US 12,459,121 B2
Integrity and safety checking for robots
Norbert Stoeffler, Graefelfing (DE); Kay-Ulrich Scholl, Malsch (DE); Fabian Oboril, Karlsruhe (DE); and Yang Peng, Munich (DE)
Assigned to INTEL CORPORATION, Santa Clara, CA (US)
Filed by Intel Corporation, Santa Clara, CA (US)
Filed on Dec. 17, 2021, as Appl. No. 17/553,859.
Prior Publication US 2022/0105633 A1, Apr. 7, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/1674 (2013.01) [B25J 9/1664 (2013.01); B25J 19/02 (2013.01); G05B 2219/39001 (2013.01); G05B 2219/50193 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A device comprising:
a processor configured to:
generate a normal movement instruction for a robot, wherein the normal movement instruction instructs the robot to follow a trajectory at a movement speed, wherein the trajectory and the movement speed are associated with an expected optic flow along the trajectory;
generate a predefined motion instruction for the robot, wherein the predefined motion instruction instructs the robot to perform a random movement at a test time along the trajectory, wherein the random movement is associated with an expected observation at the test time;
determine the expected optic flow based on the normal movement instruction and a ground window defined by a width of the robot and a forward length along the trajectory of the robot;
determine a systematic failure based on:
a first difference between the expected observation and a current observation of the robot at the test time, wherein the current observation is determined from received sensor data; or
a second difference between the expected optic flow and a measured optic flow, wherein the measured optic flow is based on received optic sensor data; and
control movement of the robot based on the systematic failure.