Systems and methods for determining position errors of front hazard sensors on robots
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.
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.
2 . 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.
3 . 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.
4 . 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.
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.
6 . 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.
7 . 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.
8 . 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.
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.
10 . 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.
11 . 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.
12 . 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.