Granted Patent B2

US 12,535,318 · App. 17/508,292 · Granted Jan 27, 2026

Inventors: Kristian Thomasberg (Ringe, DK); Jeppe Skaarup Lyster (Odense SØ, DK)

Assignee: Mobile Industrial Robots A/S

G01C11/06G01S7/4972G01S17/42G06V20/56

Abstract

Claims (88)

1 . A system comprising:

a body comprising wheels to move along a surface;

a laser-based scanner on the body to output laser beams in respective planes;

a camera on the body to capture a first image of a first area in which a first laser beam of the laser beams output by the laser-based scanner intersects an object at a height above the surface, the first image representing at least part of the object and representing the first laser beam based on a first line produced by an intersection of a first plane of the first laser beam and the object; and

one or more processing devices comprising one or more of the following: one or more microcontrollers, one or more microprocessors, programmable logic, one or more application-specific integrated circuits, or solid state circuitry;

wherein the first image is captured at a first location of the body;

wherein the one or more processing devices are configured to control the body to move to a second location that is different from the first location, the one or more processing devices being configured to control the laser-based scanner to output a second laser beam of the laser beams in a second plane, and to control the camera to capture a second image of the object, the second image representing at least part of the object and representing the second laser beam based on a second line produced by an intersection of the second plane of the second laser beam and the object at a height above the surface; and

wherein the one or more processing devices are configured to determine whether at least part of the laser-based scanner is misaligned based on a difference between the first line and the second line;

wherein determining whether the at least part of the laser-based scanner is misaligned comprises comparing the first line and the second line to determine whether the first line and the second line are at or acceptably near a same location;

wherein determining whether the first line and the second line are at or acceptably near a same location comprises determining whether the first line overlaps the second line at least partially or whether the first line and the second line are within an acceptable distance of each other; and

wherein the one or more processing devices are configured to determine that the at least part of the laser-based scanner is misaligned based on the first line not overlapping the second line at least partially or the first line and the second line not being within an acceptable distance of each other.

2 . The system of claim 1 , wherein the system comprises an autonomous vehicle;

wherein the laser-based scanner comprises an emitter to provide the laser beams and a mirror to output each laser beam in a respective plane; and

wherein the least part of the laser-based scanner that is misaligned comprises at least one of the emitter or the mirror.

3 . The system of claim 1 , wherein the one or more processing devices are configured to change a speed of movement of the body in response to determining that the at least part of the laser-based scanner is misaligned.

4 . The system of claim 1 , wherein the one or more processing devices are configured to reduce a speed of movement of the body in response to determining that the at least part of the laser-based scanner is misaligned.

5 . The system of claim 1 , wherein the one or more processing devices are configured to stop movement of the body in response to determining that the at least part of the laser-based scanner is misaligned.

6 . The system of claim 1 , further comprising:

one or more actuators that are controllable to move the at least part of the laser-based scanner to correct for misalignment of the at least part of the laser-based scanner.

7 . The system of claim 1 , further comprising:

non-transitory machine-readable memory storing data representing misalignment of the at least part of the laser-based scanner.

8 . The system of claim 7 , wherein the system comprises an autonomous vehicle; and

wherein the non-transitory machine-readable memory stores additional data representing a configuration of the autonomous vehicle at a time of the misalignment.

9 . The system of claim 1 , wherein the system is an autonomous vehicle; and

wherein the one or more processing devices are on the autonomous vehicle.

10 . The system of claim 1 , wherein the system comprises an autonomous vehicle; and

wherein the one or more processing devices are part of a computing system that is not on the autonomous vehicle but that is in communication with the autonomous vehicle.

11 . The system of claim 1 , wherein the first line and the second line are straight.

12 . The system of claim 1 , wherein the laser-based scanner comprises a two-dimensional (2D) light detection and ranging (LIDAR) scanner.

13 . The system of claim 1 , wherein one or more processing devices are configured to perform operations comprising:

scaling the first image to real-world dimensions based on a first distance between the body and the object to produce a first scaled image; and

scaling the second image to real-world dimensions based on a second distance between the body and the object to produce a second scaled image;

wherein determining that the at least part of the laser-based scanner is misaligned is based on the first scaled image and the second scaled image.

14 . A system comprising:

a body comprising wheels to move along a surface;

a laser-based scanner on the body to output laser beams in respective planes;

a camera on the body to capture a first image of a first area in which a first laser beam of the laser beams output by the laser-based scanner intersects an object at a height above the surface, the first image representing at least part of the object and representing the first laser beam based on a first line produced by an intersection of a first plane of the first laser beam and the object; and

one or more processing devices comprising one or more of the following: one or more microcontrollers, one or more microprocessors, programmable logic, one or more application-specific integrated circuits, or solid state circuitry;

wherein the first image is captured at a first location of the body;

wherein the one or more processing devices are configured to control the body to move to a second location that is different from the first location, the one or more processing devices being configured to control the laser-based scanner to output a second laser beam of the laser beams in a second plane, and to control the camera to capture a second image of the object, the second image representing at least part of the object and representing the second laser beam based on a second line produced by an intersection of the second plane of the second laser beam and the object at a height above the surface; and

wherein the one or more processing devices are configured to determine whether at least part of the laser-based scanner is misaligned based on a difference between the first line and the second line;

wherein the one or more processing devices are configured to determine an amount of misalignment of the laser-based scanner based on at least one of a location or an orientation of the first line and the second line; and

wherein the one or more processing devices are configured to determine an amount of misalignment of the laser-based scanner also based on an incline of the surface.

15 . The system of claim 14 , further comprising:

an accelerometer to provide information about the incline of the surface.

16 . A system comprising:

a body comprising wheels to move along a surface;

a laser-based scanner on the body to output laser beams in respective planes;

a camera on the body to capture a first image of a first area in which a first laser beam of the laser beams output by the laser-based scanner intersects an object at a height above the surface, the first image representing at least part of the object and representing the first laser beam based on a first line produced by an intersection of a first plane of the first laser beam and the object; and

one or more processing devices comprising one or more of the following: one or more microcontrollers, one or more microprocessors, programmable logic, one or more application-specific integrated circuits, or solid state circuitry;

wherein the first image is captured at a first location of the body;

wherein the one or more processing devices are configured to control the body to move to a second location that is different from the first location, the one or more processing devices being configured to control the laser-based scanner to output a second laser beam of the laser beams in a second plane, and to control the camera to capture a second image of the object, the second image representing at least part of the object and representing the second laser beam based on a second line produced by an intersection of the second plane of the second laser beam and the object at a height above the surface; and

wherein the one or more processing devices are configured to determine whether at least part of the laser-based scanner is misaligned based on a difference between the first line and the second line; and

wherein the one or more processing devices are configured to determine an incline of the surface based on at least the first image and the second image.

17 . One or more non-transitory machine-readable storage media storing instructions that are executable by one or more processing devices to perform operations comprising:

controlling capture of a first image of a first area in which a first laser beam from a laser-based scanner intersects an object at a height above a surface, the first image representing at least part of the object and representing the first laser beam based on a first line produced by an intersection of a first plane of the first laser beam and the object, wherein controlling capture of the first image comprises controlling capture by a camera on a robotic body at a first location on the surface;

controlling the robotic body to move to a second location on the surface that is different from the first location;

controlling the laser-based scanner to output a second laser beam in a second plane while the robotic body is at the second location;

controlling capture by the camera of a second image of the object, the second image representing at least part of the object and representing the second laser beam based on a second line produced by an intersection of a second plane of the second laser beam and the object at a height above the surface;

determining whether at least part of the laser-based scanner is misaligned based on a difference between the first line and the second line; and

determining an incline of the surface based on at least the first image and the second image;

wherein the one or more processing devices comprises one or more of the following: one or more microcontrollers, one or more microprocessors, programmable logic, one or more application-specific integrated circuits, or solid state circuitry.

18 . The one or more non-transitory machine-readable storage media of claim 17 , wherein the robotic body comprises an autonomous vehicle;

wherein the laser-based scanner comprises an emitter to provide each laser beam and a mirror to output each laser beam in a respective plane; and

wherein the least part of the laser-based scanner that is misaligned comprises at least one of the emitter or the mirror.

19 . The one or more non-transitory machine-readable storage media of claim 17 , wherein the operations comprise:

scaling the first image to real-world dimensions based on a first distance between the robotic body and the object to produce a first scaled image; and

scaling the second image to real-world dimensions based on a second distance between the robotic body and the object to produce a second scaled image;

wherein determining whether at least part of the laser-based scanner is misaligned is based on a difference between the first scaled image and the second scaled image.

20 . One or more non-transitory machine-readable storage media storing instructions that are executable by one or more processing devices to perform operations comprising:

controlling capture of a first image of a first area in which a first laser beam from a laser-based scanner intersects an object at a height above a surface, the first image representing at least part of the object and representing the first laser beam based on a first line produced by an intersection of a first plane of the first laser beam and the object, wherein controlling capture of the first image comprises controlling capture by a camera on a robotic body at a first location on the surface;

controlling the robotic body to move to a second location on the surface that is different from the first location;

controlling the laser-based scanner to output a second laser beam in a second plane while the robotic body is at the second location;

controlling capture by the camera of a second image of the object, the second image representing at least part of the object and representing the second laser beam based on a second line produced by an intersection of a second plane of the second laser beam and the object at a height above the surface;

determining whether at least part of the laser-based scanner is misaligned based on a difference between the first line and the second line;

wherein the one or more processing devices comprises one or more of the following: one or more microcontrollers, one or more microprocessors, programmable logic, one or more application-specific integrated circuits, or solid state circuitry;

wherein determining whether the at least part of the laser-based scanner is misaligned comprises comparing the first line and the second line to determine whether the first line and the second line are at or acceptably near a same location;

wherein determining whether the first line and the second line are at or acceptably near a same location comprises determining whether the first line overlaps the second line at least partially or whether the first line and the second line are within an acceptable distance of each other; and

wherein determining whether at least part of the laser-based scanner is misaligned comprises determining that the at least part of the laser-based scanner is misaligned based on the first line not overlapping the second line at least partially or the first line and the second line not being within an acceptable distance of each other.

21 . One or more non-transitory machine-readable storage media storing instructions that are executable by one or more processing devices to perform operations comprising:

controlling capture of a first image of a first area in which a first laser beam from a laser-based scanner intersects an object at a height above a surface, the first image representing at least part of the object and representing the first laser beam based on a first line produced by an intersection of a first plane of the first laser beam and the object, wherein controlling capture of the first image comprises controlling capture by a camera on a robotic body at a first location on the surface;

controlling the robotic body to move to a second location on the surface that is different from the first location;

controlling the laser-based scanner to output a second laser beam in a second plane while the robotic body is at the second location;

controlling capture by the camera of a second image of the object, the second image representing at least part of the object and representing the second laser beam based on a second line produced by an intersection of a second plane of the second laser beam and the object at a height above the surface;

determining whether at least part of the laser-based scanner is misaligned based on a difference between the first line and the second line;

determining an amount of misalignment of the laser-based scanner based on at least one of a location or an orientation of the first line and the second line;

wherein determining the amount of misalignment of the laser-based scanner is also based on an incline of the surface; and

wherein the one or more processing devices comprises one or more of the following: one or more microcontrollers, one or more microprocessors, programmable logic, one or more application-specific integrated circuits, or solid state circuitry.

Assignments (1)

Continuity (1)

References Cited (106)