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US 11,529,736 B2Granted
Systems, apparatuses, and methods for detecting escalators
AssigneeBrain Corporation
InventorsAbdolhamid Badiozamani, Cristian Eduardo Troncoso Paredes
Life of this patent
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Abstract
Systems and methods for detecting an escalator in a surrounding environment by a robotic apparatus are disclosed herein. According to at least one exemplary embodiment, an escalator may be determined based on an escalator detection parameter being met. The escalator detection parameter my further require detection of two side walls separated by a distance equal to a width of an escalator and detection of a depreciation in a floor equal to that observed between a stationary portion and a moving first step of an escalator.
Claims17
A method for detecting a drop along a traveled path, comprising:
- receiving first data from a first sensor mounted on a robotic device, the first data comprising a first distance measurement from the first sensor to a first region;
- receiving second data from the first sensor mounted on the robotic device, the second data comprising a second distance measurement from the first sensor to a second region, the second region being different from the first region;
- computing difference between the first distance measurement and the second distance measurement if value of the second distance measurement is different from value of the first distance measurement, the difference computed corresponds to a magnitude of a drop;
- determine, within the second region, if two side walls are separated by a side wall threshold distance, and the two side walls are present within the second distance measurement and
- actuating the robotic device to reroute the traveled path if the magnitude of the drop is equivalent to or exceeds a drop parameter and upon determining of the two side walls via the side wall threshold distance, the drop parameter being a pre-determined threshold magnitude.
2 more elements
A non-transitory computer readable medium, comprising:
- a plurality of instructions stored thereon, that when executed by a controller configure the controller to,
- receive first data from a first sensor mounted on a robotic device, the first data comprising a first distance measurement from the first sensor to a first region;
- receive second data from the first sensor mounted on the robotic device, the second data comprising a second distance measurement from the first sensor to a second region, the second region being different from the first region;
- compute difference between the first distance measurement and the second distance measurement if value of the second distance measurement is different from value of the first distance measurement, the difference computed corresponds to a magnitude of a drop;
- determine, within the second region, if two side walls are separated by a side wall distance threshold, and the two side walls are present within the second distance measurement and
- actuate the robotic device to reroute the traveled path if the magnitude of the drop is equivalent to or exceeds a drop parameter and upon determining of the two side walls via the side wall threshold distance, the drop parameter being a pre-determined threshold magnitude.
3 more elements
A system for detecting a drop along a traveled path, comprising:
- a memory comprising computer readable instructions stored thereon;
- and
- at least one controller configurable to execute the computer readable instructions to,
- receive first data from a first sensor mounted on a robotic device, the first data comprising a first distance measurement from the first sensor to a first region;
- receive second data from a first sensor mounted on the robotic device, the second data comprising a second distance measurement from the first sensor to a second region, the second region being different from the first region;
- compute difference between the first distance measurement and the second distance measurement if value of the second distance measurement is different from value of the first distance measurement, the difference computed corresponds to a magnitude of a drop;
- determine, within the second region, if two side walls are separated by a side wall threshold distance, and the two side walls are present within the second distance measurement;
- and
- actuate the robotic device to reroute the traveled path if the magnitude of the drop is equivalent to or exceeds a drop parameter and upon determining of the two side walls via the side wall threshold distance, the drop parameter being a pre-determined threshold magnitude.
6 more elements
Dependencies are inferred from the claim text.