When a non-operable notification is output from any of a plurality of operating vehicles, an operation schedule creator creates a substitute vehicle introduction operation schedule based on planned stopping times and a target velocity determined by a normal operation schedule, as an operation schedule to be provided, to each of operating vehicles other than a non-operable vehicle which has output the non-operable notification, when the operating vehicle passes an operation schedule updating location for a first time after the non-operable notification is output.

Traveling according to a predefined target speed with each leg of a leg wheel robot grounded in a movement range corresponding to each leg can be performed even on a travel surface such as stairs. Travel surface information of the leg wheel robot that travels while alternately switching a grounding period in which traveling is performed with the wheels at the leg tips grounded to the travel surface and a free leg period in which the wheels at the leg tips are separated from the travel surface is acquired, a movement range corresponding to each leg in which the legs of the leg wheel robot can travel while being grounded to the travel surface is calculated, and track information of the legs for causing the leg wheel robot to travel with each leg grounded to the movement range corresponding to each leg according to a predefined target speed is generated.

Systems and methods for performing high-speed geofencing in accordance with various embodiments of the invention are disclosed. One embodiment includes a robotics platform including a set of one or more motors, at least one sensor, a controller comprising a set of one or more processors, and a memory containing a controller application and a backup controller application, wherein the controller application configures the set of processors to control the robotics platform by performing the steps of receiving user commands, generating commands controlling the set of one or more motors based on the received commands. The backup controller application configures the set of processors to monitor the controller and intervene as the commands received by the controller direct the robotics platform towards a boundary by performing the steps of defining a safe set identifying positions where the robotics platform is safe, defining an invariant safe set based upon a backup set, where the invariant safe set is a subset of the safe set, and the backup set is a subset of both the invariant safe set and the safe set, receiving commands controlling the set of one or more motors to track to a desired velocity, determining if the robotic platform is approaching, and upon a determination that the robotics platform is approaching a boundary of the invariant safe set, switching control of the motors from the received commands to a combination of the received commands and backup controls generated by the backup controller application.

Mobile devices, control systems and programs are disclosed. In one example, a mobile device performs different processing when an approaching object is a human. The mobile device includes a control unit that performs traveling control. It receives input detection information of a sensor on the mobile device and uses that to determine whether an approaching object is a human. In the case where the control unit determines that the object is a human, the mobile device stops after setting an article mounted in the mobile device in a direction of being visible to the human. In the case where the control unit determines that the object is not a human, the control unit stops or backs the mobile device or changes a traveling direction of the mobile device so as to avoid collision with the object.

Mobile devices, control systems and programs are disclosed. In one example, a mobile device performs different processing when an approaching object is a human. The mobile device includes a control unit that performs traveling control. It receives input detection information of a sensor on the mobile device and uses that to determine whether an approaching object is a human. In the case where the control unit determines that the object is a human, the mobile device stops after setting an article mounted in the mobile device in a direction of being visible to the human. In the case where the control unit determines that the object is not a human, the control unit stops or backs the mobile device or changes a traveling direction of the mobile device so as to avoid collision with the object.

A server 3 includes a user dynamic data recognition unit 3a1 that recognizes, during guidance, user dynamic data; a guidance request estimation unit 3c that estimates a guidance request of a user during the guidance, based on the user dynamic data; and a guidance action determination unit 3f that determines a guidance action to be taken by a robot 2 during the guidance, based on the estimated guidance request.

Systems and methods for operating a mining machine with respect to a geofence. One system includes an electronic processor configured to determine a first virtual operation zone positioned around the mobile industrial machine, where the first virtual operation zone is a dynamic area around the mobile industrial machine. The electronic processor is also configured to modify a parameter of the first virtual operation zone.

An embodiment mobility guidance system includes a sensor provided in a mobility and configured to capture a driving video or an image to transmit the driving video or the image, a memory configured to store a danger zone image, a detector configured to compare the driving video or the image captured by the sensor with the danger zone image stored in the memory to detect an existence of a danger zone on a driving path of the mobility, and a guide configured to set a guide zone in response to the detector detecting the existence of the danger zone and a change in a speed or an acceleration of the mobility, and to provide the guide zone to a second mobility.

An embodiment mobility guidance system includes a sensor provided in a mobility and configured to capture a driving video or an image to transmit the driving video or the image, a memory configured to store a danger zone image, a detector configured to compare the driving video or the image captured by the sensor with the danger zone image stored in the memory to detect an existence of a danger zone on a driving path of the mobility, and a guide configured to set a guide zone in response to the detector detecting the existence of the danger zone and a change in a speed or an acceleration of the mobility, and to provide the guide zone to a second mobility.

A dock assembly is provided. The dock assembly is configured for docking with a robot. An alignment platform of said dock assembly is configured to receive a sweeper module from the robot when the robot is docked and said sweeper module disengages from the robot. The alignment platform has a plurality of cones positioned on a top side of the alignment platform. The plurality of cones are configured to engage a plurality of holes positioned on an underside of the sweeper module when the sweeper module becomes disengaged from the robot. The plurality of cones enable self-alignment of the alignment platform to the sweeper module as the plurality of cones engage the plurality of holes. The alignment platform has a plurality of support pads positioned on a bottom side of the alignment platform. The support pads are configured to rest on a plurality of bearings that permit lateral movement of the alignment platform when the plurality of cones engage the plurality of holes and the alignment platform self-aligns to the sweeper module.