System and method for generating a safety zone for autonomous mobile robots

Abstract

A system and method for generating a safety zone for a mobile robot are described. The system and method include receiving information about a cart or topper used by the mobile robot, such as the size of the cart and the number of supports. The system and method may further include generating a safety zone based on the type of mobile robot and the information about the cart or topper. The system and method may further include operating the mobile robot based on the safety zone such that a control stop of the mobile robot is triggered when an object is detected within the safety zone.

Description

Technical Field

[0004] , , ,

[0001] Some embodiments described herein relate to systems and methods for generating a safety zone for mobile robots such as autonomous mobile robots.

Background Art

[0002] Mobile robots can be used to perform a variety of tasks within a work environment. For example, within a manufacturing facility or warehouse, a mobile robot can be used to move materials across the work environment. A mobile robot may be used in conjunction with a cart or other topper that is transported by or otherwise moved by the mobile robot. A mobile robot may include one or more sensors that sense the environment in its vicinity. The data provided by the one or more sensors can be used by the mobile robot or a control system to operate the mobile robot in a safe and efficient manner.

Summary of the Invention

[0003] This application provides a method and system for determining or generating a safety zone for a mobile robot, such as an autonomous mobile robot, a guided mobile robot, or a human-controlled mobile robot such as a remotely operated mobile robot. In particular, the methods and systems described herein can generate a safety zone for a mobile robot that takes into account and / or is adjusted in accordance with a cart or other topper that is transported by or otherwise moved by the mobile robot.

[0004] A mobile robot may be equipped with one or more sensors to detect its surrounding environment. Data provided by sensors (e.g., a LiDAR (Light Detection and Ranging) system) may be used by the mobile robot to determine whether an object in its vicinity poses a collision risk. One or more safe zones may be determined for the mobile robot, defining the boundary or perimeter around it. If the mobile robot detects an object within the safe zone (e.g., within the boundary or perimeter associated with the safe zone), the mobile robot may automatically perform a controlled stop as quickly as possible.

[0005] Multiple safety zones may be determined for a mobile robot. Each safety zone is associated with a range of different operating conditions, such as speed, direction, and rotation. The size and / or shape of each of the safety zones may differ to suit the relevant operating conditions. For example, the safety zone for a mobile robot traveling at a higher speed may be larger than that for a mobile robot traveling at a lower speed, because a greater distance is required for the mobile robot to safely perform a controlled stop at a higher speed. As another example, the safety zone for a mobile robot performing a turn (e.g., rotation) may have a shape that expands in the direction the mobile robot is turning so that it can detect and avoid objects in the direction the mobile robot may be turning.

[0006] Furthermore, different safety zones (or different safety zones) may be determined for different models of mobile robots. This allows for consideration of different sizes, speeds, and other factors associated with different models of mobile robots. Additionally, different models of mobile robots may be equipped with different numbers and / or types of sensors to detect their surroundings. Based on the number and / or types of sensors, different safety zones (or different safety zones) may be determined for different mobile robots.

[0007] As described above, the size and shape of the mobile robot's safety zone are configured to ensure sufficient space around the mobile robot so that, if an object is detected within the safety zone, the mobile robot can perform a controlled stop before colliding with the object. However, in some cases, the mobile robot may be used in conjunction with a cart or other topper (e.g., a conveyor) that can be carried on top of the mobile robot. In this case, the size and shape of the safety zone must be adjusted to take the topper into consideration. For example, if a topper that overhangs (protrudes) in one or more directions from the mobile robot is used on the mobile robot, those overhanging portions may collide with objects even if the mobile robot itself does not collide with them. Therefore, it is necessary to provide a mechanism for adjusting the mobile robot's safety zone in consideration of the cart or other topper being carried by the mobile robot.

[0008] As described herein, a method and system for determining or generating a safety zone that takes into account and / or adjusts for carts or toppers that are transported or otherwise moved by a mobile robot allows a user to input information about the carts or toppers used by the mobile robot. This information may be used to generate an updated safety zone for the mobile robot that takes the carts or toppers into account. The updated safety zone may then be used by the mobile robot for safe operation.

[0009] In some examples, the user may input information regarding the size or length of the cart or topper overhangs on each side of the mobile robot (e.g., front, rear, right, and left). Furthermore, in some examples, the user may input information regarding the type of mobile robot being used. Using this information, the method and system can determine a safety zone that is appropriately sized and configured for the mobile robot and cart or topper pair.

[0010] In some examples, the user may further input information regarding the number, position, and size of one or more posts or legs associated with the cart or topper. The safety zone may be generated to cut out or otherwise accommodate the posts or legs of the cart or topper.

[0011] In a first embodiment, a system for generating at least one safety zone for a mobile robot is described. The system comprises a processor and a computer-readable memory that communicates with the processor and stores instructions that can be executed by the processor. The instructions include causing the processor to display a user interface to a user on a display. The user interface includes input fields that allow the user to input: a front overhang associated with the distance in the forward direction that a topper used on the mobile robot extends beyond the front edge of the mobile robot; a rear overhang associated with the distance in the backward direction that a topper used on the mobile robot extends beyond the rear edge of the mobile robot; a left overhang associated with the distance in the left direction that a topper used on the mobile robot extends beyond the left edge of the mobile robot; a right overhang associated with the distance in the right direction that a topper used on the mobile robot extends beyond the right edge of the mobile robot; and the type of the mobile robot. The instructions include causing the processor to generate at least one safety zone for the operation of the mobile robot based on the front overhang, rear overhang, left overhang, right overhang, and the type of the mobile robot. The safety zone defines the boundary around the mobile robot where objects detected by the mobile robot's environmental sensors trigger a control stop of the mobile robot to avoid collisions with those objects.

[0012] In some embodiments, the system further includes one or more of the following features and / or any combination of other features described herein: (a) a communication module wherein the command further causes the system to transmit at least one safety zone to the mobile robot and to operate the mobile robot partially based on the at least one safety zone; (b) the at least one safety zone comprises a plurality of safety zones, the plurality of safety zones comprising one or more safety zones associated with the linear motion of the mobile robot, one or more safety zones associated with the rotational motion of the mobile robot, and one or more safety zones associated with a combination of the linear and rotational motion of the mobile robot; (c) the one or more safety zones associated with the linear motion of each mobile robot are further associated with a range of linear velocity, the one or more safety zones associated with the rotational motion of each mobile robot are further associated with a range of rotational velocity, and the one or more safety zones associated with a combination of the linear and rotational motion of each mobile robot are further associated with a range of linear velocity and a range of rotational velocity. (d) The instruction further includes causing the system to access a database storing information about a plurality of types of mobile robots, the information including size, linear velocity information, rotational velocity information, linear deceleration information, rotational deceleration information, and environmental sensor information for each of the plurality of types of mobile robots. (e) The at least one safety zone is generated based on the linear velocity information, rotational velocity information, linear deceleration information, rotational deceleration information, and environmental sensor information associated with the type of mobile robot. (f) The input fields of the user interface further allow the user to input the number of struts associated with the topper, and the position and size associated with each strut. (g) The at least one safety zone is generated based on the number, position, and size of the struts, and the at least one safety zone includes one or more exclusion areas from the safety zone associated with each strut. (h) The environmental sensor includes a LiDAR sensor. (i) The at least one safety zone includes a pair of subzones associated with each of the pair of environmental sensors of the mobile robot.

[0013] In another embodiment, a method for generating at least one safety zone for a mobile robot includes displaying a user interface on a display to a user, the user interface including an input field that allows the user to input: a front overhang associated with a forward distance to which a topper used on the mobile robot extends beyond the front edge of the mobile robot; a rear overhang associated with a rear distance to which a topper used on the mobile robot extends beyond the rear edge of the mobile robot; a left overhang associated with a left distance to which a topper used on the mobile robot extends beyond the left edge of the mobile robot; a right overhang associated with a right distance to which a topper used on the mobile robot extends beyond the right edge of the mobile robot; and the type of the mobile robot. The method further includes receiving user input for the front overhang, rear overhang, left overhang, right overhang, and type of mobile robot, and generating at least one safety zone for the operation of the mobile robot based on the front overhang, rear overhang, left overhang, right overhang, and type of mobile robot. The aforementioned safety zone defines the boundary around the mobile robot where an object detected by the mobile robot's environmental sensors triggers a control stop of the mobile robot to avoid a collision with the object.

[0014] The method comprises one or more of the following features and / or any combination of other features described herein: (a) transmitting the at least one safety zone to a mobile robot via a communication module and causing the mobile robot to operate based in part on the at least one safety zone; (b) the at least one safety zone comprises a plurality of safety zones, the plurality of safety zones comprising one or more safety zones associated with the linear motion of the mobile robot, one or more safety zones associated with the rotational motion of the mobile robot, and one or more safety zones associated with a combination of the linear and rotational motion of the mobile robot; (c) the one or more safety zones associated with the linear motion of each mobile robot are further associated with a range of linear velocity, the one or more safety zones associated with the rotational motion of each mobile robot are further associated with a range of rotational velocity, and the one or more safety zones associated with a combination of the linear and rotational motion of each mobile robot are further associated with a range of linear velocity and a range of rotational velocity. (d) The system includes accessing a database that stores information about multiple types of mobile robots, the information including size, linear velocity information, rotational velocity information, linear deceleration information, rotational deceleration information, and environmental sensor information for each of the multiple types of mobile robots. (e) The at least one safety zone is generated based on the linear velocity information, rotational velocity information, linear deceleration information, rotational deceleration information, and environmental sensor information associated with the type of mobile robot. (f) The input fields of the user interface further allow the user to input the number of struts associated with the topper, and the position and size associated with each strut. (g) The at least one safety zone is generated based on the number, position, and size of the struts, and the at least one safety zone includes one or more exclusion areas from the safety zone associated with each strut. (h) The environmental sensors include LiDAR sensors. (i) The at least one safety zone includes a pair of subzones associated with each of a pair of environmental sensors of the mobile robot.

[0015] For the purposes of this summary, specific aspects, advantages, and novel features of this disclosure are described. It should be understood that not all of such advantages will necessarily be achieved by any particular embodiment of the invention. Accordingly, for example, those skilled in the art will recognize that the invention may be embodied or performed in a manner that achieves one or a group of advantages taught herein without necessarily achieving other advantages that may be taught or suggested herein. [Brief explanation of the drawing]

[0016] Specific embodiments are described in detail with reference to the following drawings. Similar reference numerals refer to similar features throughout. These drawings are provided for illustrative purposes only, and embodiments are not limited to the specific embodiments shown in the drawings.

[0017] [Figure 1] This figure shows an exemplary embodiment of a mobile robot. [Figure 2] This is a schematic diagram of an exemplary embodiment of a mobile robot. [Figure 3] This is a schematic diagram of a mobile robot management system that communicates with mobile robots and user devices. [Figure 4] This diagram shows an example of a safety zone for a mobile robot. [Figure 5] This figure shows multiple safety zones for a mobile robot associated with the linear motion of the mobile robot. [Figure 6] This figure shows multiple additional safety zones for a mobile robot associated with its rotational motion. [Figure 7A] This figure shows multiple safety zones for a mobile robot associated with left-turn movement. [Figure 7B] This figure shows multiple safety zones for a mobile robot associated with right-hand turning maneuvers. [Figure 8A] This is a side view of a mobile robot used with a cart or other topper. [Figure 8B] It is a top view of a mobile robot used with a cart or other topper. [Figure 9] It is a diagram showing an exemplary tool that enables the creation of a safety zone that can consider a cart or other topper in a simple and efficient manner. [Figure 10] It is a diagram showing a panel associated with a tool that enables a user to input information regarding the size and position of a support column so that a safety zone can be generated considering the support column. [Figure 11] It is a diagram showing an example of measurement of the position and size of a support column. [Figure 12] It is a diagram showing a cutout created for the support column of a cart. [Figure 13] It is a diagram showing an exemplary first modified safety zone for a cart having four support columns. [Figure 14] It is a diagram showing a similar example having eight support columns. [Figure 15] It is a diagram showing another example for a cart having four support columns at different positions. [Figure 16] It is a diagram showing an exemplary method for generating a safety zone for a mobile robot.

Mode for Carrying Out the Invention

[0018] The present disclosure describes various systems, devices, and methods for determining or generating a safety zone for a mobile robot such as an autonomous mobile robot, a guided mobile robot, or a remotely operated mobile robot controlled by a human. In particular, the methods and systems described herein can generate a safety zone for a mobile robot that takes into account and / or is adjusted in accordance with a cart or other topper that is transported or otherwise moved by the mobile robot.

[0019] Various features and advantages of the systems, apparatus, and methods for generating safety zones for mobile robots described herein will become more readily apparent from the following description of the embodiments shown in the drawings. These examples are intended to illustrate the principles of the present disclosure. The present disclosure should not be limited merely to the exemplary embodiments. Features of the exemplary embodiments may be modified, combined, deleted, and / or replaced as will be apparent to those skilled in the art in consideration of the principles disclosed herein.

[0020] Figure 1 shows an exemplary embodiment of the mobile robot 100, and Figure 2 shows a schematic diagram of the mobile robot 100. The mobile robot 100 may include a chassis or housing 102 that can support various other components of the mobile robot 100. Some components may be located inside the housing 102. Other components may be at least partially exposed to interact with external components of the housing 102. The mobile robot 100 may include a drive system 104 configured to move the mobile robot 100. For example, the mobile robot 100 may include one or more drive wheels 106 driven by at least one motor (not visible in Figure 1). In some embodiments, two or more drive wheels 106 may be driven independently to move the mobile robot 100 forward, backward, turn, etc. In some embodiments, a steering mechanism (e.g., a pivot wheel) may be used to turn the mobile robot 100. Optionally, one or more non-drive wheels 108 may support the robot 100. Various other suitable drive systems, such as tracks or legs, may be used.

[0021] The mobile robot 100 may be equipped with one or more environmental sensors 112 used to detect or measure the environment around the robot 100. The environmental sensors 112 are, for example, LiDAR (Light Detection and Ranging) systems. The environmental sensors 112 may be equipped with at least one laser that emits laser pulses over a range of angles. The environmental sensors 112 may be equipped with a photodetector that can receive light from the laser pulses reflected by the environment around the mobile robot 100 (e.g., objects). The received light may be used to determine the position of objects around the mobile robot 100. For example, the direction of the emitted laser pulses and / or the direction of the received light may indicate the direction of an object. The timing of the emitted laser pulses and / or the received light (e.g., time of flight) may indicate the distance of the object from the robot. The housing 102 of the mobile robot 100 may have openings 114, such as horizontal slits, to allow light to enter and exit the environmental sensors 112 of the mobile robot 100 (e.g., over a range of angles). Various other types of environmental sensors 112 may be used, such as cameras, video analysis systems that analyze images from cameras on the robot 100 to identify objects and other environmental features, sonar systems, and / or thermal sensors. Furthermore, the environmental sensors 112 may be located at other positions on the housing 102 of the mobile robot 100.

[0022] As will be described in more detail below, the environmental sensor 112 may be associated with a safety zone of the mobile robot 100, and when the environmental sensor 112 detects an object within the safety zone, the mobile robot 100 may be configured to perform a controlled stop to avoid a collision with the object.

[0023] The mobile robot 100 may include a controller 116 capable of operating various aspects of the mobile robot 100. For example, the controller 116 may interpret information from the environmental sensors 112 for object identification, determining the distance or position to an object, operating the drive system 104, performing navigation and / or collision avoidance operations, communicating with a robot management system (such as shown in Figure 3), or for various other features and functions of the mobile robot 100. The controller 116 may be configured to implement a safety system for the mobile robot 100. For example, the controller 116 may receive data related to the movement of the mobile robot 100 and data related to objects detected by the environmental sensors 112. This data may be analyzed by the controller 116 to determine whether the mobile robot 100 is operating safely or whether it indicates conditions that should trigger a control stop. For example, the controller 116 may detect whether an object has been identified within the mobile robot 100's safety zone and trigger a control stop. In some embodiments, the controller 116 determines the speed of the mobile robot 100 based on encoder data received from the wheels of the mobile robot 100 and determines which of several safety zones should be used. Various functions of the mobile robot 100 disclosed herein may be performed by the controller 116 even if not specifically described with respect to the controller 116. In some embodiments, the controller 116 may determine, generate, or apply safety zones to the output of the environmental sensor 112 in order to determine whether an object is within a safety zone.

[0024] The mobile robot 100 may comprise at least one processor 118, such as a hardware processor. The processor 118 may comprise circuitry configured to perform operations for various functions and features described herein. In some embodiments, the mobile robot 100 may comprise multiple processors 118, and different tasks may be performed by different processors 118. The mobile robot 100 may comprise memory 120, such as computer-readable memory (e.g., non-temporary computer-readable memory). Memory 120 may be RAM, ROM, non-volatile memory, flash memory, hard disk, or any other suitable type of memory. In some embodiments, the mobile robot 100 may comprise multiple memory components capable of storing different types of information or instructions for different functions or features. Memory 120 may contain instructions that can be executed by at least one processor 118 for implementing the controller 116 and / or for performing various functions and features disclosed herein. In some embodiments, the functions and / or features may be executed by an integrated circuit or other dedicated processor specifically configured to perform the functions and features disclosed herein. Depending on the circumstances, the controller 116 may comprise multiple control modules. Different tasks or functions may be performed by different control modules (e.g., different processors 118 and / or different sets of software instructions).

[0025] The mobile robot 100 may include a communication interface 122 used to transmit information from the mobile robot 100 and / or to receive information from a robot management system or other external devices. The communication interface 122 may be wireless, such as using WiFi, Bluetooth, or any other suitable wireless communication protocol. In some embodiments, the communication interface 122 may include a wired connection. For example, the communication interface 122 may include a port or plug configured to connect to a corresponding plug or port connected to an external device, enabling communication between them as needed. For example, a USB port may be used, but various types of ports or other wired connections may be used. If necessary, the user may connect a laptop, smartphone, or other computer device to the mobile robot 100 via the communication interface for parameter adjustment, diagnosis, function updates, etc. In some embodiments, the communication interface 122 may be used to communicate information regarding the mobile robot 100's position and / or trajectory, determined relative to a map of the mobile robot 100, with other mobile robots and / or robot management systems (such as those shown in Figure 3). Similarly, the communication interface 122 may be configured to receive a safe zone generated by another device.

[0026] The mobile robot 100 may include a user interface 124 used to receive input from a user and / or to provide output (e.g., information) to the user. The user interface 124 may be one or more buttons 126, switches, dials, or other user input elements, a touchscreen, a display, one or more lights, speakers, microphones, etc. Optionally, the user may provide input for adjusting parameters of the mobile robot 100. In some embodiments, the user interface 124 may allow input of information for determining the safety zone of the mobile robot 100.

[0027] The mobile robot 100 may be equipped with a power source 128, such as a battery. The battery may be rechargeable. The mobile robot 100 may be configured to dock with a recharging station (e.g., via an electrical interface) to recharge the battery. The power source 128 may provide power to operate the drive system 104 (e.g., one or more electric motors), various sensors and controllers, and other systems disclosed herein. The power source 128 may provide DC or AC power. Any suitable type of power source 128 may be used.

[0028] The mobile robot 100 may be equipped with a navigation system 130. The navigation system 130 may be used to perform pathfinding for the mobile robot 100. The navigation system 130 may receive a destination and / or one or more waypoints from a user interface 124 or a communication interface 122, etc. The navigation system 130 may receive environmental information (e.g., the location of an object) from an environmental sensor 112 and use that information to determine trajectory information for navigating the mobile robot 100 (e.g., toward a destination). The trajectory information may include a path or route from the robot's current position to a target position (e.g., a task position, another destination, or a waypoint). Optionally, the navigation system 130 may determine intermediate waypoints based on the environmental information. In some embodiments, the navigation system 130 may modify the trajectory information while the mobile robot 100 is moving. For example, if an object moves or a new object is detected (e.g., by an environmental sensor 112), the navigation system 130 may decide to change the path or route of the mobile robot 100. In some embodiments, the navigation system 130 is configured to perform a controlled stop if an object is detected within the safe zone of the mobile robot 100.

[0029] Figure 3 shows a schematic diagram of a mobile robot management system 200 capable of managing a fleet of mobile robots 100. While Figure 3 shows three mobile robots 100, the system 200 may manage any appropriate number of robots 100, such as 2, 4, 8, 12, 20, 30, 40, 50 or more, or any number or range in between. The robot management system 200 may manage the robots 100 in a factory, office, hospital, retail store, warehouse, or any other suitable facility where tasks are performed by the robots 100 in various locations. The robot management system 200 may include a controller 216 capable of operating various aspects of the robot management system 200 as described herein.

[0030] The robot management system 200 may comprise at least one processor 218, such as a hardware processor. The processor 218 may comprise circuitry configured to perform operations for various functions and features described herein, such as a system and method for determining map transformations between robots. In some embodiments, the robot management system 200 comprises multiple processors 218, and different tasks may be performed by different processors 218. The robot management system 200 may comprise memory 220, such as computer-readable memory (e.g., non-temporary computer-readable memory). Memory 220 may be RAM, ROM, non-volatile memory, flash memory, hard disk, or any other suitable type of memory. In some embodiments, the robot management system 200 may comprise multiple memory components capable of storing different types of information or instructions for different functions or features. Memory 220 may contain instructions that can be executed by at least one processor 218 for implementing the controller 216 and / or for performing various functions and features of the management system 200. In some embodiments, the functions and / or features of the robot management system 200 may be performed by an integrated circuit or other dedicated processor specifically configured to perform the functions and features disclosed herein. Optionally, the controller 216 may comprise multiple control modules. Different tasks or functions may be performed by different control modules (e.g., different processors 218 and / or different sets of software instructions).

[0031] The robot management system 200 may include a communication interface 222 used to transmit information from the robot management system 200 to the robot 100 and / or to other systems or devices. The communication interface 222 may receive information from the robot 100 and / or from other systems or devices. The communication interface 222 may be a wireless communication interface, such as using WiFi, Bluetooth, or any other suitable wireless communication protocol. In some embodiments, the communication interface 222 may include a wired connection. For example, the communication interface 222 may include a port or plug configured to connect to a corresponding plug or port connected to an external device, enabling communication between them as needed. For example, a USB port may be used, but various types of ports or other wired connections may be used. If necessary, the user may connect a laptop, smartphone, or other computer device to the robot management system 200 via the communication interface for purposes such as adjusting the parameters 234 of the robot management system 200, diagnosing or troubleshooting problems, or updating functions. The robot management system 200 may communicate with the robot 100 and / or other systems or devices via a network 226 (which may be a wireless network such as a WiFi network). The network 226 may be a shared network that communicates other types of information in addition to information related to the management of the robot fleet. In some embodiments, the network 226 may be a dedicated network used solely for the operation of the robot fleet. In some embodiments, the communication interface 222 may be used to communicate information about the position and / or trajectory of the mobile robot 100, determined against a map of individual mobile robots, to other mobile robots. Similarly, the communication interface 222 may be configured to communicate safety zone information to the mobile robot 100.

[0032] The robot management system 200 may communicate with external systems or devices, such as user devices 300, via the network 226 or by any other suitable method. User devices 300 may be a workstation or user terminal or other computing device located elsewhere within the facility where the robot fleet is used. For example, user devices 300 may be computers in a factory workstation, an office workstation, a nurse's station, a patient room, a POS station, an administrator's desk, or an office. User devices 300 may be mobile user devices such as smartphones or tablet computers. User devices 300 may transmit tasks assigned to robots 100 to the robot management system 200. Multiple user devices 300 may be used as needed. One or more user devices 300 may be located in the same environment as the mobile robots 100 or in a location separate from the environment where the mobile robots 100 are located (e.g., communicating via the internet or other wide-area network). User devices 300 may be used to provide input for determining safety zones.

[0033] The robot management system 200 may include a user interface 224 used to receive input from a user and / or to provide output (e.g., information) to the user. The user interface 224 may include one or more buttons, switches, dials, or other user input elements, a keyboard, a touchscreen, a display, one or more lights, speakers, microphones, etc. Optionally, the user may provide input for adjusting parameters of the robot management system 200 via the user interface 224 or a user device 300. In some embodiments, the user interface 224 may be used to input data used to generate updated safety zones that take into account carts or toppers used on the mobile robot 100.

[0034] The robot management system 200 may include a power supply 228, such as a wired power connection (configured to plug into an electrical outlet, for example). A battery (e.g., rechargeable) may be used as an option. The power supply 228 may provide power for operating the robot management system 200 disclosed herein. The power supply 228 may provide DC or AC power. Any suitable type of power supply 228 may be used.

[0035] Figure 4 shows an exemplary safety zone 301 of the mobile robot 100. As shown, in this example, the mobile robot 100 is equipped with two environmental sensors 112 (referred to as safety laser scanners in Figure 4) configured to detect objects within the field of view of each environmental sensor 112. As mentioned above, the environmental sensors 112 may be, for example, LiDAR sensors. In the illustrated example, the mobile robot 100 is equipped with a first environmental sensor 112 at a first corner and a second environmental sensor 112 at a second corner substantially opposite to the first environmental sensor. This configuration gives the mobile robot 100 the ability to detect objects in all aspects (e.g., front, back, right, and left). In other embodiments, other positions, arrangements, and numbers of environmental sensors 112 may be used.

[0036] Continuing to refer to Figure 4, the two environmental sensors 112 together provide a safety zone 301 around the mobile robot 100. In this example, the safety zone 301 surrounds the mobile robot 100 and extends to all sides of the mobile robot 100. The safety zone 301 includes an outer perimeter or boundary 302 offset from all sides of the mobile robot 100. When the environmental sensors 112 detect an object within the boundary 302, the mobile robot 100 performs a controlled stop to avoid collision with the object.

[0037] In the example in Figure 4, the safety zone 301 consists of two separate subzones 304 and 306. Each subzone 304 and 306 is provided by one of the environmental sensors 112. Together, the pair of subzones 304 and 306 form the safety zone 301 around the mobile robot 100. In the illustrated embodiment, the subzones 304 and 306 overlap at two corners of the mobile robot 100. In all embodiments, the subzones 304 and 306 do not need to overlap.

[0038] Figure 4 shows a safety zone 301 extending around the mobile robot 100 on the XY axes, with the center of the mobile robot 100 as the origin and units in millimeters. As will be explained in the following drawings, the shape and size of the safety zone 301 may change depending on the operating characteristics of the mobile robot 100. Therefore, Figure 4 shows only one example of the safety zone 301 to understand its basic principle.

[0039] Figure 5 shows multiple safety zones 301 for the mobile robot 100. In the illustrated example, seven different safety zones 301 are shown. In this example, only the outer boundaries of the safety zones 301 are shown, but each safety zone 301 contains a pair of subzones associated with two environmental sensors 112 as described above with reference to Figure 4. The seven safety zones 301 in Figure 5 are associated with the linear motion (e.g., forward motion) of the mobile robot 100. As illustrated, the safety zones 301 increase in size towards the forward direction of the mobile robot 100, from zone 1 to zone 7. Zone 1 is associated with slower speeds of the mobile robot 100. Zone 7 is associated with faster speeds of the mobile robot 100. Zones 2-6 in between are associated with different speeds between slow and fast speeds, respectively. The safety zones 301 of different sizes allow for consideration of the increased braking distance required when the mobile robot 100 is operated at higher speeds. In other words, when the mobile robot 100 is moving faster, the safety zone 301 extends further in front of the mobile robot 100 because the increased speed requires a greater distance for the mobile robot 100 to stop. Figure 5 shows the safety zone 301 associated with linear motion in the forward direction. Similarly, a safety zone 301 associated with linear motion in the backward direction can also be generated. Furthermore, the size and number of safety zones 301 shown in Figure 5 are merely illustrative and may vary depending on the configuration of the mobile robot 100. For example, the size and number of safety zones 301 may be selected based on the speed and deceleration of the mobile robot 100.

[0040] In some embodiments, the shape and size of the safety zone 301 associated with linear motion may be determined based on the maximum translational speed of the mobile robot 100 associated with the safety zone, the response time of the mobile robot 100 (e.g., how quickly the mobile robot 100 can detect an object and trigger action), a safety factor, and a maximum translational deceleration value (an indicator of the robot's braking force). Generally, as the maximum translational speed of the mobile robot 100 increases, the safety zone 301 relative to objects in the direction of travel also increases, as shown, to provide an additional braking distance to avoid collisions with objects.

[0041] Figure 6 shows additional safety zones 301 for the mobile robot 100. In the illustrated example, three different safety zones 301 are shown. In this example, only the outer boundaries of the safety zones 301 are shown, but each safety zone 301 may include a pair of subzones associated with two environmental sensors 112 as described above with reference to Figure 4. The three safety zones 301 in Figure 6 are associated with the rotational motion of the mobile robot 100, for example, when the mobile robot 100 is rotating in place and / or when the translational speed is slower (e.g., less than 100 mm / s). Zones 8 and 9 are associated with lower rotational speeds but for rotation in opposite directions (clockwise and counterclockwise). When rotating at slower speeds, the size of safety zones 8 and 9 is smaller. In the illustrated example, zones 8 and 9 are constructed by taking the geometric sum through the path where a simplified robot (e.g., a rectangle defined by the robot's maximum boundary) stops (including response time), and this is performed for both positive and negative translational velocities. Safety zone 301, shown as zone 10, is associated with faster rotations of the robot and provides a larger boundary around the mobile robot 100. In this example, the geometric sum process of the stopping path is performed four times, and the geometric sum of the resulting profiles is taken. From this polygon, the maximum radius from the robot's center is determined, and a circle is created. The shape of zone 10 is obtained by cutting off the top and bottom from this circle. The cut-off sections are defined by taking the minimum and maximum Y values ​​of the polygon formed by the geometric sum of the original four profiles. The specific safety zones 301 (zones 8-10) associated with rotational motion shown in Figure 6 are provided as examples. In other embodiments, a different number, size, and shape of safety zones 301 associated with rotational motion may be included.

[0042] Figures 7A and 7B each show multiple safety zones 301 for the mobile robot 100. In the illustrated examples, 11 different safety zones 301 are shown for each of Figures 7A (zones 11-21) and 7B (zones 22-32). In these examples, only the outer boundaries of the safety zones 301 are shown, but each safety zone 301 may include a pair of subzones associated with two environmental sensors 112 as described above with reference to Figure 4. The safety zones in Figures 7A and 7B are associated with the banking motion of the mobile robot 100, in which the mobile robot 100 performs both translational and rotational movements. Figure 7A shows zones 11-21 associated with left banking motion, and Figure 7B shows zones 22-32 associated with right banking motion. As illustrated, the shape of each safety zone extends both forward of the mobile robot 100 and in the direction of banking motion. As the size of the safety zone increases, the speed increases, and an additional braking distance can be ensured as described above. In the illustrated examples, the shape of the safety zone 301 in Figures 7A and 7B may be defined based on parameters such as the angle moved, rotational speed, maximum translational speed of the zone, response time of the mobile robot 100, safety factor, maximum translational deceleration, and maximum rotational deceleration. The specific safety zones 301 (zones 11 to 32) associated with the turning motion shown in Figures 7A and 7B are provided as examples. In other embodiments, different numbers, sizes, and shapes of safety zones 301 associated with the turning motion may be included.

[0043] Figures 5 to 7B illustrate multiple safety zones 301 of the mobile robot 100 under various operating conditions, such as linear motion, rotational motion in place, and turning motion, and also illustrate different safety zones associated with different speeds of the mobile robot 100. In use, the mobile robot 100 operates using one of these different safety zones 301 based on the current operating characteristics of the mobile robot 100 (e.g., current translational and / or rotational speeds, and type of motion). In this way, the mobile robot 100 can operate using the appropriate zone based on its operating characteristics. As described above, different numbers and / or shapes of safety zones 301 may be used.

[0044] Figures 4 to 7B illustrate a safety zone 301 relating to a mobile robot 100 equipped with sufficient environmental sensors 112 to detect objects in all aspects of the mobile robot 100. In some embodiments, some mobile robots 100 may only be equipped with sufficient environmental sensors 112 to detect objects on some sides of the mobile robot (e.g., only in front of the mobile robot 100). Therefore, in some embodiments, the safety zone does not completely enclose the mobile robot 100.

[0045] Figures 8A and 8B are side and top views of the mobile robot 100 used with a cart 400 (or other topper). In some examples, the mobile robot 100 is configured to carry and move the cart 400 or other topper on its top surface. As shown in Figure 8A, the mobile robot 100 is configured to be positioned below the cart 400. The cart 400 may have one or more support columns 402. As shown in Figure 8B, the cart 400 may overhang from the mobile robot having a front overhang, a rear overhang, a right overhang, and a left overhang. As shown in Figures 8A and 8B, in some examples, the cart 400 or other topper may overhang from the mobile robot 100 in one or more directions. When the mobile robot 100 is operated using the safety zone 301 described above with reference to Figures 4 to 7B, the overhanging portions of the cart 400 or other topper are not considered in the safety zone and may collide with objects. Therefore, it may be desirable to modify the safety zone 301 of the mobile robot 100, taking into account the size and shape of the cart 400 or other topper, so that the mobile robot 100 can operate safely with the cart or other topper.

[0046] Figure 9 shows an exemplary tool 500 that enables the creation of a safety zone that takes cart 400 (or other topper) into account in a simple and efficient manner. In the illustrated example, tool 500 has a user interface that allows the user to input information about cart 400 and mobile robot 100. Using the input information, tool 500 generates a new safety zone that takes cart 400 into account. Once generated, the new safety zone can be uploaded to or otherwise communicated to mobile robot 100 for use by mobile robot 100.

[0047] As shown in Figure 9, in the illustrated example, the tool 500 allows the user to input values ​​for the front overhang, rear overhang, left overhang, and right overhang. In some embodiments, these values ​​may be obtained using computer-aided design (CAD) software. For example, the overhangs may be determined using a CAD model of the cart 400 and a CAD model of the mobile robot 100. In other embodiments, these values ​​may be obtained by placing the cart 400 on the mobile robot 100 and measuring the distance the cart extends beyond the boundaries of the mobile robot 100 in the front, rear, left, and right directions. If necessary, these distances are measured manually and entered into the tool 500.

[0048] Furthermore, Figure 9 also shows that in some examples, the user can select the type of mobile robot 100 used with the cart 400, as indicated by the AMR type (Automated Mobile Robot Type) field. The tool 500 may be configured to access a database of different mobile robot types, including size and operating characteristics (e.g., translational and rotational speeds, translational and rotational deceleration, and the number and location of environmental sensors 112).

[0049] In some examples, once overhang information is entered into tool 500 and the type of mobile robot 100 is selected, the user can generate a new safety zone that takes the cart 400 into account by selecting the "Generate Zone" button. The new safety zone is generated taking into account the size of the cart 400. In some embodiments, multiple safety zones corresponding to linear motion, rotational motion, and turning motion at the speeds described above may be generated. These safety zones will be enlarged to account for the increased size of the cart.

[0050] In Figure 9, the tool 500 further has an input section that allows the user to input the number of pillars 402 associated with the cart 400. Considering the pillars 402 of the cart 400 when generating the updated safety zone is important because the pillars 402 are likely to be located within the safety zone and will be detectable as objects by the environmental sensor 112. Thus, the pillars can be considered static intruders within the safety zone that must be removed from the safety zone in order to operate the mobile robot 100.

[0051] Figure 10 shows a panel 505 associated with a tool 500 that allows the user to input information about the size and position of struts 402 so that struts can be taken into consideration when generating a safety zone. Panel 505 may be presented to the user after the user has entered the number of struts in the tool of Figure 9. As illustrated, in the illustrated embodiment, panel 505 allows the user to input the X and Y positions of each strut. The X and Y positions of the struts may be entered relative to the origin of the mobile robot 100 (as shown, for example, in Figure 11). Panel 505 may also allow the user to input the length and width of each strut. The length and width may be measured, for example, as shown in Figure 11. This allows each strut to be approximated as a rectangle positioned at the X and Y positions relative to the origin of the robot and having the entered length and width. Figure 10 also shows that, optionally, the system is configured to allow the user to input buffers to account for tolerances, measurement, or positioning errors. In some embodiments, the buffers are used to increase the entered strut length and width.

[0052] Once information about the pillar 402 is input to panel 505 of tool 500, tool 500 can generate a safety zone. In some examples, as a first step, tool 500 may be configured to generate cutouts necessary to exclude static intrusions of pillar 402 from the safety zone. This may include, for example, determining which parts of pillar 402 are visible to each environmental sensor. For example, in some embodiments, each environmental sensor may have a 270-degree field of view and see or detect only a portion of pillar 402. An exclusion region is then created from the environmental sensor toward the vertices of pillar 402 (e.g., outer edges). This allows determining the angle of each vertex relative to the environmental sensor. In some embodiments, the vertices with the minimum and maximum angles and the nearest other vertices may be used to define a polygon used to remove static intrusions caused by pillar 402. This is shown in Figure 11, where different line types are used to show the cutouts provided by different environmental sensors 112.

[0053] Once the cutout for the support column 402 is determined, new safety zones corresponding to the various safety zones described above can be generated, referring to Figures 4 to 7B. This is further based on the increased size of the cart 400 input by the measured overhang, with the determined cutout removed, referring to Figures 10 to 12.

[0054] Examples of updated safety zones 301, taking into account the cart 400 and support columns 402, are shown in Figures 13 to 15. Figures 13 to 15 provide only a few examples, and other sizes and shapes of safety zones may be determined to correspond to each safety zone 301 shown and described with reference to Figures 5 to 7B for different types of motion and speed of the mobile robot 100.

[0055] Figure 13 shows an exemplary first modified safety zone 301. As illustrated, the safety zone includes a perimeter or boundary surrounding the cart 400 and cutouts for the four posts of the cart 400. Figure 14 provides a similar example with eight posts. Figure 15 provides a similar example with four posts located in different positions than the four posts shown in Figure 13.

[0056] Figure 16 shows an exemplary method 600 for generating a safety zone for a mobile robot. Method 600 begins with block 602, which displays a user interface to the user. The user interface may include the tool 500 described above. In some embodiments, the user interface includes input fields that allow the user to enter the following items: a forward overhang associated with the forward distance to which the topper used on the mobile robot extends beyond the front edge of the mobile robot; a rear overhang associated with the rear distance to which the topper used on the mobile robot extends beyond the rear edge of the mobile robot; a left overhang associated with the left distance to which the topper used on the mobile robot extends beyond the left edge of the mobile robot; a right overhang associated with the right distance to which the topper used on the mobile robot extends beyond the right edge of the mobile robot; and the type of mobile robot.

[0057] In block 604, the method includes receiving user input for front overhang, rear overhang, left overhang, right overhang, and type of mobile robot. The user may determine the various overhangs by measuring, for example, as described above with reference to Figures 10 and 11. In some embodiments, the method 600 may further include accessing a database that stores information about multiple types of mobile robots. This information includes size, linear velocity information, rotational velocity information, linear deceleration information, rotational deceleration information, and environmental sensor information for each type of mobile robot. This information may be obtained based on the type of mobile robot entered in block 602. In some embodiments, input fields in the user interface further allow the user to input the number of struts associated with the topper, and the position and size associated with each strut.

[0058] In block 606, the method includes generating a safety zone for the mobile robot. For example, block 606 may include generating at least one safety zone for the operation of the mobile robot based on a front overhang, a rear overhang, a left overhang, a right overhang, and the type of mobile robot. The safety zone defines the boundary around the mobile robot that triggers a controlled stop of the mobile robot to avoid collision with an object. In some embodiments, the safety zone is further generated based on linear velocity information, rotational velocity information, linear deceleration information, rotational deceleration information, and environmental sensor information associated with the type of mobile robot.

[0059] In some embodiments, the safety zones include one or more safety zones associated with the linear motion of the mobile robot, one or more safety zones associated with the rotational motion of the mobile robot, and / or one or more safety zones associated with a combination of the linear and rotational motions of the mobile robot. In some embodiments, each of the one or more safety zones associated with the linear motion of the mobile robot is further associated with a range of linear velocity. In some embodiments, each of the one or more safety zones associated with the rotational motion of the mobile robot is associated with a range of rotational velocity. In some embodiments, each of the one or more safety zones associated with a combination of the linear and rotational motions of the mobile robot is associated with a range of linear velocity and a range of rotational velocity. In some embodiments, the safety zones are further generated based on the number, position, and size of the struts, so as to include one or more exclusion areas from the safety zones associated with each strut.

[0060] In block 608, the method includes transmitting a safety zone to a mobile robot via a communication module and causing the mobile robot to operate partially based on at least one safety zone.

[0061] In some embodiments, the methods, techniques, microprocessors, and / or controllers described herein are implemented by one or more dedicated computing devices. The dedicated computing device may include one or more digital electronic devices, such as application-specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs), that are hardwired to perform the Technique, or are permanently programmed to perform the Technique, or may include one or more general-purpose hardware processors programmed to perform the Technique in response to program instructions in firmware, memory, other storage, or a combination thereof. Instructions may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of non-temporary computer-readable storage medium. Furthermore, such a dedicated computing device may achieve the Technique in combination with custom hardwired logic, ASICs, or FPGAs with custom programming. The dedicated computing device may be a desktop computer system, a server computer system, a portable computer system, a handheld device, a networking device, or any other device or combination of devices incorporating hardwired and / or programmable logic to implement the Technique.

[0062] The microprocessors or controllers described herein may be controlled by operating system software. In other embodiments, computing devices may be controlled by their own operating systems. Conventional operating systems control and schedule computer processes for execution, perform memory management, provide file systems, networking, I / O services, and, among other things, provide user interface functions such as graphical user interfaces ("GUI").

[0063] The microprocessors and / or controllers described herein may implement the technologies described herein using customized hardwired logic, one or more ASICs or FPGAs, firmware, and / or program logic that makes the microprocessor and / or controller a dedicated machine. According to one embodiment, some of the technologies disclosed herein are executed by the controller in response to executing one or more instruction sequences contained in memory. Such instructions may be read into memory from another storage medium, such as a memory device. By executing the instruction sequences contained in memory, the processor or controller performs the process steps described herein. In alternative embodiments, hardwired circuits may be used instead of, or in combination with, software instructions.

[0064] Furthermore, various exemplary logic blocks and modules described in relation to the embodiments disclosed herein may be implemented or executed by machines such as processor devices, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination thereof, designed to perform the functions described herein. The processor device may be a microprocessor, but alternatively, the processor device may be a controller, microcontroller, or state machine, or a combination thereof. The processor device may include electrical circuits configured to process computer-executable instructions. In another embodiment, the processor device includes an FPGA or other programmable device that performs logical operations without processing computer-executable instructions. The processor device may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. Although this specification primarily describes digital technologies, the processor device may primarily include analog components. For example, some or all of the technologies described herein may be implemented in analog circuits or mixed analog and digital circuits.

[0065] Unless the context clearly indicates otherwise, terms such as “comprise,” “comprising,” “include,” and “including” throughout the specification and claims should be interpreted in a comprehensive sense, as opposed to an exclusive or exhaustive sense; that is, “includes, but not limited to.” The terms “coupled” or “connected” as commonly used herein refer to two or more elements that can be directly connected or connected by one or more intermediate elements. Furthermore, the terms “herein,” “above,” “below,” and similar terms, when used in this application, refer to the entire application and not to any particular part thereof. Where the context allows, terms used in the detailed description in singular or plural form also include their plural or singular forms. The term "or" in relation to a list of two or more items is intended to encompass all of the following interpretations of the term: any one of the items in the list, all of the items in the list, and any combination of the items in the list. All numerical values ​​provided herein are intended to include similar values ​​within the margin of error.

[0066] While this disclosure includes specific embodiments and examples, it will be understood by those skilled in the art that the scope of this disclosure extends beyond the specifically disclosed embodiments to other alternative embodiments and / or uses, as well as obvious modifications and equivalents thereof. In addition, while several variations of the embodiments are shown and described in detail, other modifications based on this disclosure will also be readily apparent to those skilled in the art. Furthermore, various combinations or partial combinations of the specific functions and aspects of the embodiments may be made, and these are also intended to fall within the scope of this disclosure. It should be understood that the various functions and aspects of the disclosed embodiments may be combined or substituted for each other to form various forms of the embodiments. No method disclosed herein has to be performed in the order described. Accordingly, the claims are not intended to be limited to the specific embodiments described above.

[0067] Conditional language such as “can,” “could,” “might,” or “may,” unless otherwise specified or understood in the context in which they are used, is generally intended to convey that a particular embodiment includes certain features, elements, and / or steps, while other embodiments do not. Therefore, such conditional language is not generally intended to suggest that features, elements, and / or steps are essential in any way to one or more embodiments, or that one or more embodiments necessarily include logic for determining whether these features, elements, and / or steps should be included in or performed in a particular embodiment, with or without user input or prompting. Any headings used herein are for the convenience of the reader only and are not intended to limit the scope of the claims.

[0068] Furthermore, the apparatus, systems, and methods described herein may be subject to various modifications and alternative forms, specific examples of which are shown in the drawings and described in detail herein. However, this disclosure is not limited to any particular form or method disclosed; rather, it should be understood that this disclosure covers all modifications, equivalents, and alternatives that fall within the spirit and scope of various embodiments. Furthermore, any disclosure of specific features, aspects, methods, characteristics, qualities, attributes, elements, etc., in this specification relating to a particular implementation or embodiment may also be applicable to all other implementations or embodiments described herein. No method disclosed herein is required to be performed in the order described herein. A method disclosed herein may include specific actions taken by practitioners, and the method may include, explicitly or implicitly, instructions for such actions to any third party.

[0069] Any scope disclosed herein includes any and all overlaps, subscopes, and combinations thereof. Terms such as “up to,” “at least,” “greater than,” “less than,” and “between” include the stated numerical value. Numbers preceded by terms such as “about” or “approximately” include the stated numerical value and should be interpreted on a case-by-case basis (e.g., as accurate as reasonably possible under the circumstances, e.g., ±5%, ±10%, ±15%). For example, “about 3.5 mm” includes “3.5 mm.” Expressions preceded by terms such as “substantially” include the expression and should be interpreted on a case-by-case basis (e.g., as accurate as reasonably possible under the circumstances). For example, “substantially constant” includes “constant.”

Claims

1. A system for generating at least one safety zone for a mobile robot, Processor and, A computer-readable memory that communicates with the processor and stores instructions that can be executed by the processor, Equipped with, The aforementioned instruction includes displaying a user interface to the user on the display, The aforementioned user interface is A topper used on a mobile robot has a forward overhang associated with the forward distance that extends beyond the front edge of the mobile robot, The topper used on the mobile robot has a rear overhang associated with the distance in the rear direction that extends beyond the rear edge of the mobile robot, The topper used on the mobile robot has a left overhang associated with a leftward distance that extends beyond the left edge of the mobile robot, The topper used on the mobile robot has a right-side overhang associated with a rightward distance extending beyond the right-side edge of the mobile robot, The type of the aforementioned mobile robot, Includes an input field that allows the user to enter, The instruction includes causing the system to generate at least one safety zone for the operation of the mobile robot based on the front overhang, the rear overhang, the left overhang, the right overhang, and the type of the mobile robot, The safety zone defines the boundary around the mobile robot where an object detected by the mobile robot's environmental sensor triggers a control stop of the mobile robot to avoid a collision with the object. system.

2. It also includes a communication module, The system according to claim 1, wherein the instruction further includes causing the system to transmit the at least one safety zone to the mobile robot and to operate the mobile robot based in part on the at least one safety zone.

3. The aforementioned at least one safety zone includes a plurality of safety zones, The aforementioned multiple safety zones are, One or more safety zones associated with the linear motion of the mobile robot, One or more safety zones associated with the rotational motion of the mobile robot, One or more safety zones associated with a combination of linear motion and rotational motion of the mobile robot, The system according to claim 1, including the following:

4. One or more safety zones associated with the linear motion of each mobile robot are further associated with a range of linear speeds, One or more safety zones associated with the rotational motion of each mobile robot are further associated with a range of rotational speeds. One or more safety zones associated with the combination of linear and rotational motion of each mobile robot are further associated with ranges of linear and rotational speeds. The system according to claim 3.

5. The instruction further states to the system: This includes providing access to a database that stores information about multiple types of mobile robots, The aforementioned information includes, for each of the multiple types of the mobile robot, size, linear velocity information, rotational velocity information, linear deceleration information, rotational deceleration information, and environmental sensor information. The system according to claim 1.

6. The system according to claim 5, wherein the at least one safety zone is generated based on the linear velocity information, the rotational velocity information, the linear deceleration information, the rotational deceleration information, and the environmental sensor information associated with the type of mobile robot.

7. The system according to claim 1, wherein the input field of the user interface further allows the user to input the number of posts associated with the topper, and the position and size associated with each post.

8. The system according to claim 7, wherein the at least one safety zone is generated based on the number, position, and size of the support columns, and the at least one safety zone includes one or more exclusion areas from the safety zone associated with each support column.

9. The system according to claim 1, wherein the environmental sensor includes a LiDAR sensor.

10. The system according to claim 1, wherein the at least one safety zone includes a pair of subzones associated with each of the pair of environmental sensors of the mobile robot.

11. A method for generating at least one safety zone for a mobile robot, This includes displaying a user interface to the user on a display, The aforementioned user interface is A topper used on a mobile robot has a forward overhang associated with the forward distance that extends beyond the front edge of the mobile robot, The topper used on the mobile robot has a rear overhang associated with the distance in the rear direction that extends beyond the rear edge of the mobile robot, The topper used on the mobile robot has a left overhang associated with a leftward distance that extends beyond the left edge of the mobile robot, The topper used on the mobile robot has a right-side overhang associated with a rightward distance extending beyond the right-side edge of the mobile robot, The type of the aforementioned mobile robot, Includes an input field that allows the user to enter, The aforementioned method, This includes receiving user input regarding the front overhang, the rear overhang, the left overhang, the right overhang, and the type of the mobile robot, and generating at least one safety zone for the operation of the mobile robot based on the front overhang, the rear overhang, the left overhang, the right overhang, and the type of the mobile robot, The safety zone defines the boundary around the mobile robot where an object detected by the mobile robot's environmental sensor triggers a control stop of the mobile robot to avoid a collision with the object. method.

12. The method according to claim 11, further comprising transmitting the at least one safety zone to the mobile robot via a communication module and operating the mobile robot based in part on the at least one safety zone.

13. The aforementioned at least one safety zone includes a plurality of safety zones, The aforementioned multiple safety zones are, One or more safety zones associated with the linear motion of the mobile robot, One or more safety zones associated with the rotational motion of the mobile robot, One or more safety zones associated with a combination of linear motion and rotational motion of the mobile robot, The method according to claim 11, including the method described in claim 11.

14. One or more safety zones associated with the linear motion of each mobile robot are further associated with a range of linear speeds, One or more safety zones associated with the rotational motion of each mobile robot are further associated with a range of rotational speeds. One or more safety zones associated with the combination of linear and rotational motion of each mobile robot are further associated with ranges of linear and rotational speeds. The method according to claim 13.

15. This further includes accessing a database that stores information about multiple types of mobile robots, The aforementioned information includes size, linear velocity information, rotational velocity information, linear deceleration information, rotational deceleration information, and environmental sensor information for each of the plurality of types of the mobile robot. The method according to claim 11.

16. The method according to claim 15, wherein the at least one safety zone is generated based on the linear velocity information, the rotational velocity information, the linear deceleration information, the rotational deceleration information, and the environmental sensor information associated with the type of mobile robot.

17. The method according to claim 11, wherein the input field of the user interface further allows the user to input the number of posts associated with the topper, and the position and size associated with each post.

18. The method according to claim 17, wherein the at least one safety zone is generated based on the number, position, and size of the support columns, and the at least one safety zone includes one or more exclusion areas from the safety zone associated with each support column.

19. The method according to claim 11, wherein the environmental sensor includes a LiDAR sensor.

20. The method according to claim 11, wherein the at least one safety zone includes a pair of subzones associated with each of the pair of environmental sensors of the mobile robot.

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