Signaling device and system for increasing visibility of a mobile robot

Patent metadata

Field	Value
Publication number	US-11250741-B2
Application number	US-201916677344-A
Country	US
Kind code	B2
Filing date	Nov 7, 2019
Priority date	May 11, 2017
Publication date	Feb 15, 2022
Grant date	Feb 15, 2022

Abstract

A signaling device for increasing visibility of a mobile robot. The signaling device comprises a signaling section, a body section, and a base section. The invention also discloses a system for increasing visibility of a mobile robot. The system comprises a mobile robot, a signaling device attached to the mobile robot and a remote terminal configured to at least one of monitoring and controlling at least one of the mobile robot and the signaling device.

First claim

We claim:

1. A signaling device configured with a mobile robot comprising:
(a) a base section, attached with a rotational joint to a substantially vertical side of the mobile robot, said rotational joint allowing the signaling device to rotate clockwise and/or anticlockwise with respect to an axis perpendicular to a surface of the rotational joint between the signaling device and the mobile robot, the rotational joint configured to return the signaling device to an equilibrium position;
(b) a body section comprising a mast, the body section flexibly attached to the base section at a lower extreme of the body section; and
(c) a signaling section at an upper portion of the body section, wherein
the signaling section comprises a plurality of display areas centrally and/or radially arranged with respect to a longitudinal axis of a neighboring section of the body section.

2. The signaling device of claim 1 , wherein the plurality of display areas comprises 3 to 5 display areas.

3. The signaling device of claim 1 , wherein the display areas are equiangularly distributed with respect to the longitudinal axis of the neighboring section of the body section.

4. The signaling device of claim 1 , wherein the plurality of display areas comprises three display areas, each of having a basic projective shape of a triangle, being further oriented with a straight edge at or close to a longitudinal axis of a neighboring section of the body section, with an opposite corner to that straight edge, the corner being opposite to an upper section of the straight edge, and at least one of the edges connecting the corner with the straight edge having a convex shape.

5. The signaling device of claim 1 ,
wherein the base section comprises a flexible component configured to bend when an external force acts on the signaling device when the signaling device is attached to the mobile robot.

6. The signaling device of claim 5 , wherein the flexibility component comprises a spring configured to bend when the signaling device is under influence of an external force when the signaling device is attached to the mobile robot, and wherein the spring has a spring constant of 5 to 20 N/mm, preferably of 10 to 15 N/mm.

7. The signaling device of claim 1 , wherein the rotational joint comprises a second spring, configured to guide rotation of the signaling device, and wherein the second spring is further configured to return the signaling device to an equilibrium position.

8. The signaling device of claim 7 , wherein the second spring comprises a torsion coefficient of 5 to 20 N mm/degree.

9. The signaling device of claim 1 wherein at least one of the signaling section and the body section of the signaling device further comprises at least one light emitting device (LED) and/or high intensity LED.

10. The signaling device of claim 9 , wherein the at least one light emitting device comprises a plurality of LEDs arranged in a linear manner forming a line or array of LEDs.

11. The signaling device of claim 9 , wherein the LED(s) are configured to be controlled to provide at least one of:
a. fading,
b. spinning,
c. flashing,
d. a dimmed function,
e. a normal intensity, and/or
f. a high intensity.

12. The signaling device of claim 9 , wherein the at least one light emitting device is configured to create a plurality of light patterns to signal respective messages for each light pattern.

13. The signaling device of claim 1 wherein the plurality of display areas comprise three flat display areas radially arranged with respect to a longitudinal axis of a neighboring section of the body section and provided with a 120° angle between neighboring display areas and at least one, in each row are at least arranged in the signaling section to form a light emitting device with omnidirectional high intensity light emitting devices (LEDs) between neighboring display areas, with at least one of a light emitting angle of at least 120° and a maximum power of at least 1 W.

14. The signaling device of claim 1 , wherein the display areas comprise at least one of passive content and/or active content.

15. The signaling device of claim 1 , wherein the body section comprises an elongated member and wherein the elongated member comprises a length of 10 to 130 cm, and a diameter of 5 to 12 mm, and wherein the elongated member comprises at least one telescoping section, said section electrically driven and fixable in height.

16. The signaling device of claim 1 , wherein the body section further comprises reflective coating and at least one light emitting device.

17. A method of operating a robot with a signaling device according to claim 1 , the method comprising:
(a) providing at least one LED, in or at at least one of a signaling section and an elongated member configured to support the signaling section with respect to the robot; and
(b) controlling the at least one LED at least as follows:
(i) to dim the at least one LED while moving the robot on walkways; and/or
(ii) in a road crossing mode:
(1) to fade and/or to spin when the robot is preparing and/or waiting before crossing the road, and/or
(2) to flash with a first frequency when the robot is crossing the road, and/or
(3) to flash with a second frequency that is higher than the first frequency when during road crossing of the robot a potential danger is detected by the robot.

18. The signaling device of claim 1 , wherein the mobile robot has a height of 20-100 cm, and wherein the signaling device has a height of between 100 and 250 cm.

19. The signaling device of claim 1 , wherein the mast has a length of 10 cm to 130 cm.

20. The signaling device of claim 1 , wherein the display areas are essentially flat and/or have a projected surface of at least 90 cm 2 .

21. The signaling device of claim 1 , wherein the display areas have a projected surface of at least 150 cm 2 , more preferably 200 cm 2 , even more preferably at least 300 cm 2 , most preferably around 360 cm 2 .

22. A system for increasing visibility of a mobile robot, the system comprising:
(a) a signaling device attached to a side of the mobile robot with a rotational joint and configured to at least one of increasing the visibility of the mobile robot and providing additional signaling for the mobile robot, wherein the rotational joint allows the signaling device to rotate clockwise and/or anticlockwise with respect to an axis perpendicular to the side of the rotational joint between the signaling device and the mobile robot, the rotational joint configured to return the signaling device to an equilibrium position; and
(b) a remote terminal configured to at least one of monitoring and controlling at least one of the mobile robot and the signaling device.

23. The system in accordance with claim 22 and wherein the signaling device further comprises a power source and/or control circuitry configured to at least one of (i) supplying at least one light emitting device with power, and/or (ii) controlling the at least one light emitting device, wherein the mobile robot comprises a power and/or control circuitry and wherein the power source and/or control circuitry of the signaling device is fully integrated with the power and/or control circuitry of the mobile robot.

24. The system of claim 22 , wherein the signaling device further comprises at least one light emitting device, wherein the remote terminal monitoring and/or controlling the mobile robot controls the at least one

Assignees

• Starship Tech Oue

Inventors

• Liivik Märt
• Macks Andrew
• Zimmermann Markus
• Viilup Siim
• Järve Markus
• Liivik Tiit
• Seppänen Mikko
• Mäkelä Antti

Classifications

• B60Q1/2657

  mounted on a shaft, e.g. telescopic · CPC title

• B60Q1/0491

  Shock absorbing devices therefor · CPC title

• B60Q1/507

  specific to autonomous vehicles · CPC title

• B60Q1/503

  using luminous text or symbol displays in or on the vehicle, e.g. static text · CPC title

• G08B5/00

  Visible signalling systems, e.g. visible personal calling systems or remote indication of seats occupied · CPC title