Device, system and method for assisting mobile robots in autonomously crossing roads

Abstract

The current invention relates to a traffic detection device, including a sensor configured to detect an object of interest within its field of view, an energy supply unit, a communication unit, and a housing configured to encase all other components. Further, the present invention also relates to a system and method for assisting mobile robots. The system comprises at least one mobile robot configured to navigate in an unstructured outdoor environment as a traffic participant and at least one traffic detection system, wherein the traffic detection device is configured to assist the mobile robot by providing additional sensor data. The method includes a mobile robot approaching a road crossing, requesting assistance for the mobile robot, a traffic detection device providing at least one assistive function, and in response to the assistive function, the mobile robot crossing the road.

Claims

1. A traffic detection device comprising a sensor configured to detect an object of interest within its field of view; an energy supply unit; a communication unit; and a housing configured to encase all other components.

2. The traffic detection device according to claim 1, wherein the sensor is configured to detect at least one of: speed of any object of interest within its field of view; and/or distance to any object of interest within its field of view; and/or direction of travel of any moving object of interest within its field of view.

3. The traffic detection device according to claim 1, wherein the sensor comprises a range R1 and wherein the range R1 is up to 200 m.

4. The traffic detection device according to claim 1, wherein the sensor comprises at least one of a radar sensor, and/or a visual mono or stereo camera, and/or a time-of-flight camera, and/or a Lidar sensor.

5. The traffic detection device according to claim 1, wherein the traffic detection device comprises a mounting configured to securely fasten the housing to a support structure.

6. The traffic detection device according to claim 1, wherein the communication unit is configured to amplify and/or extend a present wireless network, and wherein the wireless network provided by the communication unit comprises a public identifier.

7. The traffic detection device according to claim 1, wherein the communication unit is configured to broadcast sensor data such that mobile robots and other traffic participants may be able to access the sensor data without a request.

8. A system for assisting mobile robots, the system comprising: at least one mobile robot configured to navigate in an unstructured outdoor environment as a traffic participant; and at least one traffic detection device according to claim 1, wherein the traffic detection device is configured to assist the mobile robot by providing additional sensor data.

9. The system according to claim 8, wherein the traffic detection device is configured to assist the mobile robot upon request from the mobile robot and/or at a predetermined time.

10. The system according to claim 8, wherein the traffic detection device is configured to send sensor data to the mobile robot, said sensor data relating to conditions on the road and wherein the sensor data is reflective of a road region falling outside the mobile robot's field of view.

11. The system according to claim 8, wherein the system further comprises a server configured to communicate and exchange data with the mobile robot and the traffic detection device and wherein the server is configured to estimate a time at which the mobile robot will require an assistive function and provide the time estimate to the traffic detection device.

12. The system according to claim 8, wherein the traffic detection device is configured to provide a wireless internet connection for the mobile robot.

13. A method for assisting mobile robots, wherein the method comprises a mobile robot approaching a road crossing; requesting assistance for the mobile robot; a traffic detection device providing at least one assistive function; and in response to the assistive function, the mobile robot crossing the road.

14. The method according to claim 13, wherein the method further comprises: the traffic detection device being in a power save mode; the traffic detection device leaving the power save mode at fixed intervals to check whether assistive function is needed; and upon receiving a request of a mobile robot, the traffic detection device providing at least one assistive function.

15. The method according to claim 13, the method further comprising: monitoring mobile robot operation in a predetermined region; estimating next time when assistance will be required by at least one mobile robot; instructing the traffic detection device of the estimated time; the traffic detection device entering a power save mode until shortly before the estimated time; and upon arrival of the mobile robot, the traffic detection device providing at least one assistive function.

16. The method according to claim 13, wherein the assistive function comprises at least one of providing sensor data and/or wireless internet connection, wherein the sensor data is provided to the mobile robot directly from the traffic detection device or via a server.

17. The traffic detection device according to claim 3, wherein range R1 is up to 150 m.

18. The traffic detection device according to claim 17, wherein range R1 is up to 75 m.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0113] FIG. 1 schematically depicts an embodiment of a traffic detection device;

[0114] FIG. 2 schematically depicts a mobile robot being assisted as per an embodiment of the invention;

[0115] FIG. 3 illustrates the field of view of a sensor of the present invention;

[0116] FIGS. 4A and 4B schematically depict communication between a traffic detection device and a plurality of mobile robots according to embodiments of the present invention;

[0117] FIG. 5 illustrates a mobile robot being assisted as per another embodiment of the invention;

[0118] FIG. 6 schematically depicts an embodiment of an energy supply unit;

[0119] FIG. 7 shows a flow diagram of a method according to an embodiment of the invention;

[0120] FIG. 8 depicts a housing according to an embodiment of the invention;

[0121] FIGS. 9A and 9B show a mounting according to an embodiment of the invention; and

[0122] FIG. 10 shows an embodiment of a mobile robot as per an embodiment of the present invention.

DESCRIPTION OF EMBODIMENTS

[0123] It is noted that not all the drawings carry all the reference sings. Instead, in some of the drawings, some of the reference sings have been omitted for the sake of brevity and simplicity of the illustration. Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0124] FIG. 1 schematically shows an embodiment of a traffic detection device 100, according an aspect of the present invention. The traffic detection device 100 comprises at least one sensor 110, a communication unit 120, an energy supply unit 130 and a processing unit 140, which are all surrounded by a housing 150.

[0125] The at least one sensor 110 of the traffic detection device 100 may be configured to detect objects in its field of view. That way the sensor data may contribute to the situational awareness and navigation capabilities of a mobile robot 200. Particularly, the sensor 110 may be configured to detect moving objects that may move in a plurality of directions within the sensor's field of view, such as other traffic participants.

[0126] An exemplary setting for the use of a traffic detection device 100 is given in FIG. 2. Here, a mobile robot 200 is approaching a vehicle road with a crossing 430 which it needs to cross in order to fulfill the current delivery task. When approaching the crossing 430, the mobile robot 200 uses its internal sensors to assess the surrounding and in particular the vehicle road in order to identify the right moment for crossing the road without endangering other traffic participants and/or itself. However, at this crossing 430 there is an obstacle 420 obscuring the robot's line of sight in a particular direction. That is, in the situation depicted in FIG. 2 the mobile robot 200 cannot assess the conditions on the vehicle road to its right since the obstacle 420 is blocking its view.

[0127] The obstacle 420 could be permanent, e.g. a big tree, a road sign, a wall or a building, or it could be semi-permanent, e.g. a parked car or truck. In particular if the obstruction is permanent, or if statistics show that for example a car is parking in this spot for most of the times when a robot wants to cross, a traffic detection device 100 may be permanently installed at the crossing 430, covering at least the part of the vehicle road for which the view of the mobile robot 200 is obstructed. The field of view of the traffic detection device 100 in FIG. 2 is indicated by the grey circular sector.

[0128] In the depicted situation the at least one sensor 110 of the traffic detection device 100 will detect the object 410, more specifically in this situation the car 410. Further, the sensor 110 may be configured to provide data on the speed and distance of any object 410 in its field of view. That is, the sensor 110 may provide data from which the distance and speed of said object 410 can be extracted with a known uncertainty.

[0129] In some embodiments of the present invention the sensor 110 may further provide data on the direction of travel of any moving object in the sensor's field of view, such as other traffic participants.

[0130] The traffic detection device 100 may send the sensor data to the mobile robot 200 using the communication unit 120, either directly or via a remote server 300. In this way the mobile robot 200 can assess the situation and safely cross the vehicle road.

[0131] With regard to FIG. 3, the field of view of the sensor may be characterized by a detection range R1 and an opening angle A1. That is, the area in which the sensor may reliably detect objects and gather data for determining their corresponding speed and distance, i.e. the sensor's field of view, may be described by R1 and A1. The detection range R1 may be up to 200 m, preferably up to 150 m such as up to 75 m and the opening angle A1 may be in the range of 5° to 180°, preferably 10° to 120°, more preferably 15° to 90°, such as 25°.

[0132] Therefore, the at least one sensor 110 may provide data on objects in a predetermined field of view to the mobile robot 200. That is, the field of view may be determined by the position and orientation the traffic detection device 100, that comprises the sensor 110, is mounted in. In particular, the traffic detection device 100 may be mounted such that the sensor 110 may provide data on areas that lie outside of the mobile robot's field of view, e.g. due to known, permanent obstruction on particular road crossings. Therefore, the sensor data may for example enable the mobile robot 200 to assess the traffic situation at a road crossing 430 and help identifying potentially hazardous moving objects to enable safe crossing of a road.

[0133] The at least sensor 110 may comprise at least one of a visual mono or stereo camera, a lidar sensor, a radar sensor, a time of flight sensor and/or other sensors. Preferably, the sensor 110 may comprise a radar sensor, such as a Doppler radar. This may be advantageous for the following reasons: A radar sensor is relatively independent of the ambient conditions. That is, a radar sensor is not very sensitive to weather conditions, such as rain or snowfall, and changing light conditions due to operation during day and night. Furthermore, the data that needs to be transmitted wirelessly to the mobile robot 200 is typically less than for example for a visual camera. In addition, radar sensors are well established for monitoring of traffic on roads and especially for traffic control. They are also interesting with regards to privacy concerns as they do not take images as for example visual camera sensors do.

[0134] The communication unit 120 may comprise at least one slot for at least one Subscriber Identity Module (SIM card) and/or a modem and/or a network device, which may comprise an eSIM and/or a similar chip/system. In some cases, the use of two SIM cards and/or modems may be an advantage, since it increases reliability and allows for simultaneous communication via both SIM cards and/or modems for larger and/or faster transmission. In particular, two different mobile operators may be used for using the two SIM cards and/or modems in order to increase reliability of the connection.

[0135] Referring to FIG. 4A, in some embodiments the communication unit 120 may be configured to exchange data with a remote server 300 via cellular networks. In particular, the traffic detection device 100 may transfer the sensor data to the remote server 300. Subsequently the remote server 300 may for example further analyze the data and/or send the data to at least one mobile robot 200. That is, the traffic detection device 100 may communicate with one or more mobile robots 200 through the remote server 300 and for example provide the sensor data.

[0136] In addition, the traffic detection device 100 may share data on the status of the device, such as charging statistics and current battery level, error messages and other important information with the remote server 300. Thus, servicing of the device 100 may be optimized with regards to the current device status.

[0137] Further, the server 300 may provide the traffic detection device 100 with information about the time when a next mobile robot 200 may require assistance within the area of the device. This may be beneficial as the traffic detection device 100 may go into a power saving mode and only wake up shortly before the expected arrival of a mobile robot 200 in need of assistance, therefore reducing the overall energy consumption of the traffic detection device 100.

[0138] Further, the communication unit 120 may be configured to wirelessly communicate directly with at least one mobile robot 200 as depicted in FIG. 4B or, in some embodiments, also other traffic participants such as self-driving cars. The wireless communication may be established using for example at least one of a wireless local are network (WLAN), a wireless personal network (WPAN), such as Bluetooth®, a metropolitan area network (MAN), such as WiMAX or other forms of wireless packet-based private network connections.

[0139] Not depicted in FIG. 4B is the sever 300 which may still be present and which may still share other kinds of data with both the traffic detection device 100 and/or the mobile robot 200. For example, the server 300 may provide the traffic detection device 100 with information about the time when a next mobile robot 200 may require assistance.

[0140] In addition, the traffic detection device 100 may share data on its location and orientation relative to the crossing and/or the detection range R1 of the sensor 110 and the opening angle A1 of the sensor's field of view. The mobile robot 100 may require this contextualizing data in order to make use of the sensor data.

[0141] The networks provided by traffic detection devices 100 may be known to mobile robots 200 and potentially other traffic participants that may be enabled to access the sensor data, e.g. by means of a public identifier. That is, for example in the case of a WLAN the mobile robot 200 may know the Service Set IDs (SSIDs) associated with traffic detection devices 100. Thus, the robot 200 can scan for said identifiers and log into the wireless network to request assistance of the traffic detection device 100 in case of need. If the traffic detection device 100 does not provide a wireless network the mobile robot 200 may send a request via the server 300.

[0142] With regards to some embodiments, the communication unit 120 may be configured to amplify and/or extend a present wireless network, e.g. using a WLAN repeater. Depending on the area the traffic detection box is mounted in, the box may for example be supplied with a WLAN signal by using directional antennas for long distance transmission.

[0143] In some embodiments, the communication unit 120 may be configured to broadcast the sensor data. Therefore, mobile robots 200 and, in some cases, other traffic participants may be able to access the sensor data without first sending a request to the traffic detection device 100. In other embodiments, such a request may be first sent by mobile robots 200 as outlined above and below.

[0144] In some cases, a crossing 430 might require more than one traffic detection device 100. For example, if there are a plurality of obstacles obstructing the robot's view in multiple directions. An exemplary situation is depicted in FIG. 5, where the mobile robot 200 has to cross a two-lane road with a safety island between the two lanes. Here, two obstacles are obscuring the robot's view in two different places and directions. Therefore, the mobile robot 100 may require the assistance of two (or more) traffic detection devices 100.

[0145] In embodiments where the data between the mobile robot 200 and the traffic detection device 100 is shared directly via a wireless connection, a master-slave system may be established since the mobile robot 200 can only connect to a single wireless network. That is, the plurality of traffic detection devices 100 may determine a master traffic detection device which communicates with the mobile robot 200. The other traffic detection devices will function as slaves that only provide data to the master traffic detection device, which may then send the data of the plurality of traffic detection device 100 to the mobile robot 200 via a single wireless connection.

[0146] Further to sharing data, the communication unit 120 of the traffic detection device 100 may also be used to provide connectivity to mobile robots 200. For save operation and navigation the mobile robot 200 may require a connection to the server 300 via a wireless or cellular network. In some cases, the connection provided by the robot's communication unit may be insufficient, e.g. due to bad cellular network coverage close to the ground. In those cases, the traffic detection device 100 may also provide an internet connection for the mobile robot 100. This may be beneficial, as the traffic detection device 100 is typically mounted in an elevated position and thus, generally achieves a better connection for example to the cellular network.

[0147] In some embodiments, the energy unit 130 may be configured to be connected to mains comprising a wired connection.

[0148] In other embodiments, the energy supply unit 130 comprises a rechargeable battery 131, which may also interchangeably be referred to as accumulator 131. The energy supply unit 130 may be configured such that the rechargeable battery 131 is removable. That is, the rechargeable battery 131 may easily be removed and exchanged, e.g. for charging of the accumulator 131 outside of the traffic detection device 100. Such a rechargeable battery 131 may be advantageous since a wired connection may not be readily available at an installation site of the traffic detection device 100.

[0149] The rechargeable battery 131 may comprise a capacity configured to maintain the operation of the device for minimum time of 12 hours, preferably 24 hours, more preferably multiple days, such as weeks. The capacity is a tradeoff between the operation time and the size and cost of the rechargeable battery 131. Preferably the capacity is in the range of 25 Wh to 1000 Wh, more preferably in the range of 50 Wh to 500 Wh, such as 100 Wh.

[0150] Further, the energy supply unit 130 may comprise a recharging mechanism for the accumulator 131. This may enable autonomous operation of the traffic detection device 100 and reduce the required service time as the rechargeable battery 131 may not require exchanging for recharging.

[0151] In a preferred embodiment as depicted in FIG. 6, the recharging mechanism is provided by a photovoltaic (PV) system 132. The photovoltaic system 132 may comprise at least one solar panel configured to generate electrical power to recharge the accumulator 131. Since the traffic detection device 100 is typically placed in an outdoor environment the photovoltaic system 132 may provide an efficient and compact way of generating electrical power for the traffic detection device 100. Furthermore, photovoltaic systems are typically nearly maintenance free, which may be advantageous with regards to service time for the device.

[0152] In order to maximize the operation time of the traffic detection device 100, the power consumption may be optimized in different ways during operation.

[0153] As mentioned before, one method for power saving may be to send at least some of the components to a power saving mode. A possible embodiment of such a procedure is depicted in the flow chart in FIG. 7. In a first step 610, the traffic detection device 100 requests an estimate for the next time the assistance of the device may be required by a mobile robot 200 from the server 300. The server 300 may be connected to a plurality of mobile robots 200 and may estimate the navigational time of the mobile robots to the installation point of the traffic detection device 100 in case it is on the desired route of the robot.

[0154] Based on the estimated time for the next required assistive function, the traffic detection device 100 may send at least one component in to power saving mode (step 620). That is one or more components might shut down or enter a mode with less power consumption. In some embodiments, all components might enter a power saving mode and/or shut down for some time.

[0155] After a set time, the components will wake up again and enter normal operation (step 630). The time is chosen such that the device is up and running before the mobile robot 200 is expected to arrive. For example, the traffic detection device 100 or its components may wake up 5 minutes before the estimated arrival time, preferably 2 minutes, more preferably 1 minute.

[0156] Once the mobile robot 200 arrives at the site of the traffic detection device 100 it may provide assistance if needed (step 640) and, after successful crossing of the robot, go back to step 610 and request the next potential time for an assistive function.

[0157] In another embodiment, the traffic detection device 100 may check for the presence of a mobile robot 200 in predefined intervals and go into a power saving mode in between those regular checks if no mobile robot 200 is present.

[0158] Preferably, the at least one sensor 110 may only be activated if assistance is requested. That is, the sensor 110 may still be in a power saving mode even if the other components are not in power saving mode. In other words, the sensor 110 may only start to generate data once the traffic detection device 100 has received a request for assistance from a mobile robot 200.

[0159] The processing unit 140 of the traffic detection device 100 may be configured to control the traffic detection device 100. Such control may comprise controlling the sensor 110, e.g. acquire and/or process the data of the at least one sensor 110, controlling the communications unit 120, e.g. sending or receiving and processing instructions, sensor data, operational data or the like, and managing the power consumption of the device. The processing unit 140 may generally serve to operate the traffic detection device 100.

[0160] The processing unit 140 may comprise at least one microprocessor, such as central processing unit (CPU) and/or a at least one circuit, such as an application specific integrated circuit (ASIC), field-programmable gate arrays (FPGAs), etc. Further, it may comprise at least one memory such as at least one non-volatile storage device (e.g. a solid-state drive (SSD)) and/or at least one volatile storage device (e.g. random-access memory (RAM)). Machine-readable program code may be stored in the memory. When executed on the processor or circuit, the machine-readable code may be configured to cause the processing unit 140 to execute the tasks and steps required to operate the traffic detection device 100.

[0161] In other embodiments of the present invention, the traffic detection device 100 may not comprise a processing unit 140. In such embodiments the communication unit 120 may for example directly send sensor data to a mobile robot or a remote server.

[0162] With reference to FIG. 8, the housing 150 of the traffic detection device 100 may surround all other components and may be configured to protect the components from environmental influences. The housing 150 may be made from a polymer, such as a plastic. This might be advantageous, as plastic housings are readily available and cheap while providing a good level of protection to the components within the housing. Furthermore, some sensors may be able to operate from within the housing without the use if a transparent window, e.g. a radar sensor may operate from within a plastic housing.

[0163] In some embodiments, the housing 150 may comprise at least one transparent window (not shown) to enable operation of visual sensors such as cameras or operation of a solar cell of the PV system 132 within the housing. The transparent window may be made from glass or preferably a transparent thermoplastic, such as acrylic glass.

[0164] In other embodiments, there may be a cutout in the housing 150 (not shown) to accommodate a solar cell of the PV system 131. The cutout may be configured to exactly accommodate the solar cell such that it may be hermetically sealed using sealants, such as silicone. This configuration may be advantageous, since the efficiency of the solar cell may be reduced if placed behind a transparent window.

[0165] Further, the housing 150 may also comprise internal mountings to securely fasten all other components of the traffic detection device 100.

[0166] The housing 150 may generally be box-shaped, that is the housing may be a rectangular box. However, it will be appreciated by the person skilled in the art, that the housing 150 may also take different forms, such as for example a cylindrical housing, without altering its function.

[0167] The dimensions of the housing may be characterized by height L1, width L2 and depth L3. The height L1 may typically lie in the range of 5 cm to 100 cm, preferably 20 cm to 50 cm, such as 25 cm and the width L2 may generally lie in the range of 5 cm to 50 cm, preferably 10 cm to 30 cm, such as 20 cm. The depth L3 may lie in the range of 2 cm to 30 cm, preferably 5 cm to 20 cm, such as 10 cm.

[0168] In some embodiments the traffic detection device 100 may further comprise a mounting 160, which may be configured to securely fasten the housing to a support structure, such as a wall or a post. Individual parts of the mounting may be made from different materials, for example polymers, such as plastic, or metal, such as aluminum or steel.

[0169] An embodiment of such a mounting 160 is depicted in FIGS. 9A and 9B for the case of mounting the traffic detection device on a post 166, e.g. a lamp post or traffic sign post.

[0170] Generally, the mounting 160 may comprise a housing attachment plate 161 (not fully shown), which may be attached to the back of the housing 150 by fastening means, such as screws or rivets. Further, the mounting 160 may comprise at least one attachment plate 162, designed to be attached to for example a wall or preferably a post 166, such as a sign or lamp post. Said attachment plate 162 may comprise openings to accommodate fastening means, such as screws, rivets, or in some embodiments a pipe clamp 165. That is, the attachment plate 162 may for example comprise holes and/or grooves configured to receive screws, rivets or a pipe clamp 165 as depicted in FIG. 9A.

[0171] Further the at least one attachment plate 162 be configured to at least partially follow the shape of the surface it is mounted to. That is, in the case of mounting the attachment plate to a wall it may be flat, whereas in the case of mounting it to a post it may me bend to approximate the circular shape thereof.

[0172] The at least one attachment plate 162 may be attached to the housing attachment plate 161. In some embodiments the attachment may comprise a hinge 163, e.g. a simple hinge by using a rivet.

[0173] In some embodiments the mounting may further comprise a hinge plate 164. The hinge plate 164 may be attached to the housing attachment plate 161 at one side and to the attachment plate 162 at the opposite side, wherein both attachments may comprise a hinge 163, e.g. by using a rivet. Further, the housing attachment plate 161 may be attached to a second attachment plate 162, also by means of a hinge 163. This arrangement is depicted in FIG. 9B and may have the advantage, that the angle A2 between the housing 150 and the surface it is mounted to may be altered by changing the position of the attachment plates 162, as illustrated in FIG. 9B. Therefore, the mounting may enable optimization of the orientation of the traffic detection device 100 and thus the sensor 110.

[0174] The angle A2 may preferably be adjustable in the range from 0° to 90° and more preferably 0° to 60°, to ensure enough flexibility to enable mounting of the traffic detection device 100 in a preferred position.

[0175] FIG. 8 demonstrates an exemplary embodiment of the mobile robot 200. The mobile robot 200 may be a delivery or a vending robot, that is, it may be configured to autonomously or semi-autonomously transport and deliver packages, consumable items, groceries or other items to customers. Preferably, the mobile robot 200 comprises a beverage module (not shown in the figure).

[0176] The mobile robot 200 comprises a robot body 202. The body 202 comprises an item compartment in which items can be placed and transported by the robot (not shown in the present figure).

[0177] The mobile robot 200 further comprises a robot motion component 204. In the present embodiment, the robot motion component 204 comprises six wheels 204. This can be particularly advantageous for the mobile robot 200 when traversing curbstones or similar obstacles on the way to (or return from) the delivery recipients.

[0178] Additionally, the mobile robot 200 comprises a lid 206. The lid 206 may be placed over the item compartment and locked to prevent unauthorized access to the beverage module.

[0179] The mobile robot 200 further comprises a robot signaling device 208, depicted here as a flagpole or stick 208, used to increase the visibility of the robot 200. Particularly, the visibility of the mobile robot 200 during road crossings may be increased. In some embodiments, the signaling device 208 may comprise an antenna.

[0180] The mobile robot 200 also comprises robot headlights 209 configured to facilitate the robot's navigation in reduced natural light scenarios and/or further increase the robot's visibility. The headlights are schematically depicted as two symmetric lights 109, but can comprise one light, a plurality of lights arranged differently and other similar arrangements.

[0181] Further, the mobile robot 200 comprises robot sensors 210, 212, 213, 214. The sensors are depicted as visual cameras (210, 212, 213) and ultrasonic sensors (214) in the figure, but can also comprise radar sensors, lidar sensors, time of flight cameras and/or other sensors. Further sensors can also be present on the mobile robot 200.

[0182] One sensor may comprise a front camera 210. The front camera 210 may be generally forward facing. The sensors may also comprise front (212, 213), side and/or back stereo cameras. The front stereo cameras 212 and 213 can be slightly downward facing. The side stereo cameras (not depicted) can be forward-sideways facing. The back camera (not depicted) may be a mono or a stereo camera, which may be generally backward facing.

[0183] The sensors present on multiple sides of the robot can contribute to its situational awareness and navigation capabilities. That is, the mobile robot 200 may be configured to detect approaching objects and/or hazardous moving objects from a plurality of sides and act accordingly.

[0184] The sensors of the mobile robot 200 may also enable the mobile robot 200 to navigate and travel to its destinations at least partially autonomously. That is, the mobile robot 200 may be configured to map its surroundings, localize itself on such a map and navigate towards different destinations using in part the input received from the multiple sensors.

[0185] While in the above, a preferred embodiment has been described with reference to the accompanying drawings, the skilled person will understand that this embodiment was provided for illustrative purpose only and should by no means be construed to limit the scope of the present invention, which is defined by the claims.

[0186] While in the above, the invention is described with regards to providing assistance to a mobile robot 200, the skilled person will understand that some embodiments may also be used in combination with other autonomous vehicles such as self-driving cars.

[0187] Whenever a relative term, such as “about”, “substantially” or “approximately” is used in this specification, such a term should also be construed to also include the exact term. That is, e.g., “substantially straight” should be construed to also include “(exactly) straight”.

[0188] Whenever steps were recited in the above or also in the appended claims, it should be noted that the order in which the steps are recited in this text may be the preferred order, but it may not be mandatory to carry out the steps in the recited order. That is, unless otherwise specified or unless clear to the skilled person, the order in which steps are recited may not be mandatory. That is, when the present document states, e.g., that a method comprises steps (A) and (B), this does not necessarily mean that step (A) precedes step (B), but it is also possible that step (A) is performed (at least partly) simultaneously with step (B) or that step (B) precedes step (A). Furthermore, when a step (X) is said to precede another step (Z), this does not imply that there is no step between steps (X) and (Z). That is, step (X) preceding step (Z) encompasses the situation that step (X) is performed directly before step (Z), but also the situation that (X) is performed before one or more steps (Y1), . . . , followed by step (Z). Corresponding considerations apply when terms like “after” or “before” are used.