Systems and methods for determining position errors of front hazard sensors on robots
AssigneeBrain Corporation
InventorMicah Richert
Life of this patent
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Abstract
Systems and methods for detecting an error in the mounting of a front hazard sensor are disclosed herein. According to at least one exemplary embodiment, an error in a pose of a front hazard sensor may comprise the front hazard sensor being orientated or positioned incorrectly with respect to a default pose. The present disclosure provides systems and methods for determining if this error in the pose is present.
Claims12
A method for determining an error in a pose of a front hazard sensor, comprising:
- determining a margin of error based on an expected measurement from the front hazard sensor at a default pose, the front hazard sensor coupled to a robot;
- collecting a plurality of distance measurements from the front hazard sensor as the robot navigates a route through an environment over a duration in time;
- calculating measurement errors of the front hazard sensor based on a magnitude of a discrepancy between the margin of error and each of the plurality of collected distance measurements;
- determining an error parameter based on a normalized summation of average values of the calculated measurement errors over the duration in time;
- determining an error in mounting of the front hazard sensor based on the error parameter meeting or exceeding a threshold;
- and
- outputting a signal indicative of the determined error,
- wherein the signal is communicated to one or more actuator units to stop the robot.
A non-transitory computer readable storage medium comprising a plurality of computer readable instructions stored thereon, that when executed by a processor, configure the processor to:
- determine a margin of error based on an expected measurement from a front hazard sensor at a default pose on a robot;
- collect a plurality of distance measurements from the front hazard sensor at an operating pose as the robot navigates a route through an environment over a duration in time;
- calculate measurement errors of the front hazard sensor based on a magnitude of a discrepancy between the margin of error and each of the plurality of collected distance measurements;
- determine an error parameter based on a normalized summation of average values of the calculated measurement errors and the duration in time;
- determine an error in mounting of the front hazard sensor based on the error parameter meeting or exceeding a threshold;
- and
- output a signal indicative of the determined error,
- wherein the signal is communicated to one or more actuator units to stop the robot.
A robotic system, comprising:
- a non-transitory computer readable storage medium comprising computer readable instructions stored thereon;
- and
- at least one processor configured to execute the computer readable instructions to,
- determine a margin of error for a measurement of a front hazard sensor mounted to the robotic system at a default pose;
- collect a plurality of distance measurements from a front hazard sensor as the robotic system navigates a route through an environment over a duration in time;
- determine measurement errors of the front hazard sensor based on a magnitude of a discrepancy between the margin of error and each of the plurality of the distance measurements collected;
- determine a value of an error parameter based on a normalized summation of average values of the measurement errors and the duration in time;
- and
- detect an error in a pose of the front hazard sensor based on the value of the error parameter meeting or exceeding a threshold;
- and
- output a signal based on the detected error in the pose,
- wherein the signal is communicated to one or more actuator units of the robotic system to stop the robotic system.
Dependencies are inferred from the claim text.