MOBILE ROBOT AND METHOD FOR MOBILE ROBOT CONTROL Russian patent published in 2023 - IPC B60W60/00 G16Y20/10 H04W4/30 H04W4/38 H04W4/40 G06T7/10 G06T7/13 G06T15/00 B60W30/08 B60W30/95 B60W40/02 G05D1/08 

FIELD: robotics.

SUBSTANCE: mobile robot contains a motor, a lidar sensor, a camera sensor, and a processor. A three-dimensional map of the robot's surroundings contains an indication of a pedestrian crossing, its waiting area, and a visual indicator of movement. When an object is detected in the waiting area, a bounding box of the object is formed using the sensor data. The position of the bounding box is displayed on the 3D map. The zone of visual overlap of the object in the waiting area is determined using the position of the bounding box and the orientation of the visual indicator of movement relative to the waiting area. The overlap zone is the calculated part of the waiting area where the visual motion indicator is covered by an object in the field of view of the camera sensor when the robot is in this calculated part. The reduced waiting area is determined as the difference between the waiting area and the visual overlap area. A visual motion indicator is visible in the field of view of the camera sensor when the mobile robot is in the reduced waiting area, after which the robot moves to the reduced waiting area.

EFFECT: improved robot control.

27 cl, 7 dwg