# US 12,730,451 B2 · Systems and methods for determining position errors of front hazard sensors on robots > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,730,451 B2 - Document ID: US12730451B2 - Status: Granted - Kind: B2 - Application number: 18/128,337 - Filed: 2023-03-30 - Published: 2023-07-27 - Granted: 2026-09-08 - Earliest claimed: 2020-10-07 - Assignees: Brain Corporation - Applicants: Brain Corporation - Inventors: Micah Richert - Web page: https://patentgrep.com/patent/US12730451B2 ## CPC - G05D 1/0248: {in combination with a laser (lasers per se H01S)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/243: Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) - G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM] - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The method of claim 1, further comprising: determining, based on a computer readable map of the environment, locations along the route traveled by the robot where value of the error parameter increases due to objects in the environment; and omitting measurement errors for distance measurements which detect the objects based on the computer readable map. ### Claim 3 (depends on 1) The method of claim 1, further comprising: adjusting the threshold or value of the error parameter based on predetermined objects within the environment, the predetermined objects configured to cause an increase in value of the error parameter. ### Claim 4 (depends on 1) The method of claim 1, wherein the signal is outputted to a device, the device is configured to indicate detection of the error in the pose of the front hazard sensor. ### Claim 5 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. ### Claim 6 (depends on 5) The non-transitory computer readable storage medium of claim 5, wherein the processor is further configured to execute the computer readable instructions to, determine, based on a computer readable map of the environment, locations along the route traveled by the robot where value of the error parameter increases due to objects in the environment; and omit errors for distance measurements which detect the objects based on the computer readable map. ### Claim 7 (depends on 5) The non-transitory computer readable storage medium of claim 5, wherein the processor is further configured to execute the computer readable instructions to adjust the threshold or value of the error parameter based on predetermined objects within the environment, the predetermined objects configured to cause an increase in value of the error parameter value. ### Claim 8 (depends on 5) The non-transitory computer readable storage medium of claim 5, wherein the signal is outputted to a device, the device configured to indicate detection of the error in the operating pose of the front hazard sensor. ### Claim 9 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. ### Claim 10 (depends on 9) The robotic system of claim 9, wherein the processor is further configured to execute the computer readable instructions to determine, based on a computer readable map of an environment, locations along the route traveled by the robotic system where value of the error parameter is configured to increase due to objects in the environment; and omit errors for distance measurements which detect the objects based on the computer readable map. ### Claim 11 (depends on 9) The robotic system of claim 9, wherein the processor is further configured to execute the computer readable instructions to adjust the threshold or value of the error parameter based on predetermined objects within the environment, the predetermined objects configured to cause an increase in value of the error parameter value. ### Claim 12 (depends on 9) The robotic system of claim 9, wherein the signal is outputted to a device, the device configured to indicate detection of the error in the pose of the front hazard sensor.