US 11,941,987 B2
Mobile robot having collision avoidance system for crossing a road from a pedestrian pathway
Ahti Heinla, Tallinn (EE); Risto Reinpõld, Harjumaa (EE); and Kristjan Korjus, Tallinn (EE)
Assigned to Starship Technologies OÜ, Tallinn (EE)
Filed by STARSHIP TECHNOLOGIES OÜ, Tallinn (EE)
Filed on Jan. 17, 2022, as Appl. No. 17/577,278.
Application 17/577,278 is a continuation of application No. 16/387,978, filed on Apr. 18, 2019, granted, now 11,227,497.
Application 16/387,978 is a continuation of application No. 15/695,157, filed on Sep. 5, 2017, granted, now 10,282,995, issued on May 7, 2019.
Prior Publication US 2022/0139226 A1, May 5, 2022
Int. Cl. G08G 1/16 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G08G 1/01 (2006.01)
CPC G08G 1/166 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0223 (2013.01); G08G 1/0104 (2013.01); G08G 1/161 (2013.01); G05D 1/0246 (2013.01); G05D 1/0255 (2013.01); G05D 1/0257 (2013.01); G05D 2201/0213 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A road crossing mobile robot configured to avoid collisions while crossing a road at a pedestrian crossing, the mobile robot comprising:
at least one first sensor configured to sense road conditions;
at least one second sensor configured to sense road conditions; and
a processor connected to the at least one first sensor and to the at least one second sensor, and configured to:
determine, based on the second sensor, a change in the road conditions indicating that a hazardous approaching object is on a trajectory that intersects a trajectory of the mobile robot within a certain minimum limit, wherein the trajectory of the mobile robot comprises crossing the road from a pedestrian pathway; and
cause the mobile robot to initiate a collision avoidance maneuver in response to determining said change in road conditions, to thereby avoid a collision with the hazardous approaching object;
wherein, in response to said change in road conditions:
the mobile robot is configured to check if an object is behind the mobile robot and/or check if an object is in front of the mobile robot; and
the processor is further configured to cause the mobile robot to:
move backward, if no object is detected behind the mobile robot; and
move forward, if an object is detected behind the mobile robot and no object is detected ahead of the mobile robot.