan includes an instruction for a robot to transport a human to a desired location; and / or wherein the map further comprises entry areas or exit areas of an environment of the plurality of mobile units, and wherein the emergency response plan comprises a robot transporting a human to one of the entry areas or the exit areas. [8] Server according to one of claims 2 to 7, wherein the processor generating the emergency response plan comprises the processor determining a first portion of an environment of the plurality of mobile units as a first environment and a second portion of the environment of the plurality of mobile units as a second environment; wherein the first environment is an area with an increased risk of damage due to an emergency situation, and wherein the second environment is an area with a lower risk of damage due to the emergency situation than the first environment; and wherein the emergency response plan comprises an instruction for a robot to transport a human through the second environment to the entry area or the exit area; optionally wherein the emergency response plan further comprises an instruction for the robot to bring the human to the entry area or the exit area by bypassing an area of the second environment. [9] Server according to one of claims 1 to 8, wherein the memory further comprises identifiers of people located in an environment of the plurality of mobile units; and wherein the server is further configured to receive first information representing identifiers of people located in the environment of the plurality of mobile units and second information representing identifiers of people leaving the environment of the plurality of mobile units and to update the identifiers of people located in the environment of the plurality of mobile units as stored in the memory; and / or wherein the processor is configured to periodically send the signal representing the emergency response plan to the transceiver for implementation upon a loss of connection between the server and a robot; and / or wherein the emergency response plan comprises an instruction for a robot to move a mobile unit of the plurality of mobile units from a high-risk area to a low-risk area [10] Non-transitory computer-readable medium containing instructions that, when executed by a processor, cause the processor to: Generating an emergency response plan based on sensor data and a map showing locations of a variety of mobile units, wherein the emergency response plan comprises actions to be performed by a plurality of robots in an environment of the plurality of mobile units; and instructing a transceiver to transmit a signal representing the emergency response plan; optionally wherein the sensor data comprises first sensor data from a plurality of robots and second sensor data from the plurality of mobile units.

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