US 12,449,546 B2
Lidar sensor system for enabling or disabling use of a robotic arm
Lucjan K. Perlowski, Wheatley Heights, NY (US); Robert E. Beach, Los Altos, CA (US); Chinmay Nanda, Central Islip, NY (US); and Yosef Nofal, Bronx, NY (US)
Assigned to Zebra Technologies Corporation, Lincolnshire, IL (US)
Filed by ZEBRA TECHNOLOGIES CORPORATION, Lincolnshire, IL (US)
Filed on Apr. 15, 2022, as Appl. No. 17/721,480.
Prior Publication US 2023/0333254 A1, Oct. 19, 2023
Int. Cl. G01S 17/93 (2020.01); B25J 9/16 (2006.01); G01S 7/48 (2006.01); G01S 17/06 (2006.01)
CPC G01S 17/93 (2013.01) [B25J 9/1635 (2013.01); G01S 7/4808 (2013.01); G01S 17/06 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling a robotic device, comprising:
receiving, from a first light detection and ranging (LIDAR) sensor and a second LIDAR sensor, calibration data associated with a physical environment of a robotic arm of the robotic device;
determining, based on the calibration data, a configuration of a boundary for the robotic arm;
positioning, relative to the robotic arm, the first LIDAR sensor at a first position and the second LIDAR sensor at a second position according to the configuration of the boundary to enable the first LIDAR sensor and the second LIDAR sensor to sense an activity within the boundary;
monitoring the boundary of the robotic arm based on first sensor data from the first LIDAR sensor and second sensor data from the second LIDAR sensor; and
disabling, based on the first sensor data or the second sensor data indicating the activity associated with the boundary, the robotic arm from moving within the boundary.
 
9. A robotic device comprising:
a light detection and ranging (LIDAR) sensor arrangement;
a robotic arm; and
a controller configured to:
receive, from one or more LIDAR sensors of the LIDAR sensor arrangement, calibration data associated with a physical environment of the robotic device;
determine, based on the calibration data, an operational region of movement of the robotic arm;
position, based on a boundary of the operational region, the one or more LIDAR sensors into corresponding locations to sense an activity within the boundary; and
disable, based on sensor data from the one or more LIDAR sensors indicating the activity, the robotic arm to prevent the robotic arm from moving within the boundary.