Detection of movable ground areas of a robot's environment using a transducer array
US9701016B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 10, 2015 |
| Grant date | Jul 11, 2017 |
| Priority date | — |
| Expiry date | Jan 22, 2036 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/01
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An example method for detecting a movable element on a surface involves receiving, from a depth sensor coupled to a mobile robot, a first depth measurement between the depth sensor and a ground surface. The method also involves causing at least one transducer coupled to the mobile robot to emit a directional pressure wave toward the ground surface. The method further involves receiving, from the depth sensor coupled to the mobile robot, a second depth measurement between the depth sensor and the ground surface after emitting the directional pressure wave. Additionally, the method involves identifying one or more differences between the first depth measurement and the second depth measurement indicating that the ground surface includes a movable element. Further, the method involves providing navigation instructions to the mobile robot based on the identified one or more differences between the first depth measurement and the second depth measurement.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.