Autonomous mobile entity (AME) risk monitoring and maneuvering systems

Patent metadata

Field	Value
Publication number	US-12504737-B2
Application number	US-202117556925-A
Country	US
Kind code	B2
Filing date	Dec 20, 2021
Priority date	Dec 20, 2021
Publication date	Dec 23, 2025
Grant date	Dec 23, 2025

Abstract

Various systems and methods for detecting risk conditions in a physical workspace. An apparatus can include an interface to receive smart sensor signals from at least one autonomous mobile entity (AME) in the physical workspace. The apparatus can also include processing circuitry coupled to the interface to detect a risk condition associated with the at least one AME, based on the smart sensor signals, relative to a user device associated with a human present in the physical workspace. The processing circuitry can also detect a direction of the risk condition relative to the user device and cause a notification to the first user device. The notification can indicate the direction of the risk condition relative to the user device. Other systems, methods and apparatuses are described.

First claim

What is claimed is:

1 . An apparatus comprising:
an interface to receive smart sensor signals from at least one autonomous mobile entity (AME) in a physical workspace; and processing circuitry coupled to interface and configured to:
detect a risk condition associated with the AME, based on the smart sensor signals, relative to at least a first user device associated with a human present in the physical workspace;
detect a direction of the risk condition relative to a position of the first user device in the physical workspace and a direction of an estimated gaze of the human associated with the first user device, wherein the direction of the risk condition is associated with a first vector and the direction of the estimated gaze is associated with a second vector; and
cause a notification to the first user device, the notification including information that indicates the direction of the risk condition relative to the position of the first user device and the direction of the estimated gaze of the human, wherein the notification is customized based on a distance to the risk condition and an angle between the first vector and the second vector.

2 . The apparatus of claim 1 , wherein the notification varies by at least one of a volume level and a frequency level of the notification depending on a level of severity of the risk condition.

3 . The apparatus of claim 2 , wherein the processing circuitry is further configured to detect time until an encounter between the first user device and the risk condition, and wherein the level of severity of the risk condition is based on the time remaining to the encounter.

4 . The apparatus of claim 3 , wherein the processing circuitry is further configured to predict locations of the AME based on a planned path of the AME.

5 . The apparatus of claim 1 , wherein the notification varies by at least one of a noise level, a frequency level and a level of a tactile signal of the notification depending on a proximity of the risk condition to the first user device.

6 . The apparatus of claim 1 , wherein the processing circuitry is further configured to detect a direction of the risk condition relative to a second user device associated with another human present in the physical workspace, and wherein the direction of the risk condition relative to the second user device is different from the direction of the risk condition relative to the first user device.

7 . The apparatus of claim 1 , wherein the processing circuitry is configured to provide, based on an estimated field of view of the first user device and location of the risk condition, a stereo effect to generate the notification as originating at the location of the risk condition when sensed by the human associated with the first user device.

8 . The apparatus of claim 1 , wherein the notification includes a visual output indicating a direction of the risk condition relative to the apparatus.

9 . The apparatus of claim 1 , wherein the interface comprises a Bluetooth interface.

10 . The apparatus of claim 1 , further comprising circuitry to detect a physical location of the apparatus, and wherein the apparatus is configured to provide location information of the physical location over the interface.

11 . The apparatus of claim 1 , wherein the processing circuitry is further configured to:
generate a digital map of the physical workspace; and generate a risk profile map of the physical workspace based on the digital map, the smart sensor signals, and the position of the first user device.

12 . The apparatus of claim 11 , wherein the processing circuitry is further configured to cause the notification to at least one of the AME and the first user device upon detecting a potential intersection in the risk profile map of movement of the AME and the human associated with the first user device.

13 . A non-transitory computer-readable medium including instructions that, when executed on a processor, cause the processor to perform operations including:
receiving sensor signals from at least one autonomous mobile entity (AME) and at least one user device within a geographical location, the at least one user device associated with a human present in the geographical location; generating a risk profile map of the geographical location, based on a digital map of the geographical location, and based on the sensor signals received from the AME and the at least one user device; detecting a risk condition associated with the AME relative to the at least one user device, based on the sensor signals; detecting a direction of the risk condition relative to a position of the at least one user device in the geographical location and a direction of an estimated gaze of the human associated with the at least one user device, wherein the direction of the risk condition is associated with a first vector and the direction of the estimated gaze is associated with a second vector; and causing a notification to be provided to the at least one user device upon detecting a potential intersection in the risk profile map of movement of the AME and the at least one user device, the notification including information that indicates the direction of the risk condition relative to at least the position of the at least one user device and the direction of the estimated gaze of the human, wherein the notification is customized based on a distance to the risk condition and an angle between the first vector and the second vector.

14 . The non-transitory computer-readable medium of claim 13 , wherein the operations further include:
receiving input from at least one camera within the geographical location; and causing the notification to be transmitted upon detecting motion of the AME within a range of the at least one camera.

15 . The non-transitory computer-readable medium of claim 13 , wherein the notification comprises a notification to adapt a path of the AME.

16 . The non-transitory computer-readable medium of claim 13 , wherein the notification comprises a notification to adapt a speed of the AME.

17 . The non-transitory computer-readable medium of claim 14 , wherein a speed of the AME is determined based on a reaction policy retrieved from a memory.

18 . The non-transitory computer-readable medium of claim 17 , wherein the reaction policy includes at least two of speed thresholds, areas to avoid, and wait times based on traffic details within the geographical location.

19 . The non-transitory computer-readable medium of claim 13 , wherein at least one of the sensor signals comprises a camera signal received from the at least one user device.

20 . A system for notifying of risk in a physical workspace, the system comprising:
means for receiving smart sensor signals from at least one autonomous mobile entity (AME) in the physical workspace; means for detecting a risk condition associated with the AME, based on the smart sensor signals, relative to at least a first user device associated with a human present in the physical workspace; means for detecting a direction of the risk condition relative to a position of the first user device in the physical workspace and a direction of an estimated gaze of the human associated with the first user device, wherein the direction of the risk condition is associated with a first vector and the direction of the estimated gaze is associated with a second vector; and means for causing a notification to be provided to at least the first user device, the notification including informat

Assignees

• Intel Corp

Inventors

• Mirus Florian
• Oboril Fabian
• Pasch Frederik
• Buerkle Cornelius
• Scholl Kay-Ulrich
• Singh Ruchika
• Chattopadhyay Rita
• Ferzli Rony
• Beaumont Thierry

Classifications

• G05B19/41895 Primary

  using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00) · CPC title

• G05B19/4183

  characterised by data acquisition, e.g. workpiece identification · CPC title

• G05B2219/40202

  Human robot coexistence · CPC title

• G05B2219/39091

  Avoid collision with moving obstacles · CPC title

• G05B2219/31003

  Supervise route, reserve route and allocate route to vehicle, avoid collision · CPC title