SAFETY DEVICE AND PROCEDURES FOR PARKING ROBOTS

Abstract

A system may include a parking robot configured to provide an unmanned parking service by moving one or more vehicles within a defined work area, a boundary sensor located in a boundary area separating the defined work area from an outside area and configured to detect an object entering the defined work area from the outside area or exiting the defined work area from the outside area, a monitoring sensor located in the defined work area and configured to monitor the object in the defined work area, and one or more processors.One or more processors can be configured to determine an operating characteristic and a type of the object via the monitoring sensor, and to control the operation of the parking robot based on a status of the parking robot and the type and operating characteristic of the object.

Description

AREA

[0001] The present disclosure relates to autonomous robots and in particular to a safety device for parking robots. BACKGROUND

[0002] If a person needs to park a vehicle or leave the service area in a robot-controlled parking service area, a human operator may need to directly operate or stop the robot for safety reasons.

[0003] Therefore, operating unmanned parking equipment in a parking lot not designed for unmanned operation can lead to complications. For example, an additional, separate room may be required for a robot-operated parking service.

[0004] When relying solely on light detection and distance measurement (LiDAR) systems, such as those used in a robot or vehicle to map its surroundings, it can be difficult to accurately distinguish between a vehicle, a person, or another vehicle in a neighboring parking space in a conventional parking lot. While a collaborative robot security system, which may include fences, light curtains, and closed-circuit television (CCTV) equipment, offers intelligent solutions, robots operating in such an environment may not respond appropriately to different categories of detected objects. OVERVIEW

[0005] The present disclosure seeks to provide a parking robot safety device and a method capable of variably controlling the operation of a parking robot according to the risk level of artificial intelligence-based obstacles, in order to prevent the occurrence of safety accidents between a parking robot and an obstacle involving a person and a vehicle, while minimizing penalties for providing a robot-based automatic parking service within a service area.

[0006] According to one or more embodiments of the present disclosure, a system may comprise: a parking robot configured to provide an unmanned parking service by moving one or more vehicles within a defined work area; and a boundary sensor located in a boundary area that separates the defined work area from an external area. The boundary sensor may be configured to detect the entry of a person from the external area into the designated work area or the exit of a person from the designated work area into the external area. The system may further comprise: a monitoring sensor located in the designated work area and configured to monitor the object within the designated work area; and one or more processors that are communicatively connected via a network to the parking robot, the boundary sensor, and the monitoring sensor.One or more processors can be configured to determine an operating characteristic and a type of object via the monitoring sensor; and, based on a status of the parking robot and the type and operating characteristic of the object, control the operation of the parking robot.

[0007] The boundary sensor can include a safety light curtain.

[0008] The designated work area may include a staging area located between the boundary area and a parking area. The parking area must not border the boundary area. The boundary sensor may be configured to detect entry into or exit from the staging area and send a network notification indicating this.

[0009] The monitoring sensor may include: a multitude of sensors arranged within the designated work area; and a computer vision-based artificial intelligence model configured to extract information from the data received by the multitude of sensors, which is linked to safety measures for the parking robot.

[0010] The computer-view-based artificial intelligence model can further be configured to determine the type of object by categorizing the object as a person, vehicle, robot or other object, and to determine the operating characteristic based on the type of object.

[0011] The one or more processors can further be configured to determine a risk level (risk grade) based on the operating characteristic, indicating the probability of an accident between the object and the parking robot. The operating characteristic can include at least one of the following: the size of the object or the speed of the object. The one or more processors can further be configured to control the operation of the parking robot based on the risk level, causing it to stop or avoid the object.

[0012] The monitoring sensor can include at least one of the following cameras: a red-green-blue (RGB) camera, a thermal imaging camera, a lidar, or a radar.

[0013] One or more processors can be configured to control the operation of the parking robot by determining a specific area within the defined working area that borders the boundary; and, based on the detection of the object via the boundary sensor or the monitoring sensor, to control the operation of the parking robot in order to prevent the parking robot and the object from being in the specified area at the same time.

[0014] One or more processors can be configured to control the operation of the parking robot by performing one of the following actions based on the fact that the object is a first vehicle: controlling the operation of the parking robot based on the fact that the object is in the specified area, so that it maintains at least a predetermined distance from the specified area and performs a task assigned to the parking robot; or controlling the operation of the parking robot based on the fact that the object is outside the specified area, so that it unloads a second vehicle that is loaded on the parking robot and moves the second vehicle to a waiting area outside the specified area.

[0015] Furthermore, one or more processors can be configured to define the specific area as the deployment area in which the parking robot loads or unloads one or more vehicles within the defined work area.

[0016] According to one or more embodiments of the present disclosure, a method performed by a device may include: detecting the entry of an object into a designated work area in which a robot is operating via a boundary sensor; determining an operating characteristic of the object in the designated work area via a monitoring sensor; determining a risk level indicating the probability of an accident in the designated work area based on the status of the robot and the operating characteristic of the object; and controlling the operation of the robot based on the risk level in order to implement a safety measure. One or more vehicles may be moved within the designated work area based on a motion path of the robot.

[0017] Detecting the object's entry can include the following: detecting the object's entry into a staging area located between a boundary zone and a parking area. The boundary sensor can be positioned within the boundary zone and can be configured to send a network notification indicating that the object has entered the staging area.

[0018] Determining the operational characteristics of the object may include: monitoring the designated work area via the monitoring sensor; and determining the operational characteristics of the unit by applying a computer-view-based artificial intelligence model to the data received from the monitoring sensor. The monitoring sensor may include at least one red-green-blue (RGB) camera, a thermal imaging camera, a lidar, or a radar.

[0019] Determining the risk level can include: determining the robot's position and path; and determining, based on the operating characteristic and the robot's position and path, the possibility of a collision between the robot and the object. The operating characteristic can include at least the object's type, size, speed, or distance from the robot.

[0020] Controlling the robot's operation, based on the object being a person, can involve one of the following actions: controlling the robot's operation based on a distance between the object and the robot that is less than a threshold, so that it stops within a threshold time; or controlling the robot's operation based on a distance that is greater than the threshold, so that it stops at a time when the object, based on the object's operating characteristics, is estimated to be within the threshold distance from the robot.

[0021] Determining the risk level can include: determining whether the robot is transporting a vehicle, based on whether the object was detected in a specific area within the designated workspace. The specified area may border a boundary zone.

[0022] Controlling the robot's operation can include one of the following steps: controlling the robot's operation to stop when the robot is transporting the vehicle; or controlling the robot's operation to move into a waiting area when the robot is not transporting the vehicle.

[0023] Controlling the robot's operation can include: controlling the robot's operation to prevent the robot and the object from being in a specific area within the defined workspace at the same time.

[0024] Furthermore, controlling the robot's operation, based on the fact that the object is a first vehicle and the object is detected in the specific area, can include one of the following actions: controlling the robot's operation based on the object being in the specific area, so that it maintains at least a predetermined distance from the specific area and performs work assigned to the robot; or controlling the robot's operation based on the object being outside the specific area, so that it unloads a second vehicle loaded onto the robot and moves the second vehicle to a waiting area outside the specific area.

[0025] The specific area can be located within the designated work area and between a parking lot and an outdoor area. This specific area can be a staging area where the robot loads or unloads one or more vehicles.

[0026] With the parking robot safety device and the method according to the present disclosure, it is possible to prevent the occurrence of safety accidents and minimize sanctions such as the suspension of the parking robot's service provision by variably implementing safety measures on the parking robot based on the type and operation of obstacles determined with the help of the artificial intelligence of the vision. BRIEF DESCRIPTION OF THE DRAWING FIGURES Fig. Figure 1 shows a service area where a parking robot safety device is operating. Fig. Figure 2 is a block diagram of the safety device for a parking robot. Fig. 3 and Fig. 4 are flowcharts of a safety procedure for parking robots. Fig. 5 and Fig. 6 are flowcharts of the safety procedure for parking robots. Fig. Figure 7 is a diagram describing a computer system. DETAILED DESCRIPTION

[0027] In the following, one or more exemplary embodiments of the present disclosure are described in such detail, with reference to the accompanying drawings, that they can be easily carried out by persons skilled in the art who are familiar with the field of the present disclosure. As the person skilled in the art will recognize, the described embodiments can be modified in various ways without affecting the idea or the scope of protection of the present disclosure. Accordingly, the drawings and the description are to be regarded as descriptive and not limiting. Identical reference numerals throughout the description denote identical elements.

[0028] In this entire description (specification) and in the claims, unless expressly stated otherwise, the word "comprise" and variations such as "includes" or "comprehensive" are to be understood as signifying the inclusion of the elements mentioned, but not the exclusion of other elements. Terms containing an ordinal number, such as "first," "second," etc., may be used to describe different components, but the components are not limited to these terms. The aforementioned terms are used solely to distinguish the individual components.

[0029] For the purposes of this application and the claims, the exemplary phrase "at least one of: A; B; or C" or "at least one of A, B or C" means "at least one A or at least one B or at least one C or any combination of at least one A, at least one B and at least one C". Furthermore, exemplary expressions such as "A, B and C", "A, B or C", "at least one of A, B and C", "at least one of A, B or C", etc., as used herein, may mean any of the listed items or any combination thereof. For example, "at least one of A or B" may refer to (1) at least one A; (2) at least one B; or (3) at least one A and at least one B.

[0030] Terms such as “... unit”, “... -er / -or” and “module” used in the description can mean a unit capable of processing at least one function or operation described in the specification, and which may be implemented as hardware or circuitry, software, or a combination of hardware or circuitry and software.

[0031] In this disclosure, references to components, units, or modules generally refer to elements that can logically be grouped together to perform a function or a group of related functions. Identical reference numerals generally refer to identical or similar components. Components, units, and modules may be implemented in software, hardware, or a combination of both. The components, units, modules, and / or functions described above may be implemented and / or executed by one or more processors.The components, units, and / or modules may include, for example, processor(s), microprocessor(s), graphics processing unit(s), logic circuit(s), dedicated circuit(s), application-specific integrated circuit(s), programmable array logic, field-programmable gate array(s), control unit(s), microcontroller, and / or other suitable hardware. The components, units, and / or modules may also include software control modules, which may be implemented, for example, with a processor or logic circuit. The components, units, and / or modules may include or otherwise access one or more non-transient, computer-readable storage media, such as...A random access memory, a read-only memory, an electrically erasable programmable read-only memory, a wipeable programmable read-only memory, one or more flash or other storage devices, one or more data registers, one or more databases, and / or other suitable hardware. One or more storage media may include one or all of the tangible memory of computers, processors, or the like, or their associated modules, such as various semiconductor memories, tape drives, disk drives, and the like, which can provide non-volatile memory for software programming at any given time.

[0032] One or more embodiments of the present disclosure are described below with reference to the figures in the drawing.

[0033] Fig. Figure 1 shows a service area where a parking robot safety device operates. The service area can be defined as an area where a vehicle is automatically driven in, out, and parked by a parking robot.

[0034] A service area 10 can be defined as a robot work area 10 in which a parking robot PR moves and operates. A large number of parking robots PR can be provided. A parking robot can be an automated guided vehicle (AGV) or an autonomous mobile robot (AMR). An AGV can be a moving device (mobile unit) or vehicle capable of following a fixed (e.g., pre-programmed) path or track. The path or track can be marked with magnetic tape or wires. An AGV can be a mobile device or vehicle capable of navigating autonomously in an uncontrolled environment without the need for fixed paths or tracks. AGVs and AMRs can be used for material transport. For example, an AGV or AMR can be used to transport a vehicle.An AGV or AMR can, for example, be used as a parking robot that transports a vehicle from one area (e.g., a staging area) to another area (e.g., a parking space). The parking robot (PR) can be a vehicle-carrying robot. The parking robot (PR) can also be a parking guide that leads a vehicle along a programmed path (e.g., a parking lane) to a specific parking space.

[0035] The working area of ​​the robot 10 can include a parking area 11 as well as an entry and exit area 12.

[0036] Parking area 11 can be an area where the parking robot PR parks a service vehicle (or a general vehicle) that has entered. An obstacle OB must not enter parking area 11.

[0037] Entry and exit area 12 (also referred to as transition area, threshold area, or staging area) is an area through which a service vehicle can enter or exit. In entry and exit area 12, the parking robot PR can load the vehicle that has entered in order to transport it to parking area 11, or unload a vehicle transported from parking area 11 for exit.

[0038] Entry and exit area 12 can border a boundary area 20, and an obstacle can enter and exit through entry and exit area 12. Entry and exit area 12 can be located between boundary area 20 and parking area 11.

[0039] In parking area 11, at least one waiting area HP can be set up where the parking robot PR waits. The waiting area HP can be an area where the parking robot PR is safely parked. The waiting area HP can be positioned so that it maintains a minimum distance from the entry and exit area 12. The location and number of waiting areas HP can be variably configured.

[0040] The boundary zone 20 can be defined between the robot's work area 10 (also referred to as the workspace) and an external area 30. The boundary sensor BS can be located within the boundary zone 20. The boundary sensor BS can detect all objects or persons entering or leaving the robot's work area 10. The boundary zone 20 can be adjacent to the entrance and exit area 12 and not to the parking area 11.

[0041] The robot work area 10 can be demarcated by a boundary fence FEN. The parking robot PR moves through parking area 11 and the entry / exit area 12 within the robot work area 10.

[0042] At least one monitoring sensor CM can be positioned in the robot's work area 10. The monitoring sensor CM includes a camera sensor, etc., and can monitor the parking robot or the obstacle OB located in the robot's work area 10.

[0043] At least one AR alarm module can be positioned in the robot's work area 10. The AR alarm module can be connected to a safety device of the parking robot 100 to trigger an alarm in a specific situation. For example, the AR alarm module can trigger an alarm when the obstacle OB is detected by the boundary sensor BS.

[0044] Here, the obstacle OB (also referred to as entity) is represented as a person, but is not limited to that and can be an object, including a person or a vehicle.

[0045] The parking robot safety device 100 can perform a control to prevent safety accidents for the parking robot PR, which offers an unmanned vehicle parking and charging service within the robot work area 10.

[0046] The parking robot safety device 100 can include all safety measures that are located in the working area of ​​the robot 10 and in the boundary area 20.

[0047] The safety device 100 of the parking robot can be connected via a network to a safety device which includes sensors located in the working area of ​​the robot 10 and in the boundary area 20.

[0048] The parking robot safety device 100 can perform various safety measures to prevent the occurrence of safety accidents in the robot work area 10 by the parking robot PR, the monitoring sensor CM of the robot work area 10, the alarm module AR, a boundary sensor BS of the boundary area 20 and the robot server that is connected to them via the network.

[0049] This means that the parking robot safety device 100 can stop or avoid the parking robot PR according to certain conditions when the obstacle OB entering the entry and exit area 12 is detected, in order to prevent various safety accidents including collisions between the parking robot PR and the obstacle OB.

[0050] Fig. Figure 2 is a block diagram of the parking robot's safety device. The following is a description with reference to... Fig. 1.

[0051] As in Fig. As shown in Figure 2, the parking robot safety device 100 can comprise the parking robot PR, the boundary sensor BS, a monitoring module 120, and a robot server 110. The parking robot PR, the boundary sensor BS, the monitoring module 120, and the robot server 110 can be interconnected via the network. Two or more components, as shown in Figure 2, can be used together. Fig. The components shown in Figure 2 can be combined or integrated into a single component. For example, the BS limit sensor, the 120 monitoring module, and the AR alarm module can be integrated into the 110 robot server.

[0052] The PR parking robot can carry a vehicle and move within robot workspace 10 to provide an unmanned parking service. The movement and operation of the PR parking robot can be controlled via the robot server 110.

[0053] The boundary sensor BS can be arranged in the boundary area 20, which separates the robot working area 10 and the outer area 30, in order to detect the entry and exit of the obstacle OB from the outer area 30 into the robot working area 10.

[0054] The BS boundary sensor can include a safety light curtain. The BS boundary sensor can also include a physical locking device. For example, the BS boundary sensor can include a safety edge or an entry / exit barrier.

[0055] The boundary sensor BS detects the obstacle OB when entering and leaving (e.g., when passing through) the entrance and exit area 12. The boundary sensor BS can notify the robot server 110 about the detection of the obstacle OB via the network.

[0056] The monitoring module 120 (also referred to as monitoring device) is arranged within the robot working area 10.

[0057] The monitoring module 120 can identify (e.g., detect) the obstacle OB and monitor and track the operation of the identified obstacle OB.

[0058] The multiple monitoring modules 120 can be installed in the robot's working area.

[0059] The monitoring module 120 can include the monitoring sensor CM and a computer-view-based artificial intelligence model VAI.

[0060] The CM monitoring sensor can monitor the robot's work area 10 in real time.

[0061] The CM monitoring sensor can include a red-green-blue (RGB) camera, a thermal imaging camera, an infrared camera, a lidar (light detection and ranging) system, or a radar, but is not specifically limited to these. The CM monitoring sensor can be used as various types of sensors for monitoring the robot's work area 10.

[0062] The artificial intelligence model VAI can extract the information required for security measures from the data entered via the CM monitoring sensor.

[0063] The artificial intelligence model VAI can identify the obstacle OB detected by the monitoring sensor CM as a person, a vehicle, a robot or another object (e.g., a miscellaneous object or an uncategorized object).

[0064] The artificial intelligence model VAI can simultaneously identify and determine the operational characteristics of the identified obstacle, according to its type. These operational characteristics can include the obstacle's speed, movement pattern, size, collision radius, collision risk, and other parameters.

[0065] The artificial intelligence model VAI can transmit the type and operational characteristics of the identified obstacle OB to the robot server 110 via the network.

[0066] The robot server 110 can variably control the movement and operation of the parking robot PR based on the status of the parking robot PR, the type and operation of the obstacle OB.

[0067] The Robot Server 110 can predict the risk level of safety accidents occurring (e.g., a risk level that indicates the probability of a safety accident) between the obstacle and the parking robot based on the operating characteristics, including the type, size, and speed of the obstacle.

[0068] The Robot Server 110 can control the parking robot PR to stop its movement (e.g., come to a standstill) or to avoid the obstacle based on the predicted risk level for safety accidents. For example, the Robot Server 110 can stop the parking robot PR if the predicted risk of safety accidents is higher than a certain level, and can instruct the parking robot PR to continue working and avoid the obstacle if the predicted risk is lower than a certain level.

[0069] The robot server 110 can define a specific area adjacent to the boundary area 20 within the robot's working area 10. This specific area can, for example, be designated as the entry and exit area 12.

[0070] If the obstacle OB is detected by the boundary sensor BS or the monitoring module 120, the robot server 110 can move the parking robot PR so that the obstacle OB and the parking robot PR are not simultaneously in the entry and exit area 12.

[0071] If the obstacle is a vehicle and the entry and exit area 12 of the obstacle vehicle is detected, the robot server 110 can move the parking robot PR outside the entry and exit area 12 by a predetermined distance from the entry and exit area 12 (e.g., control the parking robot PR so that it maintains at least a predetermined distance from the entry and exit area 12) and then continue with the current work (e.g., perform a work assigned to the parking robot PR).

[0072] If the obstacle is a vehicle and the entry and exit area 12 of the obstacle vehicle is detected, the robot server 110 can move the parking robot within the entry and exit area 12 to the waiting area HP outside the entry and exit area 12 after the vehicle has been unloaded onto the parking robot.

[0073] The Park Robot Safety Device 100 can also include the AR alarm module and an RC remote control.

[0074] The AR alarm module can trigger a visual or audible alarm in the robot's work area when the obstacle OB is detected by the boundary sensor BS. The AR alarm module can include an alarm device such as a siren. The location and number of AR alarm modules can be configured.

[0075] The AR alarm module can trigger an alarm while controlling the robot server 110.

[0076] The remote control (RC) can include a button for manually controlling the operation of the parking robot (PR). An administrator ("manager") or user can operate the remote control (RC) to stop or start the parking robot (PR) in situations requiring safety measures.

[0077] The parking robot safety device 100 can also include a user terminal (end device) UT, which is connected to the robot server 110 via the network.

[0078] The user terminal (UT) can be a smartphone, tablet, computer, kiosk, etc. The user terminal (UT) can provide an application and / or interface that can access the robot server 110. The administrator or user can perform security measures on the parking robot (PR) via the user terminal (UT) connected to the robot server 110.

[0079] Fig. 3 and Fig. Four are flowcharts of a safety procedure for parking robots. The safety procedure for parking robots in the Fig. 3 and Fig. 4 can be used by the safety device for parking robots 100 (see Fig. 2) be carried out. This will be done with reference to the Fig. 1 and Fig. 2 described.

[0080] In Fig. 3. The parking robot safety device 100 can detect the obstacle OB during the work of the parking robot PR (step S310).

[0081] The parking robot safety device 100 can detect the entry and exit of the obstacle OB into the robot working area 10 by means of the boundary sensor BS when the parking robot PR is working within the robot working area 10.

[0082] The parking robot safety device 100 can detect the obstacle OB when entering and leaving (e.g. when passing) the entry and exit area 12, which borders the boundary area 20, in which the boundary sensor BS is located within the robot working area 10, and can inform the robot server 110 about entering and leaving the obstacle OB via the network.

[0083] The parking robot safety device 100 can classify the obstacle OB into a person, a vehicle or a robot and monitor and track the operation of each of these objects (step S320).

[0084] The parking robot safety device 100 can identify the detected obstacle OB through the monitoring module 120 and monitor and track the operation of the identified obstacle OB.

[0085] The 100 parking robot safety device can monitor the robot's 10 working area in real time via the CM monitoring sensor. The C monitoring sensor can be, for example, an RGB camera, a thermal imaging camera, a lidar, and / or a radar.

[0086] The parking robot safety device 100 can track the operation of the obstacle OB and recognize the operating characteristics of the obstacle OB through the computer-view-based artificial intelligence model VAI from data inputs through the monitoring sensor CM.

[0087] The parking robot safety device 100 can determine the direction of movement and speed of the parking robot PR and the obstacle OB (step S330).

[0088] The parking robot safety device 100 can determine the possibility of a collision between the obstacle OB and the parking robot PR based on the direction of movement and speed of the parking robot PR and the obstacle OB (step S330).

[0089] This means that the parking robot safety device 100 can determine the risk level of the occurrence of safety accidents within the robot working area 10 based on the status of the parking robot PR and the monitored operation of the obstacle OB.

[0090] The parking robot safety device 100 can confirm the position and path of the parking robot PR and determine the possibility of a collision between the parking robot PR and the obstacle OB based on the operating characteristics including the type, size and speed of the obstacle OB and the distance of the obstacle OB to the parking robot PR.

[0091] The parking robot safety device 100 can stop the parking robot PR to prevent the collision and resume operation of the parking robot PR after the obstacle OB has moved (step S340).

[0092] The parking robot safety device 100 can stop or move the parking robot PR based on the probability of collision. That is, the parking robot safety device 100 can maintain the operation of the parking robot PR if the possibility of a collision between the obstacle OB and the parking robot PR is lower than the standard value.

[0093] The parking robot safety device 100 can control the movement and operation of the parking robot PR so that the obstacle OB and the parking robot PR are not in a specific area at the same time.

[0094] This means that the parking robot safety device 100 can detect that there is a high risk of safety accidents occurring or a high probability of a collision when the obstacle OB and the parking robot PR are simultaneously in the entry and exit area, and can move or stop the parking robot PR.

[0095] The parking robot safety device 100 can perform a safety measure that variably controls the operation of the parking robot PR based on the risk level.

[0096] The parking robot safety device 100 can immediately stop the parking robot PR (e.g., stop the parking robot PR within a threshold time) if the obstacle OB is a person and the distance between the person and the parking robot PR is closer than a threshold distance.

[0097] The parking robot safety device 100 can predict the time when the distance between the person and the parking robot PR becomes closer than a certain standard value, based on the operating characteristics of the person, when the distance between the person and the parking robot PR becomes farther than a certain standard value, and calculate the time when the parking robot PR stops.

[0098] This means that the parking robot safety device 100 calculates the time at which the parking robot PR stops as the time at which the distance between a person and the parking robot PR approaches a certain standard value, and controls the parking robot PR so that it stops at the corresponding time.

[0099] In Fig. 4. The parking robot safety device 100 can detect the obstacle OB during the work of the parking robot PR and request the monitoring and tracking of the operation of the obstacle OB by the AI-supported monitoring module 120 (step S410).

[0100] The parking robot safety device 100 can inform the administrator about the failure of the AI-assisted tracking of obstacle movements (step S420).

[0101] The parking robot safety device 100 can request confirmation of direct monitoring from the administrator (step S430).

[0102] This means that the parking robot safety device 100 can send a notification to the manager, so that the manager can directly track the obstacle OB through the monitoring sensor CM, such as a camera or CCTV, if the tracking of the operation of the obstacle OB by the artificial intelligence model VAI fails.

[0103] The parking robot safety device 100 can halt the operation of the parking robot PR until direct monitoring is confirmed by the administrator (step S440).

[0104] The parking robot safety device 100 can equip the administrator with control rights over the robot server 110 through the user terminal UT and / or the remote control RC, etc., so that the administrator can perform the control of safety measures when direct monitoring by the administrator is confirmed.

[0105] Fig. 5 and Fig. Six are flowcharts of the safety procedure for parking robots. The parking robot safety procedure in the Fig. 5 and Fig. 6 can be used by the parking robot safety device 100 (see Fig. 2) be carried out.

[0106] Fig. Figure 5 is a flowchart that illustrates the safety measures in response to entering and exiting the obstacle according to the parking robot safety procedure.

[0107] In Fig. Step 5 checks the parking robot safety device 100 to see if the request for entry and exit of a person or vehicle into the robot work area has been received via the robot server 110 (step S510).

[0108] If the entry request is confirmed, the parking robot safety device 100 can unload the vehicle loaded on the parking robot and return the parking robot to its original position, the waiting area (step S521).

[0109] The safety device of the parking robot 100 can continuously determine whether the obstacle is detected in a situation where there is no entry request (step S520).

[0110] When the obstacle is detected, the parking robot safety device 100 can identify the detected obstacle as a person, vehicle or other object and simultaneously track the process (operation) (step S530).

[0111] The parking robot safety device 100 can perform the safety measures based on the tracked movement for the identified object (step S600).

[0112] For example, the parking robot safety device 100 can determine the risk level of safety accidents, including the possibility of a collision between the obstacle and the parking robot, and variably control the movement and operation of the parking robot based on the risk level of safety accidents.

[0113] The parking robot's safety device 100 carries out the safety measures until the obstacle is removed.

[0114] The safety device of the parking robot 100 can continuously determine whether the obstacle has been removed (step S540).

[0115] The safety device of the parking robot 100 can reset the safety devices including the monitoring sensor, alarm module, boundary sensor, etc., when the removal of the obstacle is confirmed (step S550).

[0116] The parking robot safety device 100 can resume the work of the parking robot whose work was stopped (step S560).

[0117] Fig. 6 is a flowchart that specifically illustrates the step of the safety measures (step S600) of Fig. 5 describes. Fig. Figure 6 illustrates the sequence of safety measures when the obstacle is a vehicle.

[0118] In Fig. 6. The safety device of the parking robot 100 can determine whether the obstacle is detected by the boundary sensor (step S520).

[0119] When the obstacle is detected, the parking robot safety device 100 can identify the detected obstacle as a person, vehicle or other object and track the process (step S530).

[0120] When the obstacle is detected and identified, the parking robot safety device 100 can set the alarm module and issue the alarm via a siren, etc., in the robot's working area (step S610).

[0121] The parking robot safety device 100 can determine via the monitoring sensor, etc., whether the obstacle vehicle is in a certain (specific) area, which is generally referred to as the entry and exit area next to the boundary area (step S620).

[0122] This means that the parking robot safety device 100 can determine the risk level (risk grade, risk stage) differently depending on whether the obstacle vehicle is located in the specified area.

[0123] The specific area can be defined as a specific part within the entry and exit area. For example, the parking robot safety device 100 can partially mark the specific area adjacent to the parking area within the entry and exit area.

[0124] If it is confirmed that the obstacle vehicle is not in a certain area, the parking robot safety device 100 can determine whether a vehicle is loaded onto the parking robot (step S640).

[0125] This means that the parking robot safety device 100 can determine the risk level differently depending on whether the parking robot is carrying a vehicle. The parking robot safety device 100 variably determines the control settings for the parking robot based on different risk levels.

[0126] The parking robot safety device 100 can immediately move the parking robot, which is not loaded with a vehicle, into the waiting area (step S641).

[0127] The parking robot safety device 100 can immediately stop the operation of the parking robot that is carrying (e.g. transporting) the vehicle (step S642).

[0128] The parking robot safety device 100 controls the movement and operation of the parking robot so that the obstacle and the parking robot are not in a specific area at the same time.

[0129] If the parking robot safety device 100 detects that the obstacle vehicle is within a certain area, it checks whether the parking robot is operating outside the certain area (step S630).

[0130] This means that the parking robot safety device 100 can distinguish between a parking robot operating outside a specific area and a parking robot operating within a specific area in order to implement controls for safety measures.

[0131] The parking robot safety device 100 can unload a vehicle if the vehicle is currently loaded onto the parking robot, for the parking robot that is operating within the specified area (step S631).

[0132] The parking robot safety device 100 can move the parking robot that has unloaded the vehicle out of the designated area (step S633).

[0133] The parking robot safety device 100 can bring the parking robot, which has moved outside the designated area, into the waiting area (step S635).

[0134] For the parking robot operating outside a defined area, the parking robot safety device 100 can move the corresponding parking robot at least a predetermined distance from the defined area.

[0135] The parking robot safety device 100 can terminate the ongoing work of the remote parking robot (step S634).

[0136] The parking robot safety device 100 can make the parking robot wait after it has finished work (step S636).

[0137] For the parking robot that is operating outside the defined area and has moved far away from the defined area, the parking robot safety device 100 can, if the current task cannot be completed, confirm whether a vehicle is present on the parking robot (step S640) and move the corresponding parking robot to the waiting area (step S641) or stop the parking robot immediately (e.g. within a threshold time) (step S642).

[0138] The safety device of the parking robot 100 can continuously check whether the obstacle has been removed from the working area of ​​the robot 10 (step S540).

[0139] Once the removal of the obstacle is confirmed, the parking robot safety device 100 can reset the safety devices, including various sensors, alarms, etc. (step S550) and resume the work of the parking robots (step S560).

[0140] Fig. Figure 7 is a diagram describing a computing device.

[0141] As in Fig. As shown in Figure 7, the safety device and the procedure for the parking robot can be implemented using a computer unit 900.

[0142] The computing unit 900 can include at least one processor 910, one memory 930, one user interface input device 940, one user interface output device 950, and one storage device 960, which communicate via a bus 920. The computing unit 900 can also include a network interface 970, which is electrically connected to a network 90. ​​The network interface 970 can send or receive signals to and from other units via the network 90.

[0143] The 910 processor can be implemented in various types, such as a microcontroller unit (MCU), application processor (AP), central processing unit (CPU), graphics processing unit (GPU), neural processing unit (NPU), and can be any semiconductor device that executes instructions stored in the 930 memory or the 960 memory device. The 910 processor can be configured as described above with reference to the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 to Fig. to perform the functions and procedures described in section 6.

[0144] The memory 930 and the memory device 960 can contain various types of volatile or non-volatile storage media. For example, the memory can include a read-only memory (ROM) 931 and a random-access memory (RAM) 932. The memory 930 can be located inside or outside the processor 910, and the memory 930 can be connected to the processor 910 by various known means.

[0145] At least some components or functions of the parking robot safety device and procedure can be implemented as a program or software running on the Computing Device 900, and the program or software can be stored on a computer-readable medium.

[0146] At least some components or functions of the parking robot safety device and procedure can be implemented using hardware or circuits of the Computing Unit 900, or they can be implemented as separate hardware or circuits that can be electrically connected to the Computing Unit 900.

[0147] According to one aspect of the present disclosure, a safety device for a parking robot comprises a parking robot that carries a vehicle and moves the vehicle within a robot workspace to provide an unmanned parking service, a boundary sensor located in a boundary area separating the robot workspace from an outside area and detecting the entry and exit of an obstacle from the outside area into the robot workspace, a monitoring module located in the robot workspace that identifies the obstacle and monitors and tracks the operation of the identified obstacle, and a robot server that is connected to the parking robot, the boundary sensor, and the monitoring module via a network and variably controls the operation of the parking robot based on the status of the parking robot and the type and operation of the obstacle.

[0148] The boundary sensor can include a safety light curtain.

[0149] The robot's working area can include an entry and exit area adjacent to the boundary area and a parking area not adjacent to the boundary area, and the boundary sensor can detect the obstacle when entering and leaving the entry and exit area and inform the robot server about the obstacle detection via the network.

[0150] The monitoring module can include a variety of monitoring sensors placed in the robot's work area to monitor the robot's work area in real time, as well as a computer-view-based artificial intelligence model that extracts the information required for safety measures from the data input via the monitoring sensor.

[0151] The monitoring sensor can include an RGB camera, a thermal imaging camera, a lidar, and a radar.

[0152] The artificial intelligence model can identify the obstacle detected by the monitoring sensor as a person, vehicle, robot or other object, and simultaneously recognize operating characteristics according to the type of the identified obstacle and transmit the type and operating characteristics of the identified obstacle to the robot server.

[0153] The robot server can predict the risk level of a safety accident occurring between the obstacle and the parking robot based on the operating characteristics, including the type, size, and speed of the obstacle, and stop or avoid the parking robot based on the predicted risk of the safety accident.

[0154] The robot server can define a specific area next to the boundary within the robot's working area and, if the obstacle is detected by the boundary sensor or monitoring module, move the parking robot so that the obstacle and the parking robot are not simultaneously within the defined area.

[0155] If the obstacle is a vehicle, the robot server, when the entry and exit of the obstacle vehicle into the specific area is detected, can move the parking robot a preset distance out of the specific area, then continue with an ongoing task, arrange for the vehicle to be unloaded on the parking robot within the specific area, and then move the vehicle to a waiting area outside the specific area.

[0156] The robot server can designate the specific area as the entry and exit area, i.e., an area where the parking robot loads and unloads a vehicle, within the robot's working area.

[0157] According to another aspect of the present disclosure, a safety method for a parking robot comprises detecting the entry and exit of an obstacle into a robot workspace by a boundary sensor while a parking robot is working within the robot workspace, identifying the detected obstacle by a monitoring module, monitoring and tracking the activity of the identified obstacle, determining the risk level of a safety accident occurring within the robot workspace based on the status of the parking robot and the tracked activity of the obstacle, and executing a safety measure to variably control the operation of the parking robot based on the determined risk level.

[0158] The detection of the obstacle's entry and exit into the robot's workspace by the boundary sensor can include detecting an obstacle entering and exiting an entry and exit area adjacent to the boundary area, in which the boundary sensor is located within the robot's workspace, and notifying the robot server of the obstacle's entry and exit via a network.

[0159] Identifying the detected obstacle and monitoring and tracking its operation can include real-time monitoring of the robot's workspace by a monitoring sensor comprising an RGB camera, a thermal imaging camera, a lidar, and a radar, and tracking the obstacle's operation and recognizing its operational characteristics through a computer vision-based artificial intelligence model derived from data input via the monitoring sensor.

[0160] Determining the risk level of the occurrence of the safety accident within the robot's work area based on the status of the parking robot and the tracked operation of the obstacle may include confirming a position and path of the parking robot and determining a possibility of a collision between the parking robot and the obstacle based on the operating characteristics, including a type, size, and speed of the obstacle and a distance of the obstacle from the parking robot.

[0161] The implementation of the safety measure for variable control of the parking robot's operation based on the risk level may include that, if the obstacle is a person, the parking robot is stopped immediately if the distance between the person and the parking robot is closer than a certain standard value, and that, if it is further than the certain standard value, a time is predicted at which the person will be closer than the certain standard value, based on the person's operational characteristics, in order to calculate a time at which the parking robot stops.

[0162] Determining the risk level for the occurrence of the safety accident in the robot's work area may, if the obstacle is not detected in a specific area adjacent to the boundary area in the robot's work area, include determining whether the parking robot is carrying a vehicle.

[0163] Implementing the safety measure to variably control the operation of the parking robot based on the risk level may include stopping the parking robot when it is transporting the vehicle, and moving the parking robot to a waiting area when it is not transporting the vehicle.

[0164] Implementing the safety measure to variably control the operation of the parking robot based on the risk level may include controlling the movement and operation of the parking robot so that the obstacle and the parking robot are not simultaneously in the specific area.

[0165] Controlling the movement and operation of the parking robot in such a way that the obstacle and the parking robot are not simultaneously within the specific area may, if the obstacle is the vehicle, when the entry and exit of the obstacle vehicle into the specific area is detected, include moving the parking robot outside the specific area by a preset distance from the specific area and subsequently continuing ongoing work, and causing the vehicle to be unloaded on the parking robot within the specific area, and subsequently moving the vehicle to a waiting area outside the specific area.

[0166] The specific area may be located between the parking area and an outdoor area within the robot's working area and may be an entry and exit area where the parking robot loads and unloads the vehicle.

[0167] Although one or more embodiments of the present disclosure are described in detail herein, the scope of protection of the present disclosure is not limited thereto, but may include various modifications and changes that may be made by those skilled in the art in the field to which the present disclosure belongs, using a basic concept of the present disclosure as defined in the claims. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited non-patent literature

[0000] The parking robot safety device 100 can control the movement and operation of the parking robot PR

[0093]

Claims

[1] System, encompassing: a parking robot that is set up to offer an unmanned parking service by moving one or more vehicles within a defined working area; a boundary sensor located in a boundary area separating the designated work area from an outdoor area, wherein the boundary sensor is configured to detect an object entering the designated work area from the outdoor area or leaving the designated work area into the outdoor area by the object; a monitoring sensor that is positioned and configured within the designated work area to monitor the object within the designated work area; and one or more processors that are communicatively connected via a network to the parking robot, the boundary sensor and the monitoring sensor, wherein the one or more processors are configured: to determine an operating characteristic and a type of object via the monitoring sensor; and to control the operation of the parking robot based on the status of the parking robot and the type and operating characteristics of the object. [2] System according to claim 1, wherein the limit sensor comprises a safety light curtain. [3] System according to claim 1, wherein the intended working area comprises a provisioning area located between the boundary area and a parking area, wherein the parking area does not border the boundary area, and wherein the boundary sensor is configured: to recognize the object when entering or leaving the staging area; and to send a notification over the network indicating that the object is entering or leaving the deployment area. [4] System according to claim 1, wherein the monitoring sensor comprises: a large number of sensors arranged within the designated work area; and a computer-based model of artificial intelligence, designed to extract information from the data received by the multitude of sensors, which is linked to safety measures for the parking robot. [5] System according to claim 4, wherein the computer-view-based artificial intelligence model is further configured as follows: to determine the type of object by categorizing the object as a person, a vehicle, a robot, or another type of object; and Determine the operating characteristic based on the type of object. [6] System according to claim 5, wherein the one or more processors are further configured, to determine a risk level indicating the probability of an accident between the object and the parking robot, based on the operational characteristic, wherein the operational characteristic includes at least one of the following: a size of the object or a speed of the object; and based on the risk level, to control the operation of the parking robot to stop or avoid the object. [7] System according to claim 1, wherein the monitoring sensor comprises at least a red-green-blue (RGB) camera, a thermal imaging camera, a lidar or a radar. [8] System according to claim 1, wherein the one or more processors are configured to control the operation of the parking robot by: to determine a specific area within the designated work area that borders the boundary area; and to control the operation of the parking robot by detecting the object via the boundary sensor or the monitoring sensor, in order to avoid the parking robot and the object being in the defined area at the same time. [9] System according to claim 8, wherein the one or more processors are configured to control the operation of the parking robot based on the fact that the object is a first vehicle, by one of the following measures: Control the operation of the parking robot based on the object located in the specific area, in order to maintain at least a predetermined distance from the specific area and to perform a task assigned to the parking robot; or Control based on the fact that the object is outside the defined area, the operation of the parking robot to unload a second vehicle that is loaded on the parking robot and to move the second vehicle to a waiting area outside the defined area. [10] System according to claim 9, wherein the one or more processors are further configured: to designate a specific area as a staging area in which the parking robot loads or unloads one or more vehicles within the designated work area. [11] Method carried out by a device, the method comprising: Detecting the entry of an object into a specific work area in which a robot is working, via a boundary sensor, wherein one or more vehicles are moved within the specific work area according to a motion path of the robot; Determining the operational characteristics of the object in the designated work area using a monitoring sensor; Determine, based on the robot's status and the object's operating characteristics, a risk level that indicates the probability of an accident within the designated work area; and Controlling the robot's operation based on the risk level in order to implement a safety measure. [12] Method according to claim 11, wherein the detection of the occurrence of the object comprises: Recording the person entering a staging area located between a border area and a parking area, and wherein the boundary sensor is located in the boundary area and is configured to send a notification via a network indicating that the object is entering the deployment area. [13] Method according to claim 11, wherein determining the operating characteristics of the object comprises: Monitoring the designated work area via the monitoring sensor, wherein the monitoring sensor comprises at least one red-green-blue (RGB) camera, a thermal imaging camera, a lidar or a radar; and Determining the operational characteristics of the object by applying a computer-view-based artificial intelligence model to the data received from the monitoring sensor. [14] Method according to claim 13, wherein determining the risk level comprises: Determining the robot's position and path; and Determine, based on the operating characteristics and based on the position and path of the robot, a possibility of collision between the robot and the object, wherein the operating characteristics include at least a type of object, a size of the object, a speed of the object or a distance of the object from the robot. [15] Method according to claim 11, wherein the control of the operation of the robot based on the fact that the object is a person comprises one of the following measures: Controlling the robot's operation based on a distance between the object and the robot that is less than a threshold value, so that it stops within a threshold time; or Controlling the robot's operation based on the distance, which is greater than the threshold distance, in order to stop at a time when the object is assessed as being within the threshold distance of the robot based on the object's operating characteristics. [16] Method according to claim 11, wherein determining the risk level comprises: Determine whether the robot is transporting a vehicle, based on the fact that the object is not detected in a specific area within the designated work area, where the specified area borders a boundary area. [17] Method according to claim 16, wherein controlling the operation of the robot comprises one of the following elements: to control the robot's operation to stop the vehicle using the robot that is transporting it; or Controlling the robot's operation based on the fact that the robot is not transporting the vehicle to enter a waiting area. [18] Method according to claim 11, wherein the control of the operation of the robot comprises: to control the operation of the robot in order to avoid the robot and the object being in a specific area within the intended work area at the same time. [19] Method according to claim 18, wherein controlling the operation of the robot further comprises, based on the fact that the object is a first vehicle and the object is detected in the specific area, one of the following steps: Controlling the robot's operation based on the fact that the object is located in the defined area, in order to maintain at least a predetermined distance from the defined area and perform a task assigned to the robot; or Controlling the robot's operation based on the fact that the object is outside the specific area, in order to unload a second vehicle loaded onto the robot and move the second vehicle to a waiting area outside the specific area. [20] Method according to claim 19, wherein the specific area is located within the designated work area and between a parking area and an outdoor area, and wherein the specific area is a staging area in which the robot loads or unloads one or more vehicles.

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