Carpet drift estimation using differential sensors for visual measurements
First Claim
1. A robotic device, comprising:
- a plurality of sensors comprising imaging, gyroscopic, and/or odometry sensors;
an actuator system configured to move the robotic device across a surface; and
a controller coupled to the sensors and the actuator system, wherein the controller is configured to;
generate a drive signal to control the actuator system to perform a maneuver having a desired trajectory, wherein the desired trajectory comprises a substantially straight path;
receive data indicative of a motion characteristic from one or more of the sensors during movement in the desired trajectory, wherein the motion characteristic comprises a path angle of the robotic device;
determine whether the surface is carpeted based on an estimate of drift, wherein the estimate is based on data from the odometry and imaging sensors;
generate a control signal to control the actuator system to compensate for the drift based on the motion characteristic, wherein the drift comprises accumulated effects of carpet grain on the desired trajectory; and
send the control signal to the actuator system.
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Abstract
Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
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Citations
20 Claims
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1. A robotic device, comprising:
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a plurality of sensors comprising imaging, gyroscopic, and/or odometry sensors; an actuator system configured to move the robotic device across a surface; and a controller coupled to the sensors and the actuator system, wherein the controller is configured to; generate a drive signal to control the actuator system to perform a maneuver having a desired trajectory, wherein the desired trajectory comprises a substantially straight path; receive data indicative of a motion characteristic from one or more of the sensors during movement in the desired trajectory, wherein the motion characteristic comprises a path angle of the robotic device; determine whether the surface is carpeted based on an estimate of drift, wherein the estimate is based on data from the odometry and imaging sensors; generate a control signal to control the actuator system to compensate for the drift based on the motion characteristic, wherein the drift comprises accumulated effects of carpet grain on the desired trajectory; and send the control signal to the actuator system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of operating a robotic device comprising a plurality of sensors including imaging, gyroscopic, and/or odometry sensors, an actuator system, and a controller coupled to the sensors and the actuator system, the method comprising:
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generating, by the controller, a drive signal to control the actuator system to perform a maneuver having a desired trajectory, wherein the desired trajectory comprises a substantially straight path; receiving, at the controller, data indicative of a motion characteristic from one or more of the sensors during movement in the desired trajectory, wherein the motion characteristic comprises a path angle of the robotic device; determining whether a surface on which the robotic device is operating is carpeted based on an estimate of drift, wherein the estimate is based on data from the odometry and imaging sensors; generating, by the controller, a control signal to control the actuator system to compensate for the drift based on the motion characteristic, wherein the drift comprises accumulated effects of carpet grain on the desired trajectory; and sending the control signal to the actuator system. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A computer program product for operating a robotic device comprising a plurality of sensors including imaging, gyroscopic, and/or odometry sensors, an actuator system, and a controller coupled to the sensors and the actuator system, the computer program product comprising a non-transitory computer readable medium having computer instructions stored therein, that, when executed by a processor, causes the processor to perform operations comprising:
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generating a drive signal to control the actuator system to perform a maneuver having a desired trajectory, wherein the desired trajectory comprises a substantially straight path; receiving data indicative of a motion characteristic from one or more of the sensors during movement in the desired trajectory, wherein the motion characteristic comprises a path angle of the robotic device; determining whether a surface on which the robotic device is operating is carpeted based on an estimate of drift, wherein the estimate is based on data from the odometry and imaging sensors; generating a control signal to control the actuator system to compensate for the drift based on the motion characteristic, wherein the drift comprises accumulated effects of carpet grain on the desired trajectory; and sending the control signal to the actuator system.
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Specification