Methods and systems for reducing false alarms in a robotic device by sensor fusion

• US 9,875,648 B2
• Filed: 06/13/2017
• Issued: 01/23/2018
• Est. Priority Date: 06/13/2016
• Status: Expired due to Fees

• Current Assignee: Gamma 2 Robotics, Incorporated
• Original Assignee: Gamma 2 Robotics, Incorporated
• Inventors: Govers, Francis, Pincus, Lewis, Pasquale, Jeffery
• Primary Examiner(s): Bugg, George
• Assistant Examiner(s): AKKI, MUNEAR T
• Application Number:
  US15/621,920
• Publication Number:
  US 20170358201A1
• Time in Patent Office: 224 Days
• Field of Search: 340587, 340506, 340507, 340540, 3405452, 34053926, 340438, 340463, 700245, 901 1, 901 9, 901 10, 901 46
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G08B 13/19647 Systems specially adapted for intrusion detection in or around a vehicle
• CPC Class Codes: G08B 19/005 combined burglary and fire alarm systems
• CPC Class Codes: G08B 29/188 Data fusion; cooperative systems, e.g. voting among different detectors
• CPC Class Codes: G08B 31/00 Predictive alarm systems characterised by extrapolation or other computation using updated historic data
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04W 4/38 for collecting sensor information

Abstract

The present technology generally relates to robotics. More specifically, the present technology relates to systems and methods for reducing false alarms by a mobile robotic device using data collected by sensors in the robotic device. An example of the technology may include receiving sensor data at one or more sensors; determining a first portion of the sensor data that matches one or more positive logic patterns of the set of positive logic patterns; determining a second portion of the sensor data that matches one or more negative logic patterns of the set of negative logic patterns; determining a third portion of sensor data that does not match any positive logic patterns of the set of positive logic patterns or negative logic patterns of the set of negative logic patterns; generating an alarm decision; receiving an input indicating that the alarm decision was incorrect; linking the alarm decision and the input to each other; and transmitting the linked alarm decision and input to the second pattern library based on the input.

Claims

1. A method for reducing false alarms in a robotic device using sensor fusion, the method comprising:

receiving sensor data at one or more sensors of a robot at a first location of an environment, wherein the sensor data indicates a detection event associated with an object in the environment;

determining, based on the sensor data and a set of positive logic patterns in a first pattern library, a first portion of the sensor data that matches one or more positive logic patterns of the set of positive logic patterns;

determining, based on the sensor data and a set of negative logic patterns in a second pattern library, a second portion of the sensor data that matches one or more negative logic patterns of the set of negative logic patterns;

determining, based on the determined first portion of the sensor data, the set of positive logic patterns, and the set of negative logic patterns, a third portion of sensor data that does not match any positive logic patterns of the set of positive logic patterns or negative logic patterns of the set of negative logic patterns;

generating, using the first, second and third portions of data, an alarm decision, wherein the alarm decision includes a decision of whether the sensor data indicates that the detection event took place;

receiving an input indicating that the alarm decision was incorrect;

linking the alarm decision and the input to each other; and

transmitting the linked alarm decision and input to the second pattern library based on the input, wherein when the linked alarm decision and input are received, the set of negative logic patterns is updated to include the linked alarm decision and input.

2. The method of claim 1, further comprising:

linking the alarm decision and the input to the sensor data; and

transmitting the linked sensor data, alarm decision, and input to the second pattern library based on the input, wherein when the linked sensor data, alarm decision, and input are received, the set of negative logic patterns is updated to include the linked sensor data, alarm decision, and input.

3. The method of claim 1, wherein the updated set of negative logic patterns is used to make future alarm decisions.

4. The method of claim 1, wherein the alarm decision facilitates initiating an alarm being activated to notify a user of the alarm decision.

5. The method of claim 1, wherein the set of positive logic patterns and the set of negative logic patterns are determined using and associated with the detection event.

6. The method of claim 5, wherein the set of positive logic patterns and the set of negative logic patterns are mutually exclusive from each other.

7. The method of claim 1, wherein the received input indicates that the alarm decision was incorrect is a false positive.

8. A robotic device, comprising:

one or more processors;

a memory having instructions stored thereon, which when executed by the one or more processors, cause the computing device to perform operations including;

receiving sensor data at one or more sensors of a robot at a first location of an environment, wherein the sensor data indicates a detection event associated with an object in the environment;

determining, based on the sensor data and a set of positive logic patterns in a first pattern library, a first portion of the sensor data that matches one or more positive logic patterns of the set of positive logic patterns;

determining, based on the sensor data and a set of negative logic patterns in a second pattern library, a second portion of the sensor data that matches one or more negative logic patterns of the set of negative logic patterns;

determining, based on the determined first portion of the sensor data, the set of positive logic patterns, and the set of negative logic patterns, a third portion of sensor data that does not match any positive logic patterns of the set of positive logic patterns or negative logic patterns of the set of negative logic patterns;

generating, using the first, second and third portions of data, an alarm decision, wherein the alarm decision includes a decision of whether the sensor data indicates that the detection event took place;

receiving an input indicating that the alarm decision was incorrect;

linking the alarm decision and the input to each other; and

transmitting the linked alarm decision and input to the second pattern library based on the input, wherein when the linked alarm decision and input are received, the set of negative logic patterns is updated to include the linked alarm decision and input.

9. The robotic device of claim 8, wherein the operations further include:

linking the alarm decision and the input to the sensor data; and

transmitting the linked sensor data, alarm decision, and input to the second pattern library based on the input, wherein when the linked sensor data, alarm decision, and input are received, the set of negative logic patterns is updated to include the linked sensor data, alarm decision, and input.

10. The robotic device of claim 8, wherein the updated set of negative logic patterns is used to make future alarm decisions.

11. The robotic device of claim 8, wherein the alarm decision facilitates initiating an alarm being activated to notify a user of the alarm decision.

12. The robotic device of claim 8, wherein the set of positive logic patterns and the set of negative logic patterns are determined using and associated with the detection event.

13. The robotic device of claim 12, wherein the set of positive logic patterns and the set of negative logic patterns are mutually exclusive from each other.

14. The robotic device of claim 8, wherein the received input indicates that the alarm decision was incorrect is a false positive.

15. A non-transitory computer readable storage medium communicatively coupled to one or more processors, wherein the non-transitory computer readable storage medium includes instructions that, when executed by the one or more processors, cause the one or more processors to perform operations including:

receiving sensor data at one or more sensors of a robot at a first location of an environment, wherein the sensor data indicates a detection event associated with an object in the environment;

determining, based on the sensor data and a set of positive logic patterns in a first pattern library, a first portion of the sensor data that matches one or more positive logic patterns of the set of positive logic patterns;

determining, based on the sensor data and a set of negative logic patterns in a second pattern library, a second portion of the sensor data that matches one or more negative logic patterns of the set of negative logic patterns;

determining, based on the determined first portion of the sensor data, the set of positive logic patterns, and the set of negative logic patterns, a third portion of sensor data that does not match any positive logic patterns of the set of positive logic patterns or negative logic patterns of the set of negative logic patterns;

generating, using the first, second and third portions of data, an alarm decision, wherein the alarm decision includes a decision of whether the sensor data indicates that the detection event took place;

receiving an input indicating that the alarm decision was incorrect;

linking the alarm decision and the input to each other; and

transmitting the linked alarm decision and input to the second pattern library based on the input, wherein when the linked alarm decision and input are received, the set of negative logic patterns is updated to include the linked alarm decision and input.

16. The robotic device of claim 15, wherein the operations further include:

linking the alarm decision and the input to the sensor data; and

transmitting the linked sensor data, alarm decision, and input to the second pattern library based on the input, wherein when the linked sensor data, alarm decision, and input are received, the set of negative logic patterns is updated to include the linked sensor data, alarm decision, and input.

17. The robotic device of claim 15, wherein the updated set of negative logic patterns is used to make future alarm decisions.

18. The robotic device of claim 15, wherein the alarm decision facilitates initiating an alarm being activated to notify a user of the alarm decision.

19. The robotic device of claim 15, wherein the set of positive logic patterns and the set of negative logic patterns are determined using and associated with the detection event, and wherein the set of positive logic patterns and the set of negative logic patterns are mutually exclusive from each other.

20. The robotic device of claim 15, wherein the received input indicates that the alarm decision was incorrect is a false positive.