US 12,085,412 B2
Movable device and method for sensing inclination of distance sensor attached to movable device
Jinwon Kim, Suwon-si (KR); Junggap Kuk, Suwon-si (KR); Musik Kwon, Suwon-si (KR); and Seungbeom Han, Suwon-si (KR)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Appl. No. 17/295,289
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
PCT Filed Nov. 5, 2019, PCT No. PCT/KR2019/014906
§ 371(c)(1), (2) Date May 19, 2021,
PCT Pub. No. WO2020/105906, PCT Pub. Date May 28, 2020.
Claims priority of application No. 10-2018-0143906 (KR), filed on Nov. 20, 2018.
Prior Publication US 2021/0404804 A1, Dec. 30, 2021
Int. Cl. G01C 9/02 (2006.01); G01C 22/00 (2006.01)
CPC G01C 9/02 (2013.01) [G01C 22/00 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method, performed by a movable device, of sensing an inclination of a distance sensor attached to the movable device, the method comprising:
sensing an obstacle fixed in a task space of the movable device;
moving toward the sensed obstacle;
while the movable device is moving, measuring a plurality of first distance values from the movable device to the obstacle using the distance sensor;
obtaining at least one second distance value indicating a moving distance of the movable device while measuring the plurality of first distance values, using odometry information of the movable device; and
identifying an inclination state of the distance sensor based on the plurality of measured first distance values and the obtained at least one second distance value,
wherein the identifying of the inclination state of the distance sensor comprises:
determining a first speed value of the movable device based on the plurality of measured first distance values;
determining a second speed value of the movable device based on the at least one second distance value obtained from the odometry information; and
identifying the inclination state of the distance sensor based on the determined first and second speed values.