Mobile robot, device for a mobile robot, train warning system, and robot system

Abstract

An embodiment relates to a mobile robot, said mobile robot having a holding device for an external signaling device, which can be introduced into the holding device and which can be removed therefrom, for wirelessly transmitting a train detection signal. The mobile robot additionally has one or more sensors which are designed to generate sensor information. The robot additionally has one or more processing circuits which are designed to detect a passing train on the basis of the sensor information and to transmit a control signal to the external signaling device if a passing train has been detected.

Description

[0001] A mobile robot, a device for a mobile robot, a train warning system, and a robot system

[0002] Technical area

[0003] The examples deal with a mobile robot for track monitoring.

[0004] background

[0005] Monitoring construction sites along train tracks is a labor-intensive, safety-critical, and expensive task. Therefore, there is a need to support this activity with automation.

[0006] Summary

[0007] Some examples relate to a mobile robot. The mobile robot has a holding device for an external signaling device that can be inserted into and removed from the holding device for wirelessly transmitting a train detection signal. Furthermore, the mobile robot has one or more sensors configured to generate sensor information. Furthermore, the mobile robot has one or more processing circuits configured to detect a passing train based on the sensor information and configured to transmit a control signal to the external signaling device when a passing train has been detected.

[0008] The use of a mobile robot can significantly reduce personnel deployment. Furthermore, train detection can be improved and made more reliable, for example, in adverse weather conditions. This can reduce costs and increase the safety of construction workers at track construction sites.

[0009] Some examples relate to a mobile robot. The mobile robot has a holding device for an external signaling device that can be inserted into and removed from the holding device for wirelessly transmitting a train detection signal. The mobile robot also has one or more sensors designed to generate sensor information. The mobile robot also has an operating device designed to mechanically operate the external signaling device. The mobile robot also has one or more processing circuits designed to detect a passing train based on the sensor information and further designed to transmit a control signal to the operating device when a passing train has been detected. The control signal causes the operating device to mechanically operate the external signaling device.

[0010] By using a mobile robot with an operating device designed to mechanically operate the external signaling device, an existing external signaling device can be reused in an automated system without adaptation. This significantly reduces personnel requirements and improves train detection and reliability. Furthermore, legal or standardization requirements for the external signaling device can continue to be met. This reduces costs and increases the safety of construction workers at track construction sites.

[0011] Some examples relate to a device for a mobile robot. The device includes one or more processing circuits configured to detect a passing train based on sensor information from one or more sensors. Furthermore, the one or more processing circuits are configured to wirelessly transmit a train detection signal to a receiving unit when a passing train is detected.

[0012] By using a mobile robot device, personnel deployment can be significantly reduced and train detection can be improved and made safer. The mobile robot device can be used flexibly for train monitoring, for example, in various mobile robots. This can reduce costs and make train monitoring more efficient.

[0013] Some examples relate to a train warning system. The train warning system comprises a mobile robot according to any one of the preceding examples. The train warning system further comprises a receiving unit. The receiving unit comprises one or more processing circuits configured to receive the train detection signal from the mobile robot and / or the external signaling device. The receiving unit further comprises a warning signal output unit configured to output a warning signal when the train detection signal has been received.

[0014] By using a train warning system, personnel deployment can be significantly reduced and train detection can be improved and made safer. Automated collaboration between a mobile robot and a receiving unit can increase system reliability and minimize the susceptibility to errors in train detection. The train warning system can therefore significantly increase the safety of workers at a track construction site.

[0015] Some examples relate to a robot system. The robot system comprises a mobile robot according to one of the examples. Furthermore, the robot system comprises a virtual reality system configured to remotely control the mobile robot using a navigation signal.

[0016] By using a robot system with a virtual reality system for remote control, a mobile robot can be efficiently controlled from a central location. This significantly reduces personnel deployment while maintaining or increasing the safety and reliability of the train warning system. Furthermore, costs can be reduced, as a central location can, for example, control multiple mobile robots.

[0017] Short character description

[0018] Some examples of devices and / or methods are explained in more detail below with reference to the accompanying figures. They show:

[0019] Fig. 1 shows a schematic overview of a track warning system at a railway construction site;

[0020] Fig. 2 shows a schematic representation of a mobile robot;

[0021] Fig. 3 shows a schematic representation of a mobile robot; Fig. 4 shows a schematic representation of a device for a mobile robot;

[0022] Fig. 5 shows a schematic representation of a train warning system;

[0023] Fig. 6 shows a schematic representation of a robot system; and

[0024] Fig. 7 shows a flowchart of a computer-implemented method.

[0025] Description

[0026] Some examples will now be described in more detail with reference to the accompanying figures. However, other possible examples are not limited to the features of these detailed embodiments. These may include modifications of the features, as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe specific examples is not intended to be limiting of other possible examples.

[0027] Throughout the description of the figures, identical or similar reference numerals refer to identical or similar elements or features, which may be implemented identically or in a modified form while providing the same or a similar function. Furthermore, the thickness of lines, layers, and / or regions in the figures may be exaggerated for clarity.

[0028] When two elements A and B are combined using "or," this is to be understood as disclosing all possible combinations, i.e., only A, only B, and both A and B, unless explicitly defined otherwise in the individual case. Alternative wording for the same combinations may be "at least one of A and B" or "A and / or B." This applies equivalently to combinations of more than two elements.

[0029] If a singular form is used, such as "a," "an," and "the," and the use of only a single element is neither explicitly nor implicitly defined as mandatory, further examples may also use multiple elements to implement the same function. If a function is described below as being implemented using multiple elements, further examples may implement the same function using a single element or a single processing entity.It is further understood that the terms "comprises", "comprising", "has" and / or "having" when used herein describe the presence of the specified features, integers, steps, operations, processes, elements, components and / or a group thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, processes, elements, components and / or a group thereof.

[0030] Fig. 1 shows a schematic overview representation 100 of a track warning system at a railway construction site. A railway construction site 120 is operated on a second track section 112. In order to warn construction workers at the railway construction site 120 about the approaching train from the direction of a first track section 110, an advance warning device 130 is positioned on the first track section 110. The first track section 110 and the second track section 112 are a predetermined distance apart. The distance is selected such that the construction workers at the railway construction site 120 on the second track section 112 have sufficient time to get themselves and any work equipment, etc., to safety after receiving notification of a passing train on the first track section 110. The distance between the first track section 110 and the second track section 112 depends, for example, on the speed of the train traveling on these track sections.For example, the distance between the two track sections is 1000 m at a train speed of 100 km / h. A message about a passing train is transmitted, for example, from the advance warning device 130, which manually monitors the first track section 110, to a receiving unit 140. For example, the advance warning device 130 transmits the message about a passing train via radio transmission, for example, using a radio handset. The receiving unit 140, for example a control center, receives the message about the passing train on the first track section 110. The receiving unit 140 then outputs a warning signal via an output unit 150 to the construction workers at the railway construction site 120 on the second track section 112. The output unit 150 can, for example, be a loudspeaker and / or a flashing light or the like. The system described above is also referred to as a track warning system (TWS).As described, the manual train detection and transmission of the warning to the control center requires the activity of the advance warning device 130. This is a dangerous activity. The advance warning device 130 operates very close to the track, often in adverse weather conditions. Furthermore, there may be a requirement that the advance warning device 130 be constantly moving to prevent the handset, which the advance warning device may carry for message transmission, from triggering a dead man's device. Furthermore, the advance warning device's activity can be monotonous and tedious, which in turn increases the risk of inattention, which in turn increases the risk of accidents.

[0031] Fig. 2 shows a schematic representation of a mobile robot 200. The mobile robot 200 has a holding device 210 for an external signaling device 215, which can be inserted into the holding device 210 and then removed again, for wirelessly transmitting a train detection signal. Furthermore, the mobile robot 200 has one or more sensors 220 designed to generate sensor information. Furthermore, the mobile robot 200 has one or more processing circuits 230 designed to detect a passing train based on the sensor information and designed to transmit a control signal to the external signaling device 215 when a passing train has been detected.

[0032] By using the 200 mobile robot, personnel deployment can be significantly reduced. Furthermore, train detection can be improved and performed more reliably, for example, in adverse weather conditions. This can reduce costs and increase the safety of construction workers at track construction sites.

[0033] The holding device 210 can be a fastening device configured to securely and stably attach the external signaling device to the robot unit. The holding device 210 can be designed such that the external signaling device 215 can be inserted into and removed from the holding device. The holding device 210 can be designed in various shapes and sizes. The holding device 210 comprises, for example, materials such as aluminum, plastic, or composite materials. It can be designed such that it enables secure attachment while also allowing easy attachment and removal of the external signaling device. The holding device 210 can, for example, be attached to the top of the mobile robot 200. In another embodiment, the holding device 210 can be attached to a front or rear side of the mobile robot 200.The holding device 210 can be mounted directly on or to the mobile robot 200, integrated into a part of the housing of the robot, or it can be mounted to the mobile robot 200 by means of a height-adjustable mounting arm.

[0034] The one or more sensors 220 are configured to provide sensor information about a specific monitored track section. For example, the mobile robot may have one or more cameras (e.g., daylight camera, light barrier, thermal imaging camera, infrared camera, and / or LIDAR camera) that provide images or light barrier information as sensor information. The sensor information is provided to the one or more processing circuits 230.

[0035] Based on sensor information (e.g., images or light barrier information), a passing train along the monitored track section can be detected by image recognition or analysis of the light barrier information, performed, for example, by the one or more processing circuits 230. After detecting a passing train along the monitored track section, the one or more processing circuits 230 transmit the control signal to the external signaling device 215.

[0036] The one or more processing circuits 230 may, for example, be one or more processors (e.g., CPU or GPU) or may be implemented as an ASIC or FPGA or another hardware component.

[0037] The external signaling device 215 is not an integral part of the mobile robot 210. It can be inserted into the holding device and removed again. The external signaling device 215 is, for example, an operating element that can be used in various railway applications, for example to monitor and control train movements and report them to other monitoring units. The external signaling device 215 can, for example, comprise a signal interface (for example, a cable interface) that can enable a connection between the external signaling device and the robot (e.g., the one or more processing circuits 230). Via a signal interface of the external signaling device 215, the external signaling device 215 can receive the control signal and be caused to send the train detection signal.In one embodiment, the signaling device 215 can be mechanically operated via a mechanical input element (e.g., one or more switches or buttons). The mechanical input element of the external signaling device 215 can be used to trigger the external signaling device to send the train detection signal.

[0038] For example, the external signaling device 215 can send the train detection signal to a receiving unit (e.g., a control center), which then issues a warning signal regarding a passing train. Further applications of the external signaling device 215 can be, for example, in connection with switch setting and signal control. The external signaling device 215 can be used to establish (wireless) communication between railway personnel and / or the train driver. This facilitates the exchange of information and the transmission of instructions in real time, contributing to the safe and efficient control of train movements.

[0039] In one embodiment, the external signaling device 215 can be, for example, a hand-held switch or a radio-controlled hand-held switch (e.g., a hand-held switch approved by the national railway company for radio-controlled automatic warning systems). A radio-controlled hand-held switch is important for ensuring safety and coordination in rail traffic. The signaling device 215 is configured to transmit a train detection signal. A train detection signal can be a signal containing information that a train has passed a specific track location (e.g., along the first track section 110 in Fig. 1) and has been detected.

[0040] The train detection signal can be transmitted wirelessly from the external reporting device 215, for example. For example, the signal is transmitted via a cellular network (e.g., 4G or 5G). In another example, the train detection signal is transmitted via wireless LAN (WLAN), Bluetooth, or near field communication (NFC). In another embodiment, the train detection signal is transmitted wirelessly via satellite communication.

[0041] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 2 can comprise one or more optional additional features that correspond to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1) or several examples described below (e.g. Figs. 3-7). Fig. 3 shows a schematic representation of a mobile robot 300. The mobile robot 300 has a holding device 210 for the external signaling device 215, which can be inserted into the holding device 210 and removed again, for wirelessly transmitting a train detection signal. Furthermore, the mobile robot 300 has one or more sensors 220 designed to generate sensor information. Furthermore, the mobile robot 300 has an operating device 310 designed to mechanically operate the external signaling device 215.Furthermore, the mobile robot 300 has one or more processing circuits 230 configured to detect a passing train based on the sensor information and configured to transmit a control signal to the operating device 310 when a passing train has been detected. The control signal causes the operating device 310 to mechanically operate the external signaling device 215.

[0042] By using the mobile robot 300 with an operating device designed to mechanically operate the external signaling device 215, an existing external signaling device 215 can continue to be used in an automated system without adaptation. This significantly reduces personnel requirements and improves train detection and reliability. Furthermore, legal requirements or standardization specifications for external signaling devices 215 can continue to be met. This reduces costs and increases the safety of construction workers at track construction sites.

[0043] As described above, the external signaling device 215 can, for example, comprise a signal interface (e.g., a cable interface) that connects the external signaling device 215 to the one or more processing circuits 230. Via the signal interface of the external signaling device 215, the external signaling device 215 can receive a control signal and be prompted to send the train detection signal. In another embodiment, the signaling device 215 can be mechanically operable additionally or alternatively via a mechanical input element (e.g., one or more switches or buttons). The external signaling device 215 can be prompted to send a train detection signal via the mechanical input element.The mechanical input element of the external signaling device 215 can be operated manually, for example by a pre-warner, or mechanically, for example by the operating device 310.

[0044] For example, the external signaling device 215 can be a hand-held switch or a radio-controlled hand-held switch. In this case, the train detection signal can be sent to a receiving unit via the operation of one or more switches.

[0045] The operating device 310 can be configured to mechanically operate the external signaling device (e.g., the mechanical input element). For example, the operating device 310 comprises a mechanism configured to press, actuate, or flip the mechanical input element (buttons, keys, levers, etc.) of the external signaling device 215. In one embodiment, the operating device 310 comprises a robot-controlled arm. Furthermore, the operating device 310 can comprise a special gripping device or a lever mechanism. In another embodiment, the operating device 310 can comprise a pneumatic device that actuates the mechanical input element using compressed air or hydraulics.Furthermore, the operating device 310 may include electromagnetic actuators used to control the mechanical input element of the external signaling device 215 by applying magnetic fields or electrical currents. In a further embodiment, the operating device 310 may include a pull wire system consisting of pull wires and pulleys, which includes the mechanical input element of the external signaling device.

[0046] The operating device 310 is connected, for example, to the one or more processing circuits 230 via a cable or wirelessly.

[0047] Based on the sensor information (e.g., the images or light barrier information, etc.), a passing train along the monitored track section can be detected by image recognition or analysis of the light barrier information, etc., performed, for example, by the one or more processing circuits 230. After detecting a passing train along the monitored track section, the one or more processing circuits 230 transmit a control signal to the operating device 310. The control signal causes the operating device 310 to mechanically operate the external signaling device 215 (e.g., the mechanical input element). This causes the external signaling device 215 to send the train detection signal.

[0048] The mobile robot 200 / 300 may further comprise a movement device configured to repeatedly move the external signaling device 215. The external signaling device 215 may, for example, be equipped with a deadman's device that triggers an emergency signal if the external signaling device 215 is not repeatedly moved. For example, the external signaling device 215 may be moved at least once every 30, 60, 90, or 120 seconds, or within a similar time interval, so that no emergency signal is triggered. The external signaling device 215 may be equipped with a motion sensor, accelerometer, or other sensor for this purpose. The movement device 310 may, for this purpose, comprise a vibration actuator.

[0049] In another embodiment, the external signaling device 215 can be equipped, for example, with a dead man's device that triggers an emergency signal if pressure is not applied to a button, pedal, or the like continuously or at regular intervals. In another embodiment, the mobile robot 200 / 300 can further be equipped with a second operating device, which can be identical to or different from the operating device configured to mechanically operate the external signaling device. The second operating device is configured to repeatedly operate the dead man's device of the external signaling device 215 and to continuously or at regular intervals apply pressure to the button or pedal of the dead man's device.

[0050] The mobile robot 200 / 300 may include a signal receiving unit, wherein the signal receiving unit is configured to receive a navigation signal. Furthermore, the one or more processing circuits 230 may be further configured to guide the mobile robot 200 / 300 to a destination based on at least one of the sensor information or the navigation signal.

[0051] The navigation signal can originate from a satellite navigation system such as GPS, a local sensor such as lidar or ultrasound, etc., a marker in the environment of the mobile robot 200 / 300, and / or a control station. The navigation signal can include information about the current position and movement of the mobile robot 200 / 300 and / or contain target navigation data, directions, or reference points to control the mobile robot 200 / 300 in real time. The mobile robot 200 / 300 can thus use the received navigation signal to determine its position and orientation relative to known reference points or target locations and, based on this information, move to a destination and avoid obstacles. This enables precise and autonomous navigation of the mobile robot 200 / 300 in its environment.

[0052] The mobile robot 200 / 300 can thus reach a predetermined position or a position selected by the mobile robot 200 / 300 itself along a railway line, either autonomously or remotely, in order to detect and record the approach of a train from there.

[0053] Furthermore, the one or more processing circuits 230 of the mobile robot 200 / 300 can be further configured to map an environment of the robot based on the sensor information and to autonomously navigate to a target within the mapped environment. The mapping of the environment by the mobile robot 200 / 300 can be performed using the sensors 230. For example, the sensors 230 (e.g., lidar, cameras, ultrasonic sensors, and infrared sensors, etc.) collect information about the environment of the mobile robot 200 / 300. These sensors continuously acquire data about obstacles, objects, and the terrain in the vicinity of the mobile robot 200 / 300, for example. The processing circuits 230 analyze and process this data to create a map of the environment. For example, this can be in the form of a two-dimensional or three-dimensional map.Once the map is created, the 200 / 300 mobile robot can autonomously navigate to a destination within this mapped environment, using the previously mapped information for obstacle avoidance and path planning.

[0054] In one embodiment, the mobile robot 200 / 300 can thus be navigated from one track section to the next, for example by means of manual remote control. For example, the mobile robot 200 / 300 is navigated from one track section to the next in order to move along with a moving railway construction site and thus always be used for track monitoring. After the mobile robot 200 / 300 has navigated from one track section to the next and has mapped the surroundings in the process, it can, for example, return independently and autonomously to its starting point after the railway construction site has been completed. This is particularly helpful because, for example, rail-bound train detection systems have to be set up and dismantled by personnel. This is only possible with a high personnel expenditure, especially on moving railway construction sites, and is therefore expensive, and also entails an increased susceptibility to errors.

[0055] In another embodiment, the mobile robot 200 / 300 can be configured such that, after the controlled reaching of its working position, the maintenance of this position is monitored and maintained by the sensors 220.

[0056] Furthermore, the one or more processing circuits 230 of the mobile robot 200 / 300 can be further configured to detect a track based on the sensor information. The mobile robot 200 / 300 can move without crossing the track. The track detection of the mobile robot 200 / 300 is based on the sensor information collected by sensors (e.g., cameras, lidar, etc.). The one or more processing circuits 230 perform, for example, image recognition to detect the tracks. The image recognition can be based, for example, on the processing of visual data to detect and identify objects, patterns, or features in images or videos. Known methods for image recognition include, for example, methods using convolutional neural networks (CNNs). This serves to increase safety and prevent accidents, as it prevents the mobile robot 200 / 300 from remaining on the track.Furthermore, it may be regulated by law that the mobile robot 200 / 300 may only be used for track monitoring if it is ensured that it never crosses or drives on a track.

[0057] For example, the one or more sensors 230 comprise at least one of the following sensors: a 3D scanner, a lidar sensor, a radar sensor, an infrared sensor, a 360° infrared sensor, a GPS sensor, a sound sensor, an ultrasonic sensor, or a light barrier sensor. The lidar (light detection and ranging) sensor measures distances using laser beams and can be used to track the movement and approach of a train and, for example, detect its passage by detecting reflections. A radar sensor uses radio waves to detect movement and can detect the passing of a train, for example, by analyzing changes in speed. An infrared sensor can, for example, react to the train's heat signature and enable detection of its passage. A 360° infrared sensor provides comprehensive monitoring of the environment to identify the train from different viewing angles.A sound sensor can measure sound waves and detect vibrations of the train to detect its approach or passage. An ultrasonic sensor uses ultrasonic signals to measure distance and can accurately determine the train's position and approach. Finally, a light barrier sensor can be used to detect the train passing through a specific line or light barrier and to register its passage. Furthermore, the one or more sensors 230 can include a magnetic field sensor, a temperature sensor, an acceleration sensor, and / or a chemical sensor. Multiple sensors 230 can be mounted at the same mounting location on the mobile robot 200 / 300 or at different mounting locations on the mobile robot 200 / 300, covering, for example, different coordinate axes (viewing directions).

[0058] The mobile robot 200 / 300 may further comprise a height-adjustable mounting device for one or more of the sensors. The height-adjustable mounting device may be configured to move the one or more sensors from a first position to a second position that is above the first position. The height-adjustable mounting device of the mobile robot 200 / 300 thus enables the one or more sensors 220 to be moved between different height positions. For example, a continuous height adjustment or a discrete height adjustment can be performed. This allows the robot to adjust the position of the sensors 220 with respect to the environment to optimize data acquisition and obstacle detection. This allows the mobile robot 200 / 300, for example, to obtain a better line of sight or increase the range of the sensors to enable more accurate environmental detection.The height-adjustable holding device can include mechanical, electrical, hydraulic, pneumatic and / or spring-based mechanisms for height adjustment.

[0059] Furthermore, the one or more processing circuits 230 of the mobile robot 200 / 300 can be further configured to detect a passing train based on sensor information from two or more different sensors 220. The two or more different sensors 220 can collect redundant sensor information. This means that the two or more different sensors 220 independently collect different sensor information, from which information about a passing train can be derived by the one or more processing circuits 230. Subsequently, the one or more processing circuits 230 can check whether the information derived from the two sensor information is identical and only transmit a control signal if this is the case. The use of two or more different sensors 220 (e.g.Lidar, radar, IR camera) offers several advantages, including increased reliability and accuracy in environmental detection. When multiple sensors provide similar data, deviations or errors in the information can be more easily detected and corrected. This also significantly improves the quality of train detection by the various types of sensors working in parallel (compared to both manual train detection and radar sensors or rail contact train detection), especially in adverse weather conditions (night, fog, rain, snow) that make detection difficult. This contributes to improving robot performance, especially in safety-critical applications such as track monitoring.

[0060] In another embodiment, two or more identical sensors may be used to continue to obtain the corresponding sensor information even if one sensor fails.

[0061] The mobile robot 200 / 300 may further comprise a cable interface 212 for connecting to the signaling device 215. As described above, the external signaling device 215 comprises, for example, a signal interface (e.g., a cable interface) that connects the external signaling device 215 to the mobile robot 200 / 300 (e.g., the one or more processing circuits 230). Via the signal interface of the external signaling device 215, the external signaling device 215 can receive a control signal and be prompted to send the train detection signal. The mobile robot 200 / 300 therefore also comprises an interface, the cable interface 212, for connecting to the interface of the external signaling device 215. The cable interface 212 comprises, for example, a socket or a plug.The signal interface of the signaling device 215 comprises, for example, the counterpart to the socket or plug of the cable interface 212. The cable connection can use different plugs, sockets, cable types, and transmission protocols. For example: USB, via Ethernet RJ45, HDMI and D-Sub, coaxial cable, twisted pair cable, fiber optic cable, and / or power cable, etc. The mobile robot 200 / 300 can further comprise a crawler drive or a chain drive for moving the mobile robot. With a crawler drive or chain drive, a continuous chain or belt is driven, for example, by wheels. This provides good traction and stability on uneven terrain. Furthermore, the mobile robot 200 / 300 can comprise a wheel drive, with wheels being used for good maneuverability even on smooth surfaces. Furthermore, the mobile robot 200 / 300 can comprise a leg drive, which enables, for example, movement over difficult terrain.Furthermore, the mobile robot 200 / 300 can incorporate a floating propulsion system (if monitoring a track along a body of water) for water-based applications. Furthermore, the mobile robot 200 / 300 can combine different propulsion types in a hybrid drive. The choice depends, for example, on the terrain conditions to ensure the desired mobility and locomotion capability.

[0062] The mobile robot 200 / 300 can be driven by one or more electric motors that move its wheels, tracks, or legs, etc. The power supply can be provided by a rechargeable battery or a battery that supplies the electric motors with the required electrical energy. Furthermore, the other components of the mobile robot 200 / 300, such as the sensors 220 and the processing circuits 230, can be powered by the rechargeable batteries or batteries. The external signaling device 215 can be equipped with its own power supply or can be partially or entirely powered by the mobile robot 200 / 300. Furthermore, the mobile robot 200 / 300 and / or its components can be operated using other power supply methods, for example, an internal combustion engine (e.g., a gasoline or diesel engine), a hydrogen fuel cell, a solar cell, or a wired power supply.

[0063] The mobile robot 200 / 300 may further comprise an output unit configured to output at least one of the following information: an operating mode of the robot, track occupancy information, a status of the robot's power supply, and / or a safety-critical malfunction of the robot. The output unit may, for example, comprise a screen or a touch display on or at the mobile robot. The output unit is also referred to as a human-machine interface (HMI). In another embodiment, the output unit may also be used to input information and control signals to the robot. The operating mode information includes, for example, information about whether the mobile robot 200 / 300 is operating or out of operation and / or whether a safety-critical malfunction is present.The track occupancy information includes, for example, information about whether no trip was detected, whether one trip was detected, or more than one trip was detected. Accordingly, no warning, one warning, or more than one warning can be issued. The information on the status of the power supply can include the status of the power supply of the mobile robot 200 / 300 and / or the status of the power supply of the external signaling device 215. This information can include the charge level of the rechargeable battery / battery of the mobile robot 200 / 300 / the external signaling device 215, or the fuel level, etc. Information on a safety-critical malfunction of the robot includes, for example, a serious error or an anomaly in the operation of the mobile robot 200 / 300.A serious error can be, for example, a hardware error, such as a loss of braking function, a sensor or navigation failure, a failure of the safety mechanisms, or a drive failure, etc. Furthermore, a serious error can be a software error, such as communication problems, an operating system crash, or a software virus in the operating system of the 200 / 300 mobile robot. All information may also only be displayed upon request, for example, after entering a password or proof of identification. For example, the presence of the output unit and the output of this information, or part of it, may be required by law.

[0064] Furthermore, the one or more processing circuits 230 of the mobile robot 200 / 300 can be configured to repeatedly transmit a status signal to a monitoring unit as long as the mobile robot is fully functional. This status signal is also referred to as a "life pulse." For example, it is a periodic message confirming the current operating state of the robot. As long as the monitoring unit receives these signals, it can assume that the robot is functional and active. However, if no life pulses are received for a certain period of time, this may indicate a malfunction, failure, or failure of the robot, and the monitoring unit can take appropriate measures to ensure the safety and integrity of the mobile robot 200 / 300.This concept serves to ensure the continuous monitoring and safety of the mobile robot 200 / 300 or automated systems. For example, the mobile robot 200 / 300 transmits a status signal every 1, 5, 10, 20, 30, 60, 90, or 120 seconds, or within another time interval. The holding device 210 of the mobile robot 200 / 300 can further have at least one of the following dimensions: width of at least 25 cm and / or maximum 35 cm, depth of at least 10 cm and / or maximum 20 cm, and / or height of at least 15 cm and / or maximum 25 cm. The mentioned dimensions can refer to the internal dimensions of the holding device 210, i.e., the cavity into which the external signaling device 215 can be inserted. The mentioned dimensions can also refer to the external dimensions of the holding device 210.The external signaling device 215 can, for example, have dimensions of 280 mm x 139 mm x 200 mm or a smaller or larger dimension. The holding device 210 can have a different material thickness depending on the material from which it is made, for example, 1 cm, 3 cm, 5 cm, or 10 cm. The holding device 210 can have a different material thickness at different locations. The holding device 210 can also be padded on the inside or have another shock-resistant material that protects the external signaling device 215 from impacts.

[0065] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 3 may include one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g., Figs. 1-2) or below (e.g., Figs. 4-7).

[0066] Fig. 4 shows a schematic representation of a device 400 for a mobile robot 200 / 300 (the mobile robot 200 as described in Fig. 2 or the mobile robot 300 as described in Fig. 3 can be included in the train warning system 500). The device 400 comprises one or more processing circuits 410 configured to detect a passing train based on sensor information from one or more sensors. The one or more processing circuits 410 are further configured to wirelessly transmit a train detection signal to a receiving unit when a passing train has been detected. Optionally, the device 400 for a mobile robot comprises one or more storage devices 420. The one or more processing circuits 410 can communicate bidirectionally with the one or more storage devices 420 and store or load data.By using the device 400 for the mobile robot 200 / 300, personnel deployment can be significantly reduced and train detection can be improved and made more reliable. The device for a mobile robot can be used flexibly for train monitoring, for example, in various mobile robots. This can reduce costs and make train monitoring more efficient.

[0067] The one or more processing circuits 410 may, for example, be one or more processors (e.g., CPU or GPU) or may be implemented as an ASIC or FPGA or other hardware component.

[0068] The one or more storage devices 420 may be, for example, hard drives, solid-state drives (SSDs), cloud storage, optical disks such as DVDs or Blu-rays, external USB storage devices, or random access memory (RAM), or the like.

[0069] The one or more processing circuits 410 can be included in a mobile robot 200 / 300. This mobile robot 200 / 300 can include one or more sensors 220 configured to generate the sensor information. Based on this generated sensor information, a passing train can then be detected.

[0070] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 4 may include one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept in one or more examples described above (e.g., Figs. 1-3) or below (e.g., Figs. 5-7).

[0071] Fig. 5 shows a schematic representation of a train warning system 500. The train warning system 500 comprises the mobile robot 200 / 300 (the mobile robot 200, as described in Fig. 2, or the mobile robot 300, as described in Fig. 3, can be included in the train warning system 500). The train warning system 500 further comprises a receiving unit 510. The receiving unit 510 comprises one or more processing circuits 512 configured to receive the train detection signal from the mobile robot 200 / 300 and / or the external signaling device 215. The train warning system 500 further comprises a warning signal output unit 520 configured to output a warning signal when the train detection signal has been received. By using a train warning system, the personnel deployment can be significantly reduced and train detection can be improved and made safer.Through the automated collaboration between a 200 / 300 mobile robot and a 510 receiver unit, system safety can be increased and the susceptibility to errors in train detection minimized. This train warning system can significantly increase the safety of workers at a track construction site.

[0072] The one or more processing circuits 512 may, for example, be one or more processors (e.g., CPU or GPU) or may be implemented as an ASIC or FPGA or other hardware component.

[0073] The receiving unit 520, for example, a train warning system control center, can receive the train detection signal, which indicates that a passing train has been detected on a track section. The transmission can be transmitted, for example, via a mobile network (e.g., 4G or 5G), via wireless LAN (WLAN), Bluetooth, or near field communication (NFC), wirelessly or wired from the mobile robot 200 / 300 to the receiving unit 510, and also from the receiving unit 510 to the warning signal output unit 520. The receiving unit 520 then outputs a warning signal via the output unit 520 to the construction workers at the railway construction site of the corresponding track section.

[0074] The warning signal output unit 520 of the train warning system 500 may include a loudspeaker and / or a flashing light. The loudspeaker may output audible warning signals, and the flashing light may output visual warning signals.

[0075] The system described above is also called an automatic track warning system (ATWS) or automatic warning system (AWS).

[0076] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 5 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 1-4) or below (e.g. Figs. 6, 7). Fig. 6 shows a schematic representation of a robot system 600. The robot system 600 comprises a mobile robot 200 / 300 as described above. Furthermore, the robot system 600 comprises a virtual reality system 610, which is designed to remotely control the mobile robot 200 / 300 by means of a navigation signal.

[0077] The virtual reality system 610 (VR system) includes, for example, VR glasses 612. The VR system 610 further includes sensors 614 for tracking the user's movements or another input console for controlling the mobile robot 200 / 300. The VR system 610 further includes one or more processing circuits 616 for generating and displaying a virtual environment and a communication unit 618 for communicating control and feedback signals with the mobile robot 200 / 300.

[0078] For example, a user puts on VR glasses 612, which block their view of the real world and instead displays a computer-generated virtual world from the perspective of the mobile robot 200 / 300. Sensors 614 track the user's head movements, allowing them to look around the virtual environment. By moving their head or via the VR system's input console, the user can send commands to control the robot and thus remotely control the mobile robot 200 / 300. For this purpose, a navigation signal is transmitted from the communication unit 618 to the mobile robot 200 / 300. The mobile robot 200 / 300 responds to these commands and performs the desired actions in the real world, with its movements and sensor information (captured by the sensors 220) being reflected back to the VR system 610 in real time.In this way, the VR system enables more immersive and precise control of the robot by giving the user the feeling of actually being in the control center of the mobile robot 200 / 300.

[0079] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 5 may include one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g., Figs. 1-5) or below (e.g., Fig. 7).

[0080] Fig. 7 shows a flowchart of a computer-implemented method 700. The method 700 includes detecting 710 a passing train based on sensor information from one or more sensors. The method further includes (wirelessly) transmitting 720 a train detection signal to a receiving unit when a passing train has been detected.

[0081] The method 700 may be performed entirely or partially on a mobile robot 200 / 300 (e.g., Fig. 2 or Fig. 3).

[0082] The method 700 described above may include one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g., Figs. 1-6).

[0083] Some examples relate to a computer program with program code for performing a described method when the computer program is executed on one or more computers or processors. A computer-implemented method is, for example, a method whose steps are performed on one or more computers, one or more processors, or one or more other programmable hardware components. The one or more computers, one or more processors, or one or more other programmable hardware components can be located at one location or distributed.

[0084] Some examples relate to a machine-readable storage medium containing program code that, when executed, causes a machine to perform one of the described methods.

[0085] The aspects and features described in connection with a particular one of the previous examples may also be combined with one or more of the further examples to replace an identical or similar feature of that further example or to additionally introduce the feature into the further example.

[0086] Examples may further be or relate to a (computer) program with program code for carrying out one or more of the above methods when the program is executed on a computer, a processor, or other programmable hardware component. Steps, operations, or processes of various of the methods described above may therefore also be carried out by programmed computers, processors, or other programmable hardware components. Examples may also cover program storage devices, e.g., digital data storage media, that are machine-, processor-, or computer-readable and encode or contain machine-executable, processor-executable, or computer-executable programs and instructions. The program storage devices may, for example,Digital storage, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media may include or be computers, processors, control units, field-programmable logic arrays ((F)PLAs = (Field) Programmable Logic Arrays), field-programmable gate arrays ((F)PGA = (Field) Programmable Gate Arrays), graphics processors (GPU = Graphics Processor Unit), application-specific integrated circuits (ASIC = application-specific integrated circuit), integrated circuits (IC = Integrated Circuit), or system-on-a-chip (SoC) programmed to carry out the steps of the methods described above.

[0087] It is further understood that the disclosure of multiple steps, processes, operations, or functions disclosed in the specification or claims should not be construed as necessarily being in the described order, unless explicitly stated in the individual case or technically required. Therefore, the foregoing description does not limit the performance of multiple steps or functions to any particular order. Furthermore, in further examples, a single step, function, process, or operation may include and / or be broken down into multiple sub-steps, functions, processes, or operations.

[0088] If some aspects in the preceding sections were described in connection with a device or system, these aspects are also to be understood as a description of the corresponding method. For example, a block, a device, or a functional aspect of the device or system can correspond to a feature, such as a method step, of the corresponding method. Accordingly, aspects described in connection with a method are also to be understood as a description of a corresponding block, a corresponding element, a property, or a functional feature of a corresponding device or system.

[0089] The following claims are hereby incorporated into the Detailed Description, where each claim may stand on its own as a separate example. It should also be noted that although a dependent claim in the claims refers to a particular combination with one or more other claims, other examples may include a combination of the dependent claim with the subject matter of any other dependent or independent claim. Such combinations are hereby explicitly contemplated unless it is specifically stated that a particular combination is not intended. Furthermore, features of a claim for any other independent claim are also intended to be included, even if that claim is not directly defined as dependent on that other independent claim.

Claims

Patent claims 1. A mobile robot, comprising: a holding device for an external signaling device that can be inserted into and removed from the holding device for wirelessly transmitting a train detection signal; and one or more sensors configured to generate sensor information; and one or more processing circuits configured to: detect a passing train based on the sensor information; and transmit a control signal to the external signaling device when a passing train has been detected.

2. A mobile robot, comprising: a holding device for an external signaling device that can be inserted into and removed from the holding device for wirelessly transmitting a train detection signal; and one or more sensors designed to generate sensor information; and an operating device designed to mechanically operate the external signaling device; and one or more processing circuits designed to: detect a passing train based on the sensor information; and transmit a control signal to the operating device when a passing train has been detected, wherein the control signal causes the operating device to mechanically operate the external signaling device.

3. A mobile robot according to any one of the preceding claims, further comprising a moving device configured to repeatedly move the external reporting device.

4. The mobile robot according to any one of the preceding claims, further comprising: a signal receiving unit, wherein the signal receiving unit is configured to receive a navigation signal; and wherein the one or more processing circuits are further configured to control the mobile robot to a destination based on at least one of the sensor information or the navigation signal.

5. The mobile robot of any preceding claim, wherein the one or more processing circuits are further configured to: map an environment of the robot based on the sensor information; and autonomously navigate to a target within the mapped environment.

6. The mobile robot of any preceding claim, wherein the one or more processing circuits are further configured to detect a track based on the sensor information and the mobile robot moves without crossing the track.

7. Mobile robot according to one of the preceding claims, wherein the one or more sensors comprise at least one of the following sensors: a 3D scanner, a lidar sensor, a radar sensor, an infrared sensor, a 360° infrared sensor, a GPS sensor, a sound sensor, an ultrasonic sensor.

8. Mobile robot according to one of the preceding claims, further comprising a height-adjustable holding device for one or more of the sensors, wherein the height-adjustable holding device is configured to move the one or more sensors from a first position to a second position which is above the first position.

9. A mobile robot according to any one of the preceding claims, wherein the one or more processing circuits are further configured to detect a passing train based on sensor information from two or more different sensors.

10. Mobile robot according to one of the preceding claims, further comprising a cable interface for connecting to the reporting device.

11. Mobile robot according to one of the preceding claims, further comprising a crawler drive or a chain drive for moving the mobile robot.

12. Mobile robot according to one of the preceding claims, further comprising an output unit configured to output at least one of the following information: an operating mode of the robot, track occupancy information, a status of the power supply of the robot and / or a safety-critical malfunction of the robot.

13. Mobile robot according to one of the preceding claims, wherein the one or more processing circuits are further configured to repeatedly transmit a status signal to a monitoring unit as long as the mobile robot is fully functional.

14. Mobile robot according to one of the preceding claims, wherein the holding device has at least one of the following dimensions: width of at least 25 cm and / or maximum 35 cm, depth of at least 10 cm and / or maximum 20 cm and / or height of at least 15 cm and / or maximum 25 cm.

15. An apparatus for a mobile robot, comprising: one or more processing circuits configured to: detect a passing train based on sensor information from one or more sensors; and wirelessly transmit a train detection signal to a receiving unit when a passing train is detected.

16. A mobile robot comprising: the apparatus of claim 15; and the one or more sensors of claim 15 configured to generate the sensor information.

17. A train warning system comprising: the mobile robot according to any one of the preceding claims; and a receiving unit comprising: one or more processing circuits configured to receive the train detection signal from the mobile robot and / or the external reporting device; and a warning signal output unit configured to output a warning signal when the train detection signal has been received.

18. The train warning system according to claim 17, wherein the warning signal output unit comprises a loudspeaker and / or a flashing light.

19. A robot system comprising: the mobile robot according to any one of the preceding claims; and a virtual reality system configured to remotely control the mobile robot using a navigation signal.

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