Proximate robot object detection and avoidance
Systems and methods for proximate robot object detection and avoidance are provided herein which include a receiver in electronic communication with an autonomous robot and configured to receive a broadcast message from a beacon, a processor, and a memory, the memory storing instructions that, when executed by the processor, cause the autonomous robot to detect, based on the received broadcast message, a proximity of the beacon to the autonomous robot, determine, from the received broadcast message, a beacon status, the beacon status indicating whether the beacon is stationary, approaching the autonomous robot, or withdrawing from the autonomous robot, identify, according to the detected proximity and the determined beacon status, a corresponding proximity operation, and control the autonomous robot to stop an ordinary operation and operate according to the identified proximity operation.
1. A proximate robot object detection and avoidance system comprising:
a receiver in electronic communication with an autonomous robot and configured to receive a broadcast message from a beacon;
a processor; and
a memory, the memory storing instructions that, when executed by the processor, cause the autonomous robot to:
detect, based on the received broadcast message, a proximity of the beacon to the autonomous robot,
determine, from beacon state information of the received broadcast message, a beacon status, the beacon status indicating whether the beacon is stationary, approaching the autonomous robot, or withdrawing from the autonomous robot, wherein the beacon state information includes location information including at least one of an x, y, z, ω quaternion of the robot within a navigational space, an x, y, z coordinate location within the navigational space, at least one fiducial ID of one or more fiducial IDs within the navigational space, or combinations thereof, the beacon state information further including at least one of a speed or velocity of the beacon within the navigational space,
identify, according to the detected proximity and the determined beacon status, a corresponding proximity operation, and
control the autonomous robot to stop an ordinary operation and operate according to the identified proximity operation.
2. The system of claim 1 , wherein operating the autonomous robot according to the identified proximity operation includes at least one of causing the autonomous robot to operate at reduced speed, causing the autonomous robot to remain in place for a predetermined wait time, causing the autonomous robot to navigate to a new location, causing the autonomous robot to remain in place until the determined beacon status changes, or combinations thereof.
3. The system of claim 1 , wherein:
the receiver is further configured to receive a second broadcast signal from the beacon; and
the memory further storing instructions that, when executed by the processor, cause the autonomous robot to:
detect, based on the second received broadcast message, an updated proximity of the beacon to the autonomous robot,
determine, from the second received broadcast message, an updated beacon status, the updated beacon status indicating whether the beacon is stationary, approaching the autonomous robot, or withdrawing from the autonomous robot,
identify, according to the detected updated proximity and the determined updated beacon status, a corresponding second proximity operation, and
control the autonomous robot to stop the proximity operation and operate according to the identified second proximity operation.
4. The system of claim 3 , wherein operating the autonomous robot according to the identified second proximity operation at least one of causing the autonomous robot to operate at reduced speed, causing the autonomous robot to remain in place for a predetermined wait time, causing the autonomous robot to navigate to a new location, causing the autonomous robot to remain in place until the determined beacon status changes, causing the autonomous robot to revert to ordinary operation, or combinations thereof.
5. The system of claim 1 , wherein the beacon state information includes at least one of a prescribed proximity in which the proximity operation applies, a proximity operation instruction, or combinations thereof.
6. An autonomous robot comprising:
a receiver configured to receive a broadcast message from a beacon;
a processor; and
a memory, the memory storing instructions that, when executed by the processor, cause the autonomous robot to:
detect, based on the received broadcast message, a proximity of the beacon to the autonomous robot,
determine, from beacon state information of the received broadcast message, a beacon status, the beacon status indicating whether the beacon is stationary, approaching the autonomous robot, or withdrawing from the autonomous robot, wherein the beacon state information includes location information including at least one of an x, y, z, ω quaternion of the robot within a navigational space, an x, y, z coordinate location within the navigational space, at least one fiducial ID of one or more fiducial IDs within the navigational space, or combinations thereof, the beacon state information further including at least one of a speed or velocity of the beacon within the navigational space,
identify, according to the detected proximity and the determined beacon status, a corresponding proximity operation, and
control the autonomous robot to stop an ordinary operation and operate according to the identified proximity operation.
7. The autonomous robot of claim 6 , wherein the beacon is not positioned on the robot.
8. The autonomous robot of claim 7 , wherein the beacon is mounted to at least one of mobile equipment or non-permanent stationary equipment.
9. The autonomous robot of claim 8 , wherein the mobile equipment includes one or more of a forklift, a tugger, a man-up truck, a lift, or combinations thereof.
10. The autonomous robot of claim 8 , wherein the non-permanent stationary equipment includes one or more of a scaffold, a ladder, a safety sign, a safety cone, portable fencing, or combinations thereof.
11. The autonomous robot of claim 6 , wherein operating the autonomous robot according to the identified proximity operation includes at least one of causing the autonomous robot to operate at reduced speed, causing the autonomous robot to remain in place for a predetermined wait time, causing the autonomous robot to navigate to a new location, causing the autonomous robot to remain in place until the determined beacon status changes, or combinations thereof.
12. The autonomous robot of claim 6 , wherein:
the receiver is further configured to receive a second broadcast signal from the beacon; and
the memory further storing instructions that, when executed by the processor, cause the autonomous robot to:
detect, based on the second received broadcast message, an updated proximity of the beacon to the autonomous robot,
determine, from the second received broadcast message, an updated beacon status, the updated beacon status indicating whether the beacon is stationary, approaching the autonomous robot, or withdrawing from the autonomous robot,
identify, according to the detected updated proximity and the determined updated beacon status, a corresponding second proximity operation, and
control the autonomous robot to stop the proximity operation and operate according to the identified second proximity operation.
13. The autonomous robot of claim 12 , wherein operating the autonomous robot according to the identified second proximity operation includes at least one of causing the autonomous robot to operate at reduced speed, causing the autonomous robot to remain in place for a predetermined wait time, causing the autonomous robot to navigate to a new location, causing the autonomous robot to remain in place until the determined beacon status changes, causing the autonomous robot to revert to ordinary operation, or combinations thereof.
14. The autonomous robot of claim 6 , wherein the beacon state information includes at least one of a prescribed proximity in which the proximity operation applies, a proximity operation instruction, or combinations thereof.