US 11,833,693 B2
Method for safeguarding the work area of a mobile logistics robot using adaptive protection zones
Dennis Schuthe, Tostedt (DE); Abel Bengt, Luneburg (DE); and Ralf Koenig, Adendorf (DE)
Assigned to STILL GmbH, Hamburg (DE)
Appl. No. 17/277,176
Filed by STILL GmbH, Hamburg (DE)
PCT Filed Sep. 19, 2019, PCT No. PCT/EP2019/075122
§ 371(c)(1), (2) Date Mar. 17, 2021,
PCT Pub. No. WO2020/064490, PCT Pub. Date Apr. 2, 2020.
Claims priority of application No. 10 2018 007 724.2 (DE), filed on Sep. 28, 2018; and application No. 10 2018 126 216.7 (DE), filed on Oct. 22, 2018.
Prior Publication US 2021/0370512 A1, Dec. 2, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1674 (2013.01); G05B 2219/37631 (2013.01); G05B 2219/40298 (2013.01); G05B 2219/50393 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method for the protection of a work area of a mobile logistics robot in a changing work environment, the method comprising:
controlling the mobile logistics robot using a control system;
scanning a current work environment using a sensor system;
monitoring the current work environment using a safety system,
wherein the control system autonomously defines a planned safe work area in a new work environment, and the safety system autonomously verifies and monitors the planned safe work area as a clear protection zone, and in the event of a breach of the clear protection zone by an entry of an object into the clear protection zone, the mobile logistics robot is automatically placed in a safe status,
wherein the control system iteratively applies a predefined set of protection zones to the new work environment, whereby the following algorithm is used:
1) Selection of a protection zone of the predefined set of protection zones that is small, to be a selected protection zone,
2) Verification by the safety system whether the selected protection zone is clear,
2a) If the selected protection zone is verified as clear: continue with step 3),
2b) If the selected protection zone is verified as occupied: continue to step 5),
3) Selection of a protection zone of the predefined set of protection zones that is next largest, to be the selected protection zone,
4) Continue with step 2),
5) Definition of the planned safe work area as a protection zone that was last verified as clear;
wherein the predefined set of protection zones comprises at least two protection zones, and
wherein at least one protection zone of the predefined set of protection zones is verified as clear, and at least one protection zone of the predefined set of protection zones is verified as occupied.