Systems and methods for robotic behavior around moving bodies
First Claim
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1. A robot comprising:
- a first sensor configured to generate first sensor data indicative of a first portion of a moving body over a first plurality of times;
a second sensor configured to generate second sensor data indicative of a second portion of the moving body over a second plurality of times; and
a processor configured to execute computer readable instructions to;
detect motion of the moving body based at least on the first sensor data at a first time of the first plurality of times and the first sensor data at a second time of the first plurality of times;
determine that the moving body comprises a continuous form from at least the first sensor data and the second sensor data;
detect at least one characteristic of the moving body that is indicative of the moving body comprising a person from at least one of the first sensor data and the second sensor data, the at least one characteristic of the moving body corresponding to a gait pattern of the person, the gait pattern including at least one alternate swing between a first leg and a different second leg of the person;
identify the moving body as the person based at least on the detected at least one characteristic and the determination that the moving body comprises the continuous form; and
perform an action in response to the identification of the moving body as the person.
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Abstract
Systems and methods for detection of people are disclosed. In some exemplary implementations, a robot can have a plurality of sensor units. Each sensor unit can be configured to generate sensor data indicative of a portion of a moving body at a plurality of times. Based on at least the sensor data, the robot can determine that the moving body is a person by at least detecting the motion of the moving body and determining that the moving body has characteristics of a person. The robot can then perform an action based at least in part on the determination that the moving body is a person.
191 Citations
14 Claims
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1. A robot comprising:
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a first sensor configured to generate first sensor data indicative of a first portion of a moving body over a first plurality of times; a second sensor configured to generate second sensor data indicative of a second portion of the moving body over a second plurality of times; and a processor configured to execute computer readable instructions to; detect motion of the moving body based at least on the first sensor data at a first time of the first plurality of times and the first sensor data at a second time of the first plurality of times; determine that the moving body comprises a continuous form from at least the first sensor data and the second sensor data; detect at least one characteristic of the moving body that is indicative of the moving body comprising a person from at least one of the first sensor data and the second sensor data, the at least one characteristic of the moving body corresponding to a gait pattern of the person, the gait pattern including at least one alternate swing between a first leg and a different second leg of the person; identify the moving body as the person based at least on the detected at least one characteristic and the determination that the moving body comprises the continuous form; and perform an action in response to the identification of the moving body as the person. - View Dependent Claims (2, 3, 4, 5)
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6. A non-transitory computer-readable storage medium having a plurality of instructions stored thereon, the instructions being executable by a processing apparatus for detecting people, the instructions configured to, when executed by the processing apparatus, cause the processing apparatus to:
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detect motion of a moving body based at least on a difference signal generated from sensor data generated from a plurality of sensors; determine from the sensor data that the moving body has at least two points in a generally vertical plane, the generally vertical plane being such that a given point resides above another point of the at least two points; identify the moving body as a person based at least in part on;
(i) the detection of at least one characteristic indicative of the person, the at least one characteristic indicative of the person comprising a gait pattern, the gait pattern including one stationary leg and one swing leg, and (ii) the determination that the moving body has the at least two points in the generally vertical plane; andexecute an action for an autonomous robot in response to the identification of the moving body as the person. - View Dependent Claims (7, 8)
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9. A method for detecting a person with a robot, comprising:
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receiving first sensor data indicative of a first portion of a moving body over a first plurality of times; receiving second sensor data indicative of a second portion of the moving body over a second plurality of times; detecting motion of the moving body based at least on the first sensor data at a first time of the first plurality of times and the first sensor data at a second time of the first plurality of times; determining that the moving body comprises a continuous form from at least the first sensor data and the second sensor data; detecting at least one characteristic of the moving body that is indicative of the moving body comprising a person from at least one of the first sensor data and the second sensor data, the at least one characteristic of the moving body corresponding to a gait pattern of the person, the gait pattern including at least one alternate swing between a first leg and a different second leg of the person; identifying the moving body as the person based at least on the detected at least one characteristic and the determination that the moving body comprises the continuous form; and performing an action in response to the identification of the moving body as the person. - View Dependent Claims (10, 11, 12, 13, 14)
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Specification