Systems, apparatuses, and methods for detecting escalators

Patent metadata

Field	Value
Publication number	US-11529736-B2
Application number	US-202117345407-A
Country	US
Kind code	B2
Filing date	Jun 11, 2021
Priority date	Dec 11, 2018
Publication date	Dec 20, 2022
Grant date	Dec 20, 2022

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.

First claim

What is claimed is:

1. 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. The method of claim 1 , wherein the drop parameter corresponds to a mean value of height between the first region and the second region, the first region is stationary and the second region is in motion away from the first region.

3. The method of claim 1 , further comprising:
adjusting the magnitude of the drop if there is a calibration error in the first sensor.

4. The method of claim 1 , further comprising:
detecting sidewall thresholds prior to computing the difference between the first and second distance measurements, wherein the sidewall thresholds corresponds to detecting a first wall and a second wall by the first sensor, the first and second walls being separated by a distance.

5. The method of claim 4 , wherein the two side walls are detected based on a derivative measurement to determine the two side walls being either on a right or a left side of the robotic device.

6. The method of claim 5 , wherein one of the two side walls being on the left side of the robotic device if the derivative measurement meets a negative wall threshold parameter value, and one of the two side walls being on the right side of the robotic device if the derivative measurement meets a positive wall threshold parameter value.

7. The method of claim 4 , wherein the magnitude of the drop and the side wall distance threshold is computed irrespective of an angle of the robotic device with respect to the first and second walls.

8. The method of claim 1 , wherein, the drop corresponds to an escalator if the drop parameter and the side wall threshold distance are met.

9. 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.

10. The non-transitory computer readable medium of claim 9 , wherein the drop parameter corresponds to a mean value of height between the first region and the second region, the first region is stationary and the second region is in motion away from the first region.

11. The non-transitory computer readable medium of claim 9 , wherein the controller is further configurable to execute the plurality of computer readable instructions to,
adjust the magnitude of the drop if there is a calibration error in of the first sensor.

12. The non-transitory computer readable medium of claim 9 , wherein the magnitude of the drop and side wall distance threshold is computed irrespective of an angle of the robotic device with respect to the two side walls.

13. The non-transitory computer readable storage medium of claim 9 , wherein, the drop corresponds to an escalator if the drop parameter and the side wall threshold distance are met.

14. The non-transitory computer readable medium of claim 9 , wherein the two side walls are detected based on a derivative measurement of the second data to determine the two side walls being either on a right or a left side of the robotic device.

15. The non-transitory computer readable medium of claim 14 , wherein one of the two side walls being on the left side of the robotic device if the derivative measurement meets a negative wall threshold parameter value, and one of the two side walls being on the right side of the robotic device if the derivative measurement meets a positive wall threshold parameter value.

16. 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.

17. The system of claim 16 , wherein, the drop corresponds to an escalator if the drop parameter and side wall threshold distance are met.

Assignees

• Brain Corp

Inventors

• Badiozamani Abdolhamid
• Paredes Cristian Eduardo Troncoso

Classifications

• B25J9/1694 Primary

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• G05B2219/34351

  Knowledge acquisition of environment · CPC title

• B25J9/163

  learning, adaptive, model based, rule based expert control · CPC title

• G06T7/60

  Analysis of geometric attributes · CPC title

• G06T7/521

  from laser ranging, e.g. using interferometry; from the projection of structured light · CPC title