WO2019020138A1

WO2019020138A1 - Semi-autonomous following device, in particular semi-autonomous sweeping machine

Info

Publication number: WO2019020138A1
Application number: PCT/DE2018/000218
Authority: WO
Inventors: Valentin LINDAU; Jonas SCHNEIDER
Original assignee: Lindau Valentin; Schneider Jonas
Priority date: 2017-07-27
Filing date: 2018-07-13
Publication date: 2019-01-31
Also published as: DE102017117013A1; DE102017117013B4

Abstract

The invention relates to a semi-autonomous following device (100), having at least one drive apparatus (110, 112), at least one apparatus (120) for steering the drive apparatus (110, 112), at least one apparatus (130) for detecting a guidance signal, at least one control unit (140) which activates, as a manipulated variable, the apparatus (120) for steering the at least one drive apparatus (110, 112) as a function of the guidance signal. According to the invention there is provision that the control unit (140) or a unit (150) which is separate from the control unit activates further apparatuses as a function of the guidance signal, wherein the further apparatuses are selected from the group comprising: direction indicator (160), vehicle lights (170), machine modules (180) and radio-operated remote-control systems (190). The interconnection of the apparatuses increases the safety of the locomotion of the following device in the public space and also the efficiency of the cooperation between the machine and the user.

Description

Semi-autonomous follow-up facility,

in particular semiautonomous sweeper

The invention relates to a semiautonomous sequential device comprising at least one drive device, at least one device for steering the drive device, at least one device for detecting a guide signal, at least one control unit which actuates the device for steering the at least one drive device as a manipulated variable as a function of the guide signal. The invention particularly relates to a semiautonomous sweeper.

Semi-autonomous follow-up devices, namely motor-driven transport vehicles, construction machines or sweepers are increasingly used where fully automatic followers can not be left without human guidance due to the particularly complex environments. Semi-autonomous construction machinery or soil-depleting machinery may require human guidance due to the nature of the soil, which is difficult to estimate for automatic environmental sensing. Semiautonomous sweepers are in public space on a nearly ideal ground underway, but rarely alone, so without people in the area, which can be unsettled by the semi-autonomous followers. The essential reason for terrified reactions of people in the vicinity of a follower or even negative reactions of people in the environment is the lack of recognizability of Nahfeldnavigationsalgorithmen that have these machine-equipped followers.

Other examples of known follower devices are semi-autonomous clothing suitcases that follow their owner at a defined distance, golf caddies that also follow their owner without the owner or driver having to actively guide the vehicle. Finally, semiautonomous shopping trolleys are known which accompany the customer by means of a tracking transmitter through a department store. The semiautonomous intelligence is intended to cause the customer to be free from hindering him in the perception of goods, such as maneuvering the shopping cart.

The Chinese Utility Model CN205540279U discloses a semi-autonomous shopping cart stubbornly following the customer associated with it.

In the Japanese patent application JPH027930A discloses a commercial vacuum cleaner with a considerable size, which has its own drive and his operator in a

CONFIRMATION COPY predetermined distance follows. The follower facilitates the user's use of the machine, which is no longer easy to handle due to its size.

Japanese Patent Application JPH036710A discloses a robot following a human being, which fixes the head shape of its user or handlebar with a camera and performs passive navigation via the tracking of the head.

The aforementioned semi-autonomous followers are rigid in their navigation and may have security mechanisms that prevent them from riding against a wall, obstacle or other person. These machines do not work android, but like simple machines that have no perception of their environment and, accordingly, on a human subjectively reckless, in the best case just clumsy act. People in the environment, even smarter animals, such as dogs, tend to deduce the object's motion pattern from the motion pattern of an object. Smaller autonomous devices, such as robotic lawnmowers or domestic vacuum robots are often the target of excessive attack attacks of dogs. Such attacks can occur in public spaces even with sweepers. The patterns of reckless or clumsy acting on other living beings in subjective sensation, even repulsive for other living beings, often lead to rejection, aggression or even to accidents, which can be caused by irrational reactions of other living beings to these machines.

The movement pattern, which here with the word borrowed from the sociology "Habitus" designated, has a very strong effect on the acceptance of humans and animals of such semi-autonomous follow-up device. A very bad acceptance is not associated with a avoidance and therefore with a greater security, but the opposite is the case. The higher the acceptance due to the habitus, the safer the movement of such a machine through public space.

Finally, the interaction between the semiautonomous follow-up device and the driver is the cause of the naturalness of the handling and the emotional effort of the driver or user. A stupid or difficult-to-understand machine can cause a great deal of emotional stress during prolonged use and handling, although the purpose of the semi-autonomous follow-up device should be precisely to reduce stress in handling the machine. The object of the invention is therefore to provide a semiautonomous follow-up device which, due to its habitus, ie the movement or activity pattern, has a higher acceptance in public space and which does not generate any emotional stress when dealing with it and thus increases the efficiency of the work ,

The object according to the invention is achieved in that the control unit or a unit separate from the control unit actuates further devices as a function of the guidance signal, wherein the further devices are selected from the group comprising: direction indicators, vehicle lights, machine modules, radio remote controls. Further advantageous embodiments are specified in the subclaims to claim 1.

According to the invention, it is provided that the semiautonomous follow-up device includes, in addition to the steering, further modules of a follow-up device in the navigation control. These are in particular the inclusion of direction indicators, which are in the simplest case turn signals, as they are known from motor vehicles, vehicle lights, as they are also known from motor vehicles, machine modules, which - although they should work independently of the navigation - also in the control concept for Navigation, and possibly also radio remote controls. The radio remote controls can send feedback (feedback) signals to their environment. It is the idea of the invention to equip the entire semiautonomous follower with a habitus of which the semi-autonomous follower in other humans and thus also in primates and even in dogs, generally in dog-like (Canoidea) subjectively as "rigid", "stupid The selection of humans, primates and dog-like individuals is not chosen arbitrarily, but is based on the emprischen statement that the facial expressions, the movement pattern, ie the habit of this biological The compatibility of facial expressions and behavior patterns of humans, primates and dogs is the cause of their compatibility in the mutual assessment of emotions and the anticipation of the subsequent behavior of these organisms among themselves.The aim of the invention is compatible with the habitus of the follow-up device to m Habitus of human, primate or dog-like (Canoidea) to make. An example of such colloquially referred to as "humanization" behaviors of machines are just anthropomorphized cars from comic series or humanized locomotives also from pantomime children's television series. This kind of humanization under alienation of machine parts, such as vehicle light irises, which are similar to a headlight Eyelids are opened or closed, but should not be implemented according to the invention, since such a humanized machine would hardly seem silly anymore. The aim of the invention is to make movable machine parts or the type of steering so that it makes sense at least to the outside and does not seem silly. Rather, it is the idea of the invention to move existing and also movable machine parts in such a way that an immediate future behavior can be deduced from the movement of the machine parts from a similarity to the behavior of humans, primates or canines (Canoidea). The transition from a machine designed with silly motion patterns to a semiautonomous follower showing an acceptable habit is fluid. To delineate the silly-seeming humanization of the habitus intended here according to the invention is to be called "biomimetic". A biomimetic habitus of a semiautonomous follow-up device is an outward look on other people that seems sensible and, in the context of the intended function, not nonsensical or even useless synopsis of movement trajectories, ie movement sequences from one state to another state. A control and regulating device provided in the semiautonomous follower device has the function that the actuation of the further devices (direction indicators, vehicle lamps, machine modules and radio remote controls) thus takes place biomimetic, so that the habitus of the semi-autonomous follower device which shows them by actuation of these further devices, is based on the external behavior pattern of subordination and attention gestures of living beings with social behavior, such as primates or Canoidea (canines).

Semiautonomous follower devices of various types, ie auxiliary construction machines, semiautonomous clothing suitcases, semiautonomous transport vehicles, such as factory vehicles carrying heavy loads within a production process, semiautonomous forklifts, semi-autonomous storage vehicles depositing goods on or from a high bay, caring robots, and finally, are considered inventively , here preferred, semi-automatic sweepers. It is thus provided in a preferred embodiment of the invention that the semimiautonomous follower is combined with a sweeper having at least one machine driven rotary brush and at least one suction device, the other devices semimiautonomous follower comprising the moving parts and / or the driven parts of the sweeper , According to the invention, it is provided that these moving parts and / or the driven parts of the sweeper meaningful movements as part of their intended use, but adapted in their trajectory to the habitus of man, primate and Canoidea (canines), that these genera accept the semiautonomous sweeper as Habitus due to their body language and at least in subjective sensation the behavior of the semiautonomous sweeper can predict. As a result, the acceptance of this semiautonomous sweeper is increased so much that it even has a positive effect on safety in traffic, so the risk of accidents is reduced.

The semiautonomous follower is equipped in a preferred embodiment of the invention with a camera which is coupled to an image acquisition system which is capable of recognizing human figures. In one possible specific embodiment of the invention, the imaging system reduces the human shape to a vector drawing reminiscent of a line drawing, with each vector associated with selected body lines, such as the shoulder line, pelvic line, backbone line, one, two or more Vectors approximates the location of the neck, head, thigh bone and calf bone, as well as upper arm and forearm.

At the time of this patent application, imaging systems are available as modular components that are addressable by software (computer programs) and capable of indicating and tracking the position of a selected body vector relative to the camera. For the present invention, the concrete way of reducing the human form is of lesser importance, as long as it is possible to calculate one's own relative coordinates from a recognized human form. From these relative coordinates, it is comparatively easy to carry out the necessary calculations for the navigation for the semiautonomous follower, so that the semi-autonomous follower always follows the target person in a certain area or with outward-appearing flexibility. One of the preferred behaviors is that the semi-autonomous sweeper exhibits such a follow-up behavior as if it were bound by a damped coil spring on the person fixed by it. If the person targeted by the semiautonomous follower moves faster, then the semi-autonomous follower does not directly follow the changed speed of movement of the targeted person, but the navigation allows the targeted person to be removed. When a force generated by an imaginary spiral spring is exceeded (when a corresponding actual distance is exceeded), the selected movement pattern of the semiautonomous follower device is seen for an external movement. obachter as if the semiautonomous follower followed by a coil spring follow. This behavior or habitus also corresponds to the subsequent behavior of dogs or children who run after an adult. When the leading adult accelerates, the children or the dogs initially fall back, but when a certain distance is exceeded, the distance is shortened again by an acceleration of their own locomotion behavior. Since other humans and dogs instinctively expect this behavior, and the semi-autonomous follow-up device also demonstrates this apparent behavior, there is no discrepancy between the instinctive expectation of movement and the movement actually observed. In an alternative metaphor, this style of movement could also be called "intuitive", whereby the intuition lies with the viewer.

The connection of the semiautonomous follower device with a sweeper harbors an implementation advantage revealing only at second glance. Since the camera and the image capture system must recognize the human form, and the shape recognition in public space, where people may also be at the distance between sweeper and operator (leader) or traverse through this distance, it is a challenge for the image capture, the once targeted leader in the goal to keep. This results in similar problems as with automatic targeting of weapon systems. If the semi-autonomous follow-up facility loses its leader, it would, at best, wander around, stand still, or even follow another person who might become confused. However, since cleaning personnel wear signal-colored clothing for their own safety in public spaces and also wear highly reflective stripes on their clothing, the aim of the semi-autonomous follow-up device is easy to keep an eye on the target because the contrast with the surroundings is very great. The person detection algorithms can be parameterized in such a way that they can require strong contrasts in the image in order to keep the leader in the sights.

In order nevertheless to prevent the semi-autonomous follow-up device from losing its leader and following another person, who for example also wears eye-catching clothing, such as a paramedic, a firefighter, a policeman or a very fashion-conscious person, it is provided that the device for detecting a guidance signal further comprises a receiver and transmitter as a radio remote control for a near field communication protocol, such as BlueTooth ^® , WLAN, active or passive RFID, wherein the received signal of this receiver as a rule lock for the control unit or for the separate unit of the control unit serves, by which the consequences of a misrecognition of the human form by the at least one device for detecting a guide signal are prevented by the control unit in case of discrepancy between the location of the targeted man by the at least one device for detecting a guide signal and the location of the received signal of this receiver or for the separate unit of the control unit in a sleep or stop mode switches. The semiautonomous follow-up device does not begin to search for the lost target, namely the targeted leader, but behaves like a creature that pauses and behaves as if it had lost its way. Viewed from the outside, one may assume that the semiautonomous follow-up facility, because of its observable habitus, is now looking for its leader.

In the following preferred movement sequences are shown, which are advantageous for the subjective and intuitive detection of the operating state in the interaction with the semiautonomous follower on humans, primates and Canoidea (canine) act.

A first movement or activity pattern of the semiautonomous follower device provides that upon detection of the approach of a person by the device for the detection of a guidance signal, a vertical direction indicator by a short-term, namely in the range of 0.3 to 1, 0 s, upward directional signal reacts, such as an ascending running light, the running light reaching to an upper vertex of the entire follower, this short-term, upward direction signal simulating an appetite behavior indicating the external signs of readiness and obedience, optionally the vertical one Direction indicator emits another short-term signal while the radio remote control sends a signal that triggers, for example, a vibration alarm on a human-worn bracelet. For the haptic feedback to the user but also a vibration alarm on the belt or on the work clothes can be triggered. In addition to a hap- tic signal, a short acoustic signal comes as an alternative. The short-term directional signal is characterized by a running light behavior, which initially runs upwards, runs back again and then briefly jumps upwards again and falls down again. In experiments with humans, it has been shown that the behavior of the running light described here is interpreted as an upwardly lifting head reminiscent of an attention-emitting dog. The renewed momentary jumping up of the running light acts in a similar way as an affirmative nod or as a gesture affirming and accepting the work. For an external observer this pattern of activity, the habitus, looks like one ready for work Machine that can be kept away intuitively. The additional vibration signal on the leader's wristband makes it unmistakably clear in a subjective sense that the semi-autonomous follow-up device has now commenced work. This feedback is an effective tool for the daily work for the intuitive and therefore not explicit interaction with the semiautonomous follow-up device.

In a further preferred activity pattern (habitus) it is provided that upon detection of the distancing of a person by the device for detecting a guidance signal, a vertical direction indicator reacts with a permanent, namely during this operating state, downwardly directed direction signal, such as a descending running light, wherein the running light is up to a vehicle light, then the control unit or the unit separate from the control unit activates the vehicle light, associated with or in immediate temporal context, the control unit or the unit separate from the control unit activates machine modules, such as lowered machine-driven brooms and turns on and / or activates a suction device, and finally the control unit or the unit separate from the control unit activates the drive device, wherein the control unit in conjunction with the device for Detektio n of a guide signal controls the device for directing the at least one drive device so that the semi-autonomous follower follows the human, this sequence of movements simulating an appetitive behavior that indicates the outward signs of obedience and diligence. The outwardly observant habit, which conveys the signs of obedience and diligence, is not only meant to be a demonstration of good virtues, but rather it gives the certainty that the semi-autonomous follow-up will now do its service sustainably and with fixation on their own leader. The effectiveness of observers is thereby reduced. This reduction of the attention moment finally serves the acceptance of the semiautonomous follow-up device by humans, primates and Canoidea (canines).

Another preferred pattern of activity as a habitus is structured as follows: upon detection of a change in direction of movement of a person through the device for detecting a guide signal responds a horizontal direction indicator with a short-term, namely in the range of 0.5 s to 2 s, in the direction of Directional Direction Signal Directed Direction Signal, such as a side-lit running light or a navigation light, associated with it or in immediate temporal relation is geleinheit or by the unit separate from the control unit, a lateral movement of machine modules in the direction of the detected direction change activated, such as moving mechanically driven brooms sideways, and finally the control unit actuates the device for directing the at least one drive device in the direction of the detected change in direction, and finally, the horizontal direction indicator turns the direction signal off or back to the neutral state, the control unit operates the device to steer the at least one drive device in a straight ahead position, the control unit or the unit separate from the control unit decreases the lateral movement of machine modules in the direction taken, when the device for detecting a guide signal recognizes a straight line of the human being, this sequence of movements simulating an appetite behavior that the external signs of a planned change of direction. This behavior has been shown to be superior in tests to a simple turn signal known from motor vehicles. The turn signal hardly transports more than a machine behavior and by a simple flashing the semiautonomous follower is perceived in the manner described above as "rigid", "stupid", "reckless" or "clumsy". In Canoidea, this pattern of activity can trigger exaggerated attacks on the Canoidea (Canine). Only the extension of the machine parts, in the semiautonomous sweeper, the lateral extension of the round brushes produces an association of extending feelers, which causes a signal of an intended change in direction in an observer by involuntary association, which unlike the simple turn signal, the association with extending feelers surprisingly a "Sympathy" -Emotion produced in both humans and Canoidea (canines) and this effect is assumed in primates in an extrapolating manner, since it was not specifically tested with primates.

In yet another preferred embodiment of the behavioral pattern is provided that upon detection of a U-turn or a stop in the movement of a person through the device for detecting a guide signal, the control unit stops the drive device, a vertical direction indicator fixed the head of the person in the Is turned on the vertical direction indicator light, which lies approximately on the imaginary line connecting the spatial center of gravity of the semiautonomous follower and the human head, the vertical direction indicator each activates the light lying on the imaginary line, even if the human is moving, this sequence of movements is an ap- tense behavior that indicates the external signs of waiting and fixation. This activity pattern provides both feedback (feedback) to the operator, the user or the leader in that he knows that he is being fixed by the semi-autonomous follower but is pausing. Due to the lack of possibility of influencing the behavior of the semiautonomous follow-up device, because there are no buttons for deactivation or the like, this activity pattern fears the user that the semi-autonomous follow-up device immediately starts to move again as soon as it is " out of sight "dismisses or that the semi-autonomous follow-up device already" further plans ". Even the fear that the semiautonomous follow-up device shows an unexpected behavior, can cause a very significant emotional stress on the user with prolonged use. The activity patterns, as little as it differs from the activity patterns of suction, sweeping or robotic robots, cause a significant increase in acceptance by users and road users in public spaces.

Yet another activity pattern is provided in a preferred embodiment of the invention, namely, that upon detection of a wall, a guide line in the form of a ground mark or curb by the device for detecting a guide signal, the control unit with an operation of the device for steering the at least one drive device in the way reacts that the entire follower of the wall, the guide line in the form of a ground mark or the curb during hauling cuddles, wherein the control unit performs the change of direction to nestle against the wall, the guide line in the form of a ground mark or the curb as it performs this in the outer display of a planned change in direction, and where associated or in immediate temporal context, the control unit or the unit separate from the control unit a lateral movement of machine module Enabled in the direction of the wall, the guide mark in the form of a ground mark or the curb, such as machine-driven brooms moved to the side, optionally with the radio remote control sends out a signal that triggers a vibrating alarm on a human-worn bracelet, this sequence of movements simulates an appetite behavior that displays the outward signs of protected movement along a wall or balancing on a line. Also this behavior corresponds to the behavior of humans, primates and Canoidea (canines). The path along a wall as allegedly at least one direction protected from attack appears to observers "naturally" or "backwards". In fact, however, this pattern of activity is also meaningful and not silly, because at least in a semi-automatic sweeper, the always dirty inner corner of a wall or curb is cleaned.The feedback to the user as a leader signals this that the corner has been found and cleaned so that the user can go ahead in front of the semi-automatic sweeper without having to turn around.

In yet another preferred activity pattern is provided that upon detection of a U-turn or a stop in the movement of a person through the device for detecting a guide signal, the control unit stops the at least one drive device and further performs the Appetenzverhalten according to claim 10, and upon detection of a typical human stop gesture in the form of a rejecting hand by the guidance signal detecting device that stops and restarts machine modules and / or turns off vehicle lights, the control unit or the unit separate from the control unit optionally provides a slow flashing light having a frequency of less is activated as 1 Hz until the device for detecting a guide signal detects the return of the human and only upon detection of a typical human comm gesture in the form of an approaching hand by the device for detecting a guide ngssignals the control unit or the unit separate from the control unit performs the Appetenzverhalten according to claim 6, and then the control unit or the unit separate from the control unit performs the Appetenzverhalten according to claim 8. This combination of different behaviors as a composite activity pattern signals a shutdown or imperative "wait" followed by the semiautonomous follower. By this behavior as an activity pattern with an outwardly obvious and signaled by the slow flashing light waiting rest behavior the user is not only assured that the semiautonomous follower, for example, in a semiautonomous clothing suitcase, is now at rest and shows no unexpected activity pattern and therefore the user can be without concern that the semiautonomous follower device reacts unexpectedly autonomously, but also to unwanted observers of the scenery, it is conveyed that the semiautonomous follower does not unexpectedly set in motion so that observers are deprived of the fear of finding their way Passes the semiautonomous follower, there is no risk of accidents.

In yet another preferred embodiment of the semiautonomous sequential device, it is provided that the aforementioned devices work together as follows: In response to a U-turn or a stop when a human being moves through the guidance signal detection apparatus, the control unit stops the at least one appetite behavior drive of claim 10, upon receiving a subsequent off-signal from the near-field communication protocol receiver, a vertical direction indicator responds by a momentary one i.e., in the range of 0.1 s to 0.5 s, upward directional signal, such as an ascending running light, this short-term, upward directional signal simulating an appetite behavior indicating the external signs of attention, and subsequently the control unit or unit separate from the control unit machine modules placed in the idle state, optional retracts, optionally turns off vehicle lights, optional direction indicator turns off, this sequence of movements simulates an appetite behavior that the äu indicates signs of going to rest. Also, this pattern of activity transports in humans, primates and Canoidea (Canine) in understandable for these subfamilies way that the semi-autonomous follower is now at rest and considered safe for a longer time than a few seconds.

The invention is based on the finding that user-perceived loss of control of semi-autonomous follow-up devices, such as semi-autonomous sweepers, industrial sports equipment, semi-autonomous clothing suitcases, semi-autonomous construction aids, or semi-autonomous care robots controlled with the user's gestures and behaviors, must demonstrate an activity pattern. which reflects both the gestures and behavior of the user in the sense of the commander (user) and the command receiver (semiautonomous follower). It is important that the activity pattern acts naturally and does not create the association of silliness so as not to create a ridiculousness in the apparent ratio of commander to command receiver which, in multiple intellectual projection of the user, could again cause uncertainty to the user as a commander Projection is the expectation of a user with respect to the behavior of the semiautonomous follow-up device is understood, which is triggered by their own behavior. In the mind of a user, this projection can unconsciously reflect and reflect several times, so that insecurity can lead to fear, lack of acceptance, emotional stress or inner rejection of the semi-autonomous follow-up device to be operated. Only through the "body language" transmitted to the machine, which does not appear to be covered by useless or facultative movement, does the pattern of activity requested here for protection, as the habitus of the semiautonomous follow-up device, produce the necessary safety when used in public spaces, which is also generated by acceptance by implication.

The activity pattern can be subdivided into groups of activity patterns.

A first basic activity pattern is the brief rising and falling of a vertical running light for the feedback attention and acknowledgment of a recognized gesture.

The second basic activity pattern is a slower ascent and descent under user tracking to demonstrate waiting as feedback.

The third basic activity pattern is to start by lowering and activating machine parts, turning on a tail light and turning on a headlight.

The fourth basic activity pattern is a turn with preceding lateral extension of brooms to the side and a sideways moving horizontal running light in the direction of the planned direction change.

The fifth basic activity pattern is re-riding straight ahead with neutralizing of brooms to the center and a horizontal running light moving to the center in neutral.

The sixth basic activity pattern is a waiting position with flashing flashing light under retracted and deactivated engine modules, as well as switched off tail light and vehicle light.

These basic activity patterns are grouped into activity patterns, which are described below.

The invention will be explained in more detail with reference to the following figures. It shows:

1 shows a first activity pattern of the semiautonomous follower according to the invention, in which the semi-autonomous follower indicates the external signs of attention upon activation,

FIG. 2 shows a second activity pattern of the semiautonomous follower according to the invention, in which the semi-autonomous follower displays the outward signs of obedience and diligence in carrying out the work. FIG. 3 shows a third activity pattern of the semiautonomous follower device according to the invention, in which the semiautonomous device indicates the external signs of a planned change in direction before a change of direction,

4 shows a fourth activity pattern of the semiautonomous follower device according to the invention, in which the semi-autonomous follower indicates, in a brief stop, the external signs of waiting and fixing,

5 shows a fifth activity pattern of the semiautonomous follower device according to the invention, in which the semi-autonomous follower in the vicinity of an edge or a wall indicates the external signs of protected movement along a wall or balancing on a line,

6 shows a sixth activity pattern of the semiautonomous follower device according to the invention, in which the semi-autonomous follower indicates, in the waiting position, the external signs of inactive waiting,

7 shows a seventh activity pattern of the semiautonomous follower device according to the invention, in which the semi-autonomous follower device in the stop position indicates the external signs of walking to rest,

8 shows components of the semi-autonomous follower,

9 transmitting and receiving device of semi-autonomous follower,

Fig. 10, the semi-autonomous follower device in the intended use, wherein on the

Users are projected as leaders of the image capture computed vectors to which the image capture reduces the recognized human form

1, a first activity pattern of the semiautonomous follower 100 according to the invention is sketched, in which the semi-autonomous follower 100 indicates the external signs of attention upon activation. To represent the moment of time in the sketch, those sketch parts that are fine-line and finely dashed represent facts that have happened in the immediate sketches past, whereas the sketch parts that happen in the immediate presence of the sketch represent the facts in bold lines. Line weights in between and denser ruling indicate temporal moments between these extremes, with line weight increasing from past to present as time progresses. In this sketch, a user represented as a silhouette of a running person arrives at the semiautonomous follower 100 from the right side of the sketch as the time t advances on the left side. This semiautonomous follower device 100 can be both a semiautonomous shopping trolley, a semiautonomous garment suitcase, a semiautomous transport vehicle or semiautonomous golf caddy, but also the semiautonomous sweeper shown here. Arrived at the left side in the sketch present, the user actuates a turn-on signal ES, as represented by the three concentric arcs. Upon receipt of a turn-on signal ES by the receiver 200 (FIG. 9) for a near-field communication protocol, a direction indicator 160 in the form of a vertical running light 162 responds by a short-term, namely in the range of 0.1 s to 0.5 s Directional signal, such as an ascending chase light, this short-term, upward direction signal simulating an appetite behavior that indicates the external signs of attention. The user is intuitively sure that the semiautonomous follower 100 is now listening intently to orders due to the light running up to the top. The upward-going light has the character of a lifting head of a waking up dog, at least this is so interpreted in test series of users.

Figure 2 illustrates how the semi-automatic sweeping machine 100 operates, showing a second pattern of activity in which the semi-autonomous follower 100 displays the external signs of obedience and diligence in performing the work. After the user N has switched on the semiautonomous follower 100, the user N rotates, as shown in the second sketch of the user N from the left, to anticipate in front of the semiautonomous follower 100. It is provided that the aforementioned devices work together as follows: upon detection of the distancing of a person by the device 130 (FIG. 9) for the detection of a guidance signal, a direction indicator 160 reacts with a permanent, namely during this operating state with a downward directional signal, such as a descending vertical running light 162. The running light 162 runs down to a vehicle light 170. Subsequently, the control unit 140 (FIG. 9) or the control unit separate unit 150 (FIG. 9) activates the vehicle light 170. Concomitantly or in immediate temporal relation, the control unit 140 or the control unit separate unit 150 activates machine modules 180, such as Example mechanically driven brooms 182. These are lowered and turned on and a tail light 165 is activated. Finally, the activated Control unit 140 or the separate unit from the control unit 150, the drive device 1 10, 1 12 (Figure 8). It is provided that the control unit 140 in conjunction with the device 130 for detecting a guide signal, here a camera with image capture, the device 120 (Figure 8) for directing the at least one drive device 1 10, 1 12 (Figure 8) so regulated, that the semiautonomous follower 100 follows the user N, this sequence of movements simulating an appetitive behavior indicating the outward signs of obedience and diligence. It is important that the semiautonomous follower does not "stick" directly to the user N and follows the user N at a fixed distance. Rather, the semiautonomous sweeper 100 shows a behavior as if it were connected to the user N via an imaginary elastic spring, with the user N initially moving away from the semi-autonomous follower 100, as shown in the sketch from left to right at continuous time t is, and only when a predetermined maximum distance is exceeded, the semi-autonomous follower 100 sets in motion and catching up.

FIG. 3 outlines a third activity pattern of the semiautonomous follower device 100 according to the invention, in which the semi-autonomous follower device 100 indicates the external signs of a planned change in direction before a change of direction, as if it were a living being. For this purpose, an activity pattern that moves from time to time as time t advances is shown with the meaning of the stroke line and line width mentioned above. First, on the left edge of the image, the semiautonomous follower 100 follows the user N in a rectilinear motion, first and second dashed image of user N and semi-autonomous follower 100. In the third image from the left of the semiautonomous follower 100 and user N, the semi-autonomous follower 100 detects a change of direction of the user N as a targeted leader to the right. It is envisaged that the aforesaid devices now work together as follows: Upon detection of the direction change of the movement of the user N by the device 130 for detection of a guidance signal, a horizontal running light 164 reacts with a short-term, namely in the range of 0.5 s to 2 s, directional signal directed in the direction of the detected direction change. Concomitantly or in immediate temporal relationship, the control unit 140 or unit 1 0 separate from the control unit activates lateral movement of machine modules 180 in the direction of the detected change in direction, such as, for example, mechanically driven brooms 182. Again, this is in the third sketch from the left by an arrow down (right turn in Figure 3). Finally, the control unit 140 actuates the device 120 for steering the at least one drive device 110, 112 in the direction of the detected change of direction, here to the right, which is shown in the fourth image from the left by the rotating right arrow RP and what is shown in the sketch present is. Then, the horizontal running light 164 turns off the direction signal or returns it to the direction-neutral state. The control unit 140 actuates the device 120 for steering the at least one drive device 1 10, 1 12 in the straight ahead position. Now, the control unit 140 or the unit separate from the control unit 150, the lateral movement of Masch inenmodulen 180 back, namely, when the device 130 for detecting a guide signal recognizes a straight-line of the user N, this movement sequence simulates an appetite behavior that the outer Indicates signs of planned change of direction. The semiautonomous follower 100 behaves like a living being, which first extends its feelers before the change of direction, as it is commonly said colloquially becomes, and then takes only the cornering.

Referring now to Figure 4, there is shown a fourth activity pattern of the semi-autonomous follower 100 in which the semi-autonomous follower 100 displays, in a brief stop, the external signs of waiting and fixation.

In this activity pattern it is provided that the abovementioned devices work together as follows: First, in the topmost image, it is shown how the semiautonomous follower device 100 follows its intended user N in a straight line and has switched on the tail light 165. In the second image from above, the user stops N and turns to semi-autonomous follower 100. Upon detection of a U-turn or a stop in the movement of the user N by device 130 for detecting a FUhrungssignals stops the control unit 140, the at least one drive device 1 10, first 12. This is done in the second image from above, the stop being represented by a forward arrow VP abutting against a vertical wall. In the third sketch from above it is shown how in this state a vertical treadmill 162 fixes the head of the user N, in which a light of the vertical treadmill 162 is turned on, approximately on the imaginary connecting line between a spatial center of gravity S of the semi-automatic follower 100 and the body of the user N, the vertical treadmill 162 activates the light which is on the imaginary line, even if the user N moves. The imaginary line of focus to the body of the user is not to be interpreted too strictly here. It is intended to simulate following the user N with the light of the vertical running light 162 as if it were eyes. In this state, the user N is sure that the semi-autonomous follower 100 keeps still and does not move. Only after the user N has taken a broom from the semiautonomous follower 100 in the example shown here does the user N move away from the semi-automatic follower 100, the vertical treadmill 162 lowers the running light to the vehicle light 170, activates the tail light and starts a start cycle. as has been shown for Figure 2. This sequence of movements simulates an appetite behavior that indicates the external signs of waiting and fixing.

FIG. 5 shows a special activity pattern which is activated when approaching a wall or at a curb K. Beginning with the left image in the sketch history, the semiautonomous follower 100 follows the user. Already in the second image from the left, the semiautonomous follower 100 detects the presence of the curbside K and approaches it. In the change of direction, the activity pattern takes place, which is also described in the change of direction as described in the description of figures for Figure 3. When the semiautonomous follower 100 reaches the curb K, a radio remote controller sends out a signal which, for example, activates a vibrating alarm on the user's wristband. The transmission of the signal and the vibration alarm are each represented by three concentric arcs. The user N thus receives a message that the semiautonomous follower device 10 has aligned with the curb K. Only when the user N away from the curb K clearly by a change of direction, begins a new direction change cycle, as has been shown in the figure description of Figure 3.

FIG. 6 shows a sixth activity pattern of the semiautonomous follower device 100 according to the invention in a chronological sequence, in which the semi-autonomous follower device 100 indicates the external signs of inactive waiting while waiting. In this activity pattern it is provided that the aforementioned devices work together as follows: In the top picture, the semi-autonomous follower 100 follows its intended user N. Then, however, in the second image from above, the user N executes a typical stop gesture in which the user N turns around and points a hand to the semi-automatic follower 100. Upon detection of a turnaround or a stop when a person is moving through the guide signal detection device 130, the control unit 140 stops the at least one drive device 110, 12. Unlike the stop illustrated in FIG vertical running light 162 short up and down. In this state, the control unit 140 also stops existing machine modules 180 such as the circular brush 182 and a suction device 183 and moves them to their rest position, and the vehicle lights (170) are turned off by the control unit 140. The stop state is activated and now the control unit 140 or the unit 150 separate from the control unit 140 optionally activates a slow flashing light 166 with a frequency of less than 1 Hz. This is done in FIG. 3 from the top in FIG. 6. The user N is removed for a longer duration than a brief moment out of the field of view of the semiautonomous follower 100, the time instant is to be represented by the superimposed clock U. Thus, the semi-automatic follower 100 remains until the guide signal detecting apparatus 130 detects the return of the user N. In this detection, it is helpful if a BlueTooth signal, a WLAN signal or an RFID signal confirms the detection of the actual user N. Only when a typical human "come" gesture in the form of an approaching hand is detected by the guide signal detection device 130, the control unit 140 or the unit 150 separate from the control unit 140 performs the activity pattern described in FIG which transitions the semi-autonomous follower into the active state. The "Come!" Gesture of the user N is shown in the bottom sketch of FIG.

Finally, FIG. 7 shows a seventh activity pattern of the semiautonomous follower device 100, in which the semi-autonomous follower device 100 in the stop position indicates the external signs of walking to rest.

In FIG. 1 from the top of FIG. 7, as illustrated on previously sketched sketches, how the semiautonomous follower 100 follows its targeted user N. In Figure 2 from the top, the user stops N and turns to the autonomous follower 100. First, the activity pattern does not differ from the activity pattern shown in Figure 4 for the short-term stop. But now the user N operates a remote control, represented by three concentric arcs in Figure 3 from above, with which the user turns off the semiautonomous follower 100.

It is envisaged that the aforesaid devices will work together as follows: Upon detection of a U-turn or a stop in the movement of a user N through the guide signal detection device 130, the control unit 140 will stop the at least one drive device 110, 12 semi-autonomous follower 100 acknowledges the stop by an up and jumping vertical running light 162, lifts machine modules 180, here the round brush 1 82, and turns off as another machine module, a suction device 183. Upon receipt of a subsequent turn-off signal by the receiver 200 for a near-field communication protocol, a vertical run-light 162 responds by a momentary directional signal, namely in the range of 0.1 s to 0.5 s, this short-term upward directional signal simulates an appetite behavior that indicates the external signs of attention. Subsequently, the control unit 140 or the unit separate from the control unit 150 turns off optional vehicle lights 170, optionally turning off direction indicators 162, 165. This sequence of movements simulates an appetite behavior that indicates the outward signs of going to rest.

In FIG. 8 and in FIG. 9, important components of the autonomous sequencer 100 are shown as semi-autonomous sweepers in a component representation. The autonomous follower device 100 has the following components: First, the semiautonomous follower device 100 has at least one drive device 110 and 112 in the form of driven wheels R, through which the semi-automatic follower device 100 moves. At the front there is a device 130 for detecting a pilot signal. In this embodiment shown here is a stereo camera pair 132, each connected to an image recognition technique 133. A central controller accepts a control unit 140, which has all components semi-autonomous follower 100 influence. It is also possible for a separate unit from the control unit 140 to perform 150 parts of the movement control. A general direction indicator 160 is shown here as a horizontal running light 164. The vertical running light 162 is removed for clarity from this illustration, because it is clearly shown in the previous sketches. Also, the visible in the previous figures taillight 165 is not shown here. For the broom 182, also mentioned, the controller 182 'is shown here, which drives the broom 182, moves it to the side and raises it. An existing suction device 183 is located approximately in the rear of the sweeper, here as an example of a semiautonomous follower. The radio remote controls 190 are in pairs on the one hand in the semiautonomous follower 100 and also in a bracelet 300, shown in Figure 9 where vibration alarms 302 are present as vibrators for each bracelet of the right and left hand. These are in pairs to give directional information to the right and left hands. On the bracelet 300 There is a transmitter 200 and a receiver 202 for switching on and off, as well as for receiving the vibration alarms.

Finally, FIG. 10 shows a typical scene of the semiautonomous follower device 100 in its intended use. The semi-autonomous follower 100 follows a user N wearing a light-colored clothing with highly reflective tops. The semiautonomous follower 100 detects the preceding user N and generates a reduced image of the person from a camera image of the user's back view, which is only superimposed here on the user N for demonstration purposes. In actual use, this reduced figure is not projected onto the user. The reduced representation of the recognized human form of the user is used internally in the image recognition technique to align the near-field navigation, for example, at a point, such as the pelvic junction.

E N G L I S H E S T E S

Follower 182 Rotary broom Drive device 182 'Control drive device 183 Suction device Device for steering 190 Radio remote controls Device for detecting a 200 receiver

Guide signal 202 transmitter

Camera 300 bracelet

Image recognition technology 302 Vibration alarm control unit

separate unit ES switch-on signal direction indicator K curbside vertical running light N user

Vertex RP rotating right arrow horizontal running light VP forward arrow tail light S center of gravity

vehicle lights

machine modules

Claims

Semi-autonomous follow-up facility,

in particular semiautonomous sweeper

P A T E N T A N S P R E C H E

1. Semiautonomous Follow-Up Device (100), comprising

at least one drive device (1 10, 1 12),

at least one device (120) for steering the drive device (1 10, 1 12), at least one device (130) for detecting a guide signal, at least one control unit (140), which as manipulated variable the device (120) for steering the at least one drive device (1 10, 1 12) operated in response to the command signal,

characterized in that

the control unit (140) or a unit (150) separate from the control unit actuates further devices as a function of the control signal,

wherein the further devices are selected from the group consisting of:

Direction indicator (160),

Vehicle lights (170),

Machine Modules (180),

Radio remote controls (190).

2. Semiautonomous follower device according to claim 1,

characterized in that

the actuation of the further devices takes place biomimetic, so that the habitus of the semi-ultrasound follower device (100), which is actuated by actuation of the further It is based on the external behavior patterns of subordination and attention gestures of living beings with social behaviors, such as primates or Canoidea (canines).

3. Semiautonomous follower device according to claim 1 or 2,

characterized in that

this is combined with a sweeper having at least one machine driven rotary brush (1 82) and at least one suction device (183), wherein the further devices comprise the moving parts and / or the driven parts of the sweeper.

4. semiautonomous sequential device according to one of claims 1 to 3,

characterized in that

the guide signal detecting device (130) comprises an image recognition camera (132) (132), the image recognition technique (133) detecting human shape and gestures.

5. semiautonomous sequential device according to claim 4,

characterized in that

the means (130) for detecting a guidance signal further comprises a receiver (200) and transmitter (202) as radio remote control for a near field communication protocol, such as

BlueTooth ^® ,

WIRELESS INTERNET ACCESS,

active or passive RFID,

wherein the receive signal of this receiver (200) serves as a control lock for the control unit (140) or for the unit (150) separate from the control unit, by which the consequences of a misrecognition of the human form by the at least one device (130) for the detection of a guide signal be prevented by

in the event of a discrepancy between the location of the sighted person by the at least one device (130) for the detection of a guidance signal and the location of the reception signal nals this receiver (200), the control unit (140) or for the separate unit from the control unit (150) in a sleep or stop mode switches.

Semi-autonomous sequential device according to claim 5,

characterized in that

the aforementioned devices work together as follows:

upon receipt of a turn-on signal by the near-field communication protocol receiver (200), a vertical direction indicator (160) responds by a momentary directional signal, such as in the range of 0.1 s to 0.5 s, such as an ascending signal chase,

this brief, upward directional signal simulates an appetite behavior that indicates the external signs of attention.

Semiautonomous sequential device according to one of claims 4 to 6,

characterized in that

the aforementioned devices work together as follows:

upon detection of the approach of a human by the device (130) for detection of a guidance signal, a vertical direction indicator (162) responds by a momentary directional signal, such as in the range of 0.3 to 1.0 s, such as, for example an ascending chase light, the chase light extending to an upper vertex (163) of the entire follower (100), this short-term, upward direction signal simulating an appetite behavior indicative of the external signs of readiness and obedience, optionally the vertical direction indicator (160) emits another short-term signal and thereby the radio remote control emits a signal that triggers a vibrating alarm (302) on a human-worn wristband (300).

8. semiautonomous sequential device according to one of claims 4 to 7,

characterized in that

the aforementioned devices work together as follows:

upon detection of the distancing of a human by the guidance signal detecting device (130), a vertical direction indicator (162) responds with a continuous directional signal, such as a descending running light, during this mode of operation, the running light reaching one Vehicle light (170) is running,

thereupon the control unit (140) or the unit (150) separate from the control unit activates the vehicle light,

the control unit (140) or the unit (150) which is separate from the control unit activates machine modules (180) in parallel or in immediate temporal relationship, such as, for example, lowering and switching on mechanically driven brooms (182),

and finally the control unit (140) or the unit (150) separate from the control unit activates the drive device (110, 112), wherein

the control unit (140) in conjunction with the device (130) for detecting a guidance signal controls the device (120) for steering the at least one drive device (1 10, 1 12) so that the semi-autonomous follower (100) follows the human,

this sequence of movements simulates an appetitive behavior that indicates the outward signs of obedience and diligence.

9. semiautonomous sequential device according to one of claims 4 to 8,

characterized in that

the aforementioned devices work together as follows:

upon detection of a change in direction of human travel by the guidance signal detecting means (130), a horizontal direction indicator (164) responds with a momentary directional signal, namely in the range of 0.5 second to 2 seconds, in the direction of the detected direction change; such as a side-running running light or a navigation light, concomitantly or in immediate temporal relationship, the control unit (140) or the unit (150) separate from the control unit activates sideward movement of machine modules (1 80) in the direction of the detected change in direction, such as moving mechanically driven brooms (182) sideways,

and finally the control unit actuates the device (120) for directing the at least one drive device (110, 112) in the direction of the detected change in direction,

and last

the horizontal direction indicator (164) turns off the direction signal or returns it to the direction neutral state,

the control unit (140) actuates the device (120) for directing the at least one drive device (1 10, 1 12) in straight ahead position, the control unit (140) or the unit (150) separate from the control unit, the lateral movement of machine modules (180) in Withdrawing direction

if the device (130) detects a straight-line run of the person for the purpose of detecting a guidance signal,

This sequence of movements simulates an appetite behavior that indicates the outward signs of a planned change in direction.

10. Semiautonomous sequential device according to one of claims 4 to 9,

characterized in that

the aforementioned devices work together as follows:

upon detecting a turnaround or a stop when a person is traveling through a guide signal detection device (130) the control unit stops the drive device,

a vertical direction indicator (162) fixes the head of the human being in which a vertical direction indicator light (162) is turned on approximately on the imaginary connecting line between the center of gravity (S) of the semi-autonomous follower (100) and the human head; being the vertical one Direction indicator (162) activates each of the light that lies on the imaginary line, even if the human is moving,

this sequence of movements simulates an appetitive behavior that indicates the external signs of waiting and fixing.

Semiautonomous follower device according to one of claims 4 to 10,

characterized in that

the aforementioned devices work together as follows:

Upon detection of a wall, a guide line in the form of a ground mark or a curb (400) by the device (130) for detecting a guide signal, the control unit (140) reacts with an actuation of the device (120) for steering the at least one drive device (10 10 , 1 12), in such a way that the entire following device (100) conforms to the wall, the guide line in the form of a ground marking or the curb edge (400) during locomotion,

wherein the control unit (140) performs the change of direction for nestling against the wall, the guide line in the form of a ground marking or the curbside (400) according to claim 9,

and wherein, concomitantly or in immediate temporal relationship, the control unit (140) or unit (150) separate from the control unit activates sideward movement of machine modules (180) in the direction of the wall, bottom line marker line or curbside (400) , such as powered rotary brooms (182), optionally with the radio remote control (190) emitting a signal that triggers a vibrating alarm (302) on a human-worn wristband (300),

This sequence of movements simulates an appetite behavior that indicates the external signs of protected movement along a wall or balancing on a line.

12. semiautonomous sequential device according to one of claims 4 to 1 1, characterized in that

the aforementioned devices work together as follows:

upon detection of a U-turn or a stop when a person is moving through the device (130) for detecting a pilot signal, the control unit (140) stops the at least one drive device (110, 112) and further executes the appetite behavior according to claim 10,

and upon detection of a typical human stop gesture in the form of a rejecting hand by the guidance signal detection device (130), the control unit (140) stops and restarts engine modules (180) and / or turns off vehicle lights (170),

the control unit (140) or the unit (150) separate from the control unit (140) optionally activates a slow flashing light (166) having a frequency of less than 1 Hz until the guide signal detecting device (130) detects the return of the human and

only when a typical human comm gesture in the form of an approaching hand is detected by the device (130) for detecting a guidance signal, the control unit (140) or the unit (150) separate from the control unit (140) performs the appetite behavior according to claim 6,

thereafter, the control unit (140) or the unit (150) separate from the control unit (140) performs the appetite behavior according to claim 8.

13. Semiautonomous sequential device according to one of claims 4 to 12,

characterized in that

the aforementioned devices work together as follows:

upon detection of a U-turn or a stop during the movement of a person through the device (130) for the detection of a guidance signal the control unit (140) stops the at least one drive device (110, 112) with the appetite behavior according to claim 10,

Upon receipt of a subsequent turn-off signal by the near-field communication protocol receiver (200), a vertical direction indicator (162) responds. by a short-term, namely in the range of 0.1 s to 0.5 s, upward directional signal, such as an ascending running light,

this short-term upward direction signal simulates an appetite behavior indicating the external signs of attention,

and subsequently the control unit (140) or the separate unit from the control unit (1 0)

Machine modules (180) put into idle state, optional retracts, optional vehicle lights (170) off,

optional direction indicator (160) switches off,

this sequence of movements simulates an appetite behavior that indicates the external signs of walking to rest.