Spatial blind spot monitoring systems and related methods of use

1. A method of controlling a robot for autonomous navigation, the method comprising:

receiving, by a controller, a set of point values defining light detection and ranging (LIDAR) data from a LIDAR sensor having a two-dimensional (2D) field of view, the point values being distance values received based on the LIDAR sensor performing a scan of an environment, wherein the scan is performed in an omnidirectional plane comprising the 2D field of view;

receiving, by the controller, a sensor value from an ultrasonic sensor having a three-dimensional (3D) field of view, the sensor value being a measure of distance to an object and received based on the ultrasonic sensor scanning the environment, wherein the 3D field of view excludes the omnidirectional plane;

resolving, by the controller, an observable field of view for the LIDAR sensor, wherein the observable field of view is resolved based on a sensor distance between the LIDAR sensor and the ultrasonic sensor, the received sensor value, and the 3D field of view of the ultrasonic sensor;

comparing, by the controller, the sensor value with one or more point values in the set, the one or more point values corresponding to a portion of the omnidirectional plane, wherein the portion extends along the observable field of view;

determining, by the controller, whether the object is located in a region outside the 2D field of view of the LIDAR sensor based on the comparison, wherein the object is determined to be located in the region outside the 2D field of view based on the sensor value being less than the one or more point values in the set;

modifying, by the controller, the LIDAR data based on the object being located in the region outside the 2D field of view, the LIDAR data being modified by replacing the one or more point values in the set with the sensor value, wherein the modified LIDAR data indicates the object being detected by the LIDAR sensor despite the object being located outside the 2D field of view; and

generating, by the controller, a control signal based on the modified LIDAR data, wherein the control signal triggers a motor for manipulating an orientation of a robot towards a path away from the object.

2. The method of claim 1 , wherein the step of resolving further comprises:

determining, by the controller, positions of the LIDAR sensor and the ultrasonic sensor relative to a base link on the robot, the base link defining a frame of reference, wherein the positions are determined based on respective yaws of the LIDAR sensor and the ultrasonic sensor about an axis perpendicular to the base link;

calculating, by the controller, the sensor distance based on the determined positions of the LIDAR sensor and the ultrasonic sensor relative to the base link;

determining, by the controller, a target direction based on an orientation of the ultrasonic sensor, wherein the target direction comprises a portion of the 3D field of view of the ultrasonic sensor;

calculating, by the controller, an observable distance for the LIDAR sensor, the observable distance corresponding to a range for detecting objects outside the 2D field of view, wherein the observable distance is calculated based on the sensor value and the sensor distance;

calculating, by the controller, a horizontal extent of the object, wherein the horizontal extent is calculated based on the sensor value and the 3D field of view of the ultrasonic sensor; and

resolving, by the controller, the observable field of view for the LIDAR sensor based on the observable distance and the horizontal extent of the object, wherein the observable field of view extends along the target direction.

3. The method of claim 2 , wherein the horizontal extent corresponds to a width of the object within the 3D field of view of the ultrasonic sensor.

4. The method of claim 2 , wherein the positions of the LIDAR sensor and the ultrasonic sensor are fixed on the robot.

5. The method of claim 2 , wherein the positions are rotational positions relative to the base link.

6. The method of claim 2 , wherein the base link includes the LIDAR sensor.

7. The method of claim 2 , wherein the LIDAR sensor has a yaw of zero degrees relative to the base link.

8. The method of claim 1 , wherein the control signal further, at least one of, (i) triggers the motor to one of, inhibit speed or acceleration of the robot, stop a motion of the robot, move the robot along the path, and move the robot laterally or in a reverse direction, and (ii) provides an alert message or an alert signal.

9. The method of claim 1 , wherein the sensor value is received based on the ultrasonic sensor scanning in a fixed direction.

10. The method of claim 1 , wherein the LIDAR sensor and the ultrasonic sensor are located in different horizontal planes.

11. A system for controlling a robot for autonomous navigation, the system comprising:

a light detection and ranging (LIDAR) sensor having a two-dimensional (2D) field of view and being configured to perform a scan of an environment to provide a set of point values defining LIDAR data, the set of point values being distance values, wherein the LIDAR sensor performs the scan in an omnidirectional plane comprising the 2D field of view;

an ultrasonic sensor configured to scan the environment to provide a sensor value, the sensor value being a measure of distance to an object and received based on the ultrasonic sensor scanning the environment, wherein the ultrasonic sensor has a three-dimensional (3D) field of view excluding the omnidirectional plane; and

a controller in communication with the LIDAR sensor and the ultrasonic sensor, wherein the controller is configured to:

resolve an observable field of view for the LIDAR sensor, wherein the observable field of view is resolved based on a sensor distance between the LIDAR sensor and the ultrasonic sensor, the sensor value, and the 3D field of view of the ultrasonic sensor;

compare the sensor value with one or more point values in the set, the one or more point values corresponding to a portion of the omnidirectional plane, wherein the portion extends along the observable field of view;

determine whether the object is located in a region outside the 2D field of view of the LIDAR sensor based on the comparison, wherein the object is determined to be located in the region outside the 2D field of view based on the sensor value being less than the one or more point values in the set;

modify the LIDAR data based on the object being located in the region outside the 2D field of view, the LIDAR data being modified by replacing the one or more point values in the set with the sensor value, wherein the modified LIDAR data indicates the object being detected by the LIDAR sensor despite the object being located outside the 2D field of view; and

generate a control signal based on the modified LIDAR data, wherein the control signal triggers a motor for manipulating an orientation of a robot towards a path away from the object.

12. The system of claim 11 , wherein the controller is further configured to:

determine positions of the LIDAR sensor and the ultrasonic sensor relative to a base link on the robot, the base link defining a frame of reference, wherein the positions are determined based on yaws of the LIDAR sensor and the ultrasonic sensor about an axis perpendicular to the base link;

calculate the sensor distance based on the determined positions of the LIDAR sensor and the ultrasonic sensor relative to the base link;

determine a target direction based on an orientation of the ultrasonic sensor, wherein the target direction comprises a portion of the 3D field of view of the ultrasonic sensor;

calculate an observable distance for the LIDAR sensor, the observable distance corresponding to a range for detecting objects outside the 2D field of view, wherein the observable distance is calculated based on the sensor value and the sensor distance;

calculate a horizontal extent of the object, wherein the horizontal extent is calculated based on the sensor value and the 3D field of view of the ultrasonic sensor; and

resolve the observable field of view for the LIDAR sensor based on the observable distance and the horizontal extent of the object, wherein the observable field of view extends along the target direction.

13. The system of claim 12 , wherein the horizontal extent corresponds to a width of the object within the 3D field of view of the ultrasonic sensor.

14. The system of claim 12 , wherein the positions of the LIDAR sensor and the ultrasonic sensor are fixed on the robot.

15. The system of claim 12 , wherein the positions are rotational positions relative to the base link.

16. The system of claim 12 , wherein the base link includes the LIDAR sensor.

17. The system of claim 12 , wherein the LIDAR sensor has a yaw of zero degrees relative to the base link.

18. The system of claim 11 , wherein the control signal further, at least one of, (i) triggers the motor for one of, inhibiting speed or acceleration of the robot, stopping a motion of the robot, moving the robot along the path, and moving the robot laterally or in a reverse direction, and (ii) provides an alert message or an alert signal.

19. The system of claim 11 , wherein the sensor value is received based on the ultrasonic sensor scanning in a fixed direction.

20. The system of claim 11 , wherein the LIDAR sensor and the ultrasonic sensor are located in different horizontal planes.