LiDAR sensor system to enable or disable the use of a robot arm

Abstract

In some implementations, a robotic device can receive calibration data from a first LiDAR (Light Detection and Ranging) sensor and a second LiDAR sensor, which are associated with the physical environment of the robotic device's arm. Based on this calibration data, the robotic device can determine a boundary configuration for the robotic arm. The robotic device can position the first LiDAR sensor at a first location and the second LiDAR sensor at a second location relative to the robotic arm to detect activity within the boundary. The robotic device can then monitor the boundary based on the initial sensor data from the first LiDAR sensor and the subsequent sensor data from the second LiDAR sensor.Based on the first sensor data or the second sensor data indicating the activity associated with the boundary, the robot device can deactivate the robot arm for movement within the boundary.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to controlling the deployment of a robotic arm based on a LIDAR (Light Detection and Ranging) sensor array, and for example, to enabling and disabling the deployment of the robotic arm based on the LIDAR sensor array. BACKGROUND

[0002] Robotic devices encompass a variety of devices that can move within a physical environment. Robotic devices can be used for a variety of purposes, such as delivering people and / or objects, managing inventory, managing and tagging retail stock, and loading and unloading items. When robotic devices interact with a physical environment, care must be taken in the design and operation of the robotic devices to prevent injury or damage to people or objects located in the physical environment. To ensure that robotic devices and moving parts of robotic devices (e.g., extendable and retractable robot arms) do not come into contact with people or objects, a system is required to detect and prevent inadvertent contact with the moving parts. DESCRIPTION

[0003] Some of the implementations described herein relate to a method for controlling a robotic device. The method may include receiving calibration data from a first LIDAR sensor and a second LIDAR sensor associated with a physical environment of a robot arm of the robotic device. The method may include determining a configuration of a boundary for the robot arm based on the calibration data. The method may include positioning the first LIDAR sensor at a first position and the second LIDAR sensor at a second position relative to the robot arm according to the configuration of the boundary to enable the first LIDAR sensor and the second LIDAR sensor to detect activity within the boundary. The method may include monitoring the boundary of the robot arm based on first sensor data from the first LIDAR sensor and second sensor data from the second LIDAR sensor.The method may include disabling the robot arm from moving within the boundary based on the first sensor data or the second sensor data indicating activity associated with the boundary.

[0004] Some of the implementations described herein relate to a robotic device. The robotic device may include a LIDAR sensor array, a robot arm, and a controller. The controller may be configured to receive calibration data associated with a physical environment of the robotic device from one or more LIDAR sensors of the LIDAR sensor array. The controller may be configured to determine an operational range of motion of the robot arm based on the calibration data. The controller may be configured to position the one or more LIDAR sensors at appropriate locations based on a boundary of the operational range to detect activity within the boundary.The controller may be configured to disable the robot arm to prevent the robot arm from moving within the boundary based on sensor data from the one or more LIDAR sensors indicating the activity.

[0005] Some implementations described herein relate to an accessible machine-readable medium storing a set of instructions for a robotic device. The set of instructions, when executed by one or more processors of the robotic device, may cause the robotic device to receive calibration data associated with a physical environment of a robotic arm of the robotic device from a first LIDAR sensor and a second LIDAR sensor. The set of instructions, when executed by one or more processors of the robotic device, may cause the robotic device to determine a configuration of a boundary for the robotic arm based on the calibration data.The set of instructions, when executed by one or more processors of the robotic device, may cause the robotic device to position the first LIDAR sensor at a first position and the second LIDAR sensor at a second position relative to the robot arm according to the configuration of the boundary so that the first LIDAR sensor and the second LIDAR sensor can detect activity within the boundary. The set of instructions, when executed by one or more processors of the robotic device, may cause the robotic device to monitor the boundary of the robot arm based on first sensor data from the first LIDAR sensor and second sensor data from the second LIDAR sensor.The set of instructions, when executed by one or more processors of the robotic device, may cause the robotic device to disable the robot arm for movement within the boundary based on the first sensor data or the second sensor data indicating the activity associated with the boundary. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a top view illustration of an example implementation in conjunction with a robotic device, a robotic arm, and a LIDAR sensor assembly as described herein. Fig. 2 is a top view illustration of an example implementation associated with enabling and disabling use of a robotic arm based on a LIDAR sensor array as described herein. Fig. 3 is a side view illustration of an example implementation in conjunction with a robotic device, a robotic arm, and a LIDAR sensor assembly as described herein. Fig. 4 is a top view illustration of an example implementation in conjunction with a LIDAR array as described herein. Fig. 5 is an illustration of an example environment in which the systems and / or methods described herein may be implemented. Fig. 6 is an illustration of example components of one or more devices of Fig. 5. Fig. 7 is a flowchart of an example process related to enabling or disabling use of a robot arm. DETAILED DESCRIPTION

[0006] The following detailed description of embodiments refers to the accompanying drawings. The same reference numbers in different drawings may refer to the same or similar elements.

[0007] Robotic devices, such as those used for the delivery of people and / or objects, warehouse management, inventory management and labeling in retail, loading and unloading of objects, and / or similar tasks, may have moving parts that pose a hazard to people and other objects in a physical environment. While robotic devices often have sensors to detect objects in a physical environment and facilitate navigation, the sensors are often permanently attached to the robotic device and can only detect objects from a specific, fixed position. This can result in blind spots for the sensors, which could pose a hazard to people or objects in the same environment as the robotic device.The fixed positions and potentially limited view angles of the sensors can also lead to the need to mount many sensors on and around robotic devices to reduce blind spots and capture many different view angles, but this can increase the cost and complexity of the robotic devices. When it comes to the safety of people and / or objects and preventing contact between moving parts and people or objects, the speed with which the robotic device responds to sensor inputs can be important. While some sensors are capable of capturing large fields of view with high precision to avoid blind spots, the larger field of view and higher precision with some sensor types can come at the expense of speed.For example, detecting, interpreting, and responding to inputs from three-dimensional sensors with long range and wide field of view can be time-consuming due to the complexity of the sensor inputs. For some sensors, increased complexity can result in slower detection of an object in the robot's physical environment and / or a slower response time than less complex systems. Slow response times can adversely affect the safety of people and objects in the robot's physical environment.

[0008] Some implementations described herein enable a robotic device to activate and / or deactivate moving parts of the robotic device using a LIDAR sensor array. For example, a LIDAR sensor array may include one or more LIDAR sensors that can be positioned with a movable support structure (e.g., one or more retractable arms) to create and monitor a boundary around one or more moving parts of the robotic device, such as a robot arm. In some cases, the robotic device may be calibrated based on LIDAR sensor inputs to position the one or more LIDAR sensors relative to a moving part. This allows the robotic device to form a boundary around the moving part, and the moving part may be activated and / or deactivated based on motion detected at or within the boundary.As a result, the robot device is able to reconfigure and / or calibrate the LIDAR sensor array based on the physical environment of the robot device and the moving part(s) of the robot devices. This can ensure that the robot device is able to create a boundary having a moving field of view using the LIDAR sensor array and is able to quickly detect and interpret sensor inputs from the LIDAR sensor array to activate and / or deactivate the moving parts. The ability to reposition the LIDAR sensors can result in more precise boundaries and detection that is less likely to have blind spots in an operating range of the moving parts (e.g.,compared to fixed-position sensors), and the sensor array may also be able to quickly detect activity within the boundary to more quickly activate and / or deactivate the moving parts (e.g., compared to slower and / or more complex sensor arrays). Furthermore, the ability to reconfigure and / or calibrate the LIDAR sensor array may enable the robotic device to dynamically adjust a boundary based on the physical environment, which may change as the robotic device moves and / or the physical environment otherwise changes. In this way, the safety of people and objects in a physical environment with the robotic device may be improved, and the cost and complexity associated with using numerous and / or complex sensors may be reduced.

[0009] Fig. 1 is a top view illustration of an example implementation 100 in conjunction with a robotic device, a robotic arm, and a LIDAR sensor array. As shown in Fig. 1, the example implementation 100 includes a robotic device 110, a robotic arm 120, LIDAR sensors 130a, 130b, and 130c, and one or more retractable arms 140. The robotic device is described in more detail below.

[0010] As shown in example implementation 100, robotic device 110 is a mobile robotic device that operates in a physical environment containing shelves, e.g., in a retail store, a warehouse, and / or the like. The robotic device includes a robotic arm 120, which is a movable part of the robotic device capable of moving within the physical space to interact with the environment. Robotic arm 120 can be used, for example, to stock shelves, retrieve products or other objects from shelves, add or remove labels from shelves, and / or scan objects on the shelves. The robotic device also includes a LIDAR array with three LIDAR sensors 130a-130c mounted on retractable arms 140.

[0011] In some embodiments, the LIDAR sensors 130a-130c may be three-dimensional (3D), two-dimensional (2D), or a combination of 3D and 2D. A LIDAR sensor may measure distances to objects within its field of view (e.g., a 2D or 3D field of view) by rapidly emitting laser pulses and detecting the energy reflected from the objects within its field of view. The distance to objects within the field of view of the LIDAR sensor may be determined based on the amount of time it takes for the light to be reflected back to the LIDAR sensor. In some implementations, the sensor data provided by the LIDAR sensors 130a-130c may be forwarded to a controller of the robotic device 110, where the sensor data may be interpreted (e.g., to create a map of objects in the physical environment in which the robotic device 110 is operating).

[0012] The robot device 110 is in Fig. 1 in two different states. In a first state, the robotic device 110 is moving, and both the robotic arm 120 and the retractable arms 140 are retracted (e.g., to avoid contact with people and / or objects when the robotic device 110 is moving). In a second state, the robotic device is stationary, and the robotic arm 120 may be extended and operating within the physical environment, while the retractable arms 140 are extended to enable the LIDAR sensors 130a-130c to detect activity within a boundary defined by the LIDAR sensors 130a-130c, as further described herein.

[0013] As already mentioned, Fig. 1 is to be understood as an example. Other examples may differ from the description in Fig. 1. The number and arrangement of the Fig. 1 is an example. In practice, there may be additional devices, fewer devices, other devices, or differently arranged devices than those shown in Fig. 1. For example, the robotic device 110 may be an unmanned aerial vehicle or a robotic device mounted on a rail for movement, to name a few examples. As another example, the robotic device 110 may include multiple robotic arms, various moving parts, more or fewer LIDAR sensors, a different combination of sensors (e.g., different types of LIDAR sensors, camera devices as sensors, and / or radar devices as sensors, among other examples), more or fewer retractable arms (e.g., some sensors may be attached to the robotic device 110, while others may be attached to a retractable arm), a different position or positions of the retractable arms, and / or the like.

[0014] Fig. 2 is a top view illustration of an example implementation 200 associated with enabling and disabling use of a robot arm based on a LIDAR sensor array. As shown in Fig. As shown in Figure 2, the implementation example 200 includes a robot device and a management device. These devices are described in more detail herein.

[0015] As illustrated at reference numeral 210, the robotic device may receive calibration data associated with a physical environment of a moving part of the robotic device. In some implementations, the calibration data may be used to determine where the LIDAR sensor(s) of the LIDAR sensor array should be positioned to establish a boundary for the moving part. For example, the calibration data may specify an operating range for the movement of the moving part, which may define the dimensions of the space in which the moving part is intended to operate.

[0016] In some implementations, at least a portion of the calibration data may be provided by a management device. For example, a remote management device may communicate with the robot device and provide instructions to the robot device for performing various operations. In some implementations, the calibration data may indicate the range of the movable part in various dimensions. For example, the calibration data may indicate that the movable part can reach X meters in a first direction, Y meters in a second direction, and Z meters in a third direction. The distance may be measured from various locations, such as from the current position of the movable part and / or from a reference point on the robot device. In some implementations, the calibration data may indicate an intended range of the movable parts in various dimensions.For example, instead of specifying a maximum range of the moving part, the calibration data may specify a maximum range of the area within which the moving part is to perform an action or actions. In an example of retail shelf labeling, the calibration data may specify that a robotic arm for price labeling stays within specific coordinates or within a specific distance in various dimensions when performing the labeling task, even in a situation where the robotic arm can move beyond the specified distance and / or dimensions.

[0017] In some implementations, at least a portion of the calibration data may be provided by the LIDAR sensor array. For example, the LIDAR sensors included in the LIDAR sensor array may scan the physical environment around the robotic device to detect objects (e.g., shelves, objects on the shelves, walls, and / or the like) within the physical environment. In some implementations, the robotic device may use sensor data from the LIDAR sensors to create a map of the physical environment, which may provide 2D or 3D mapping of objects within the physical environment. In this way, the map of the physical environment may account for different shapes, sizes, and positions of objects (e.g., including shelves, objects on the shelves, walls, and / or the like) within the physical environment.In some implementations, the robotic device can move the LIDAR sensors around the physical environment (e.g., via retractable arms) to create the map. In addition to moving the LIDAR sensors in three dimensions (e.g., X, Y, and Z positions), the LIDAR sensors can also be attached to a support structure (e.g., a retractable arm) in a manner that provides further degrees of freedom for the LIDAR sensors, such as a three-axis gimbal that allows the LIDAR sensors to perform roll, pitch, and yaw movements. In this way, the LIDAR sensor array can generate calibration data associated with a physical environment in which the robotic device and the moving part of the robotic device operate.

[0018] In some implementations, receipt of the calibration data may be based on a trigger event that specifies one or more conditions for receiving the calibration data. For example, a trigger may be the robot device receiving instructions to perform an action with the moving part; when the condition associated with the trigger is met (e.g., receipt of the instructions), the robot device may receive the calibration data (e.g., by requesting calibration data from the management device and / or receiving calibration data via one or more LIDAR sensors). As another example, a trigger may be the robot device stopping (e.g., after a certain period of movement), the robot device moving a moving part, the robot device or another device (e.g., the management device) requesting calibration, and / or the like.

[0019] As illustrated at reference number 220, the robot device may determine the configuration of a boundary. For example, the robot device may determine a boundary configuration based on the calibration data. In a situation where the calibration data specifies a range of the movable part or an operating range of the movable part's movement, the range may specify how the boundary should be configured. As further described herein, the boundary may serve to surround the operating range of the movable part's movement, such that any movement associated with an external object (e.g., a human hand, foot, and / or the like that is not part of the robot device or an object with which the robot device interacts) being detected within the boundary or exceeding the boundary may cause the robot device to deactivate the movable part.

[0020] In some implementations, the robot device may be configured such that the boundary has a specific distance from the area or operating range of the movable part. For example, if the operating range of a movable part is one meter in each of a first, second, and third dimension, the boundary may be configured to be one meter, at least one meter, or one meter plus a preconfigured distance (e.g., a fixed distance or a relative distance) in each dimension. In some embodiments, the boundary may be configured relative to the movable part. For example, the boundary may be configured with respect to the operating range and position of the movable part, rather than with respect to a range of the robot device or a maximum reach of the movable part.In this case, the boundary can be set to allow the LIDAR array to more accurately map the operating range within which the moving part moves. For example, the boundary can be set to account for different shapes, sizes, and positions of objects (e.g., including shelves, objects on the shelves, walls, and / or similar) within the physical environment. In a situation where the robot device includes multiple moving parts, the boundary can be configured based on the range or operating range of each moving part.

[0021] In some implementations, the limit may be based on the number, type, position, and / or range of the lidar sensors in the lidar array. For example, the lidar array may be limited in the type of limit the lidar array can generate (e.g., based on the number of lidar sensors, the type of lidar sensors, the position of the lidar sensors, and the range of the lidar sensors). In some situations, increasing the number of LIDAR sensors, improving the positioning capabilities of the LIDAR array (e.g., with retractable arms with longer range, positioning capabilities, and / or additional degrees of freedom), and / or using LIDAR sensors with higher capabilities (e.g., 3D LIDAR sensors as opposed to 2D LIDAR sensors and / or longer range LIDAR sensors) can lead to potential improvements in the boundary coverage capabilities of the LIDAR array.In some cases, even a single LIDAR sensor may be sufficient to configure a boundary, particularly when the range of the moving part is limited and / or in a physical environment with some physical constraints on the boundary. For example, if the robotic device is located near one or more walls or similar structures, a single 2D LIDAR sensor arranged to detect activity in a single two-dimensional plane may provide a sufficient boundary for the physical environment. Another example is a single 3D LIDAR sensor placed near the moving part in at least two dimensions (e.g., horizontal and vertical) to detect activity in a field of view that encompasses the operating range of the moving part, which may provide a sufficient boundary.

[0022] As illustrated at reference number 230, the robotic device may position the LIDAR sensors of the LIDAR array based on the configuration. In some implementations, the LIDAR sensors are positioned relative to the moving part. For example, the LIDAR sensors may be positioned relative to a current position of the moving part before the moving part is put into operation. Another example is that the LIDAR sensors may be positioned relative to a position where the moving part will be in operation. For example, the boundary may be configured to be centered on a center point (or some offset from the center point) of an operating range of the moving part, which may vary depending on the activity the moving part performs.Accordingly, the position of the LIDAR sensors can change depending on how the moving part moves when performing actions and / or the operating range associated with an action performed by the moving part. In this way, the LIDAR sensors can be arranged and repositioned to create a consistent boundary with respect to the position of the moving part.

[0023] In some embodiments, the LIDAR sensors can be positioned using a movable support structure, which can include multiple movable parts for arranging the LIDAR sensors. Examples of support structures include retractable arms, arms that can be positioned in three dimensions, and / or mounting structures that provide the LIDAR sensors with one, two, or three rotational degrees of freedom (e.g., a three-axis gimbal with roll, pitch, and yaw functionality). In a situation where the robotic device includes multiple movable parts, a set of LIDAR sensors can be positioned relative to each of the movable parts (e.g., centrally to a center point of the operating range of each movable part). In some implementations, separate movable parts can be connected to a corresponding LIDAR sensor, such that some LIDAR sensors are positioned relative to the corresponding movable part.

[0024] In the example implementation 200, the LIDAR array includes three 2D LIDAR sensors: one sensor for sensing in a vertical 2D plane on a side of the robot device opposite the moving part, and two sensors for sensing in two vertical planes on the left and right sides of the robot device. Retractable arms on the left and right LIDAR sensors allow the 2D LIDAR sensors to be extended to sense within a boundary encompassing the operating range of the moving part. The LIDAR sensor opposite the moving part is retractable in this example and extends to create a rear boundary for the robot device.

[0025] As illustrated at reference numeral 240, the robot device monitors the boundary based on sensor data received from the LIDAR array. For example, as illustrated, the LIDAR array provides a boundary defined by three vertical 2D planes, one each provided by the three LIDAR sensors. To monitor the boundary, the LIDAR sensor input is processed by the robot device to determine whether activity (e.g., movement) is occurring that exceeds the boundary or occurs within the boundary. In some implementations, the types of sensors used can affect how activity at or within the boundary is detected.For example, with the example arrangement of 2D LIDAR sensors, only motion that exceeds the boundary would be detected, because the 2D LIDAR sensors would not detect motion that does not occur on one of the three vertical planes for which those LIDAR sensors are configured. While the actual detection range of each 2D LIDAR sensor may extend beyond the depicted boundary, the robot device may ignore such motion that occurs outside the boundary. For example, the left and right LIDAR sensors may be able to detect a person or object moving behind the robot device, but as long as the motion is outside the plane of the rear LIDAR sensor relative to the robot device, the robot device may ignore the motion because it is not within the configured boundary.As another example, a 3D LIDAR sensor can detect activity within the boundary depending on the 3D LIDAR sensor's field of view and the presence of obstacles. Different LIDAR arrangements and boundary configurations can result in different areas being monitored by the robotic device.

[0026] As illustrated at reference number 250, the robot device detects whether there is activity associated with the boundary (e.g., movement at or within the boundary). For example, the robot device may detect activity associated with the boundary based on sensor data from the LIDAR array. In some implementations, to determine whether activity is occurring at or within the boundary, the robot device may compare a map of the physical environment (e.g., previously created by the LIDAR array) with a current state of the physical environment as indicated by sensor inputs from the LIDAR array. If a difference is detected, this is a likely indicator that movement at or within the boundary has occurred. In some implementations, the robot device may ignore the movement associated with the moving part (e.g.,to avoid false alarms due to the movement of the moving part. For example, in a situation where the moving part is expected to interact with an object within the boundary, in addition to the movement of the moving part itself, the movement of the object can also be ignored.

[0027] As illustrated at reference number 260, the robot device may deactivate the movable portion of the robot device when activity associated with the boundary is detected. For example, if motion is detected (e.g., as described herein), the movable portion may be deactivated as a safety precaution. In some implementations, deactivating the movable portion may include deactivating all activities performed by the movable portion or only a portion of the activities of the movable portion. For example, the robot device may be configured to deactivate one or more activities of the movable portion based on detecting the activity. For example, the robot device may be configured to stop all movement of the movable portion within the boundary, while allowing activities that do not involve movement (e.g., scanning) to continue.

[0028] In some implementations, whether the activity associated with the boundary is detected may be used as a condition for releasing the movable part. For example, when the robotic device arrives at a specific location to perform operations with the movable part, the robotic device may first use the LIDAR array to monitor the boundary to ensure that no activity associated with the boundary occurs during a specific period of time. If no activity associated with the boundary occurs within the threshold period, the robotic device may activate the movable part and cause it to perform the operations. This allows the robotic device to determine that the physical environment is safe before operating with the movable part.

[0029] As illustrated at reference number 270, the robot device may monitor the boundary and re-enable the movable part. For example, the robot device may decide to resume operation of the movable part based on reaching a threshold inactivity period associated with the boundary. In this way, after the movable part has been deactivated due to activities associated with the boundary, the robot device may monitor the boundary for further movement before resuming operation of the movable part. In this way, the robot device may ensure that the physical environment is safe before resuming operation of the movable part.

[0030] In some implementations, the robotic device may repeat any of the aforementioned functions, including repeating calibration and / or configuration (including repositioning the sensors) based on a change in the physical environment and / or on detecting activity associated with the boundary. For example, an activity associated with the boundary may cause a change in the physical environment (e.g., removing or adding an object on a shelf), and the robotic device may perform recalibration and / or reconfiguration to generate a new boundary based on changes in the physical environment. Furthermore, the robotic device may be mobile, and a change in the physical environment may result from the movement of the robotic device. Following such a change in the physical environment (e.g.,When the robot moves from one area to another, such as from one shelf to another, the robot can perform recalibration and / or reconfiguration to create a new boundary. This allows the robot device to dynamically change the boundary as the physical environment changes.

[0031] In some implementations, the robotic device may determine a new configuration of a new boundary (e.g., repeat calibration and / or configuration) based on the occurrence of one or more trigger conditions. Example trigger conditions may include: detecting the lapse of a period of time (e.g., for periodic recalibration and / or reconfiguration), detecting that the robotic device has moved (e.g., from one position within the physical environment to another), detecting that the robot arm has moved, detecting that an object has moved within the boundary (e.g., using LIDAR sensors, based on the robot arm executing instructions to move an object, and / or the like), detecting the activity associated with the boundary, detecting instructions (e.g.,received from an external device, such as a management device) to recalibrate and / or reconfigure the boundary, and / or sensing any other change in the physical environment, among other examples. The robot device may use any individual trigger or a combination of triggers to repeat the calibration and / or configuration. For example, one set of triggers may cause recalibration, while another (same or different) set of triggers may cause reconfiguration of the boundary. The triggers may also be reconfigured and / or updated (e.g., by a management device). Repeating the calibration and / or configuration may also cause the robot device to reposition at least one sensor, as described herein.

[0032] In some implementations, the sensors used for calibration may be the same as those used for configuration and / or monitoring. For example, the same set of LIDAR sensors that collect data for calibration may be the same set configured by the robotic device to monitor a boundary. In some implementations, the sensors used for calibration may be different from those used for configuration and monitoring. For example, one or more cameras may be used for calibration, while one set of LIDAR sensors may be used for configuration and monitoring.

[0033] As already mentioned, Fig. 2 is to be understood as an example. Other examples may differ from the description in Fig. 2. The number and arrangement of the Fig. The devices shown in Figure 2 are an example. In practice, there may be additional devices, fewer devices, other devices, or devices arranged differently than those shown in Fig. 2. The robot device may, for example, be an unmanned aerial vehicle or a robot device that is attached to a rail for movement. As another example, the robot device may have multiple robot arms, various moving parts, more or fewer LIDAR sensors, a different combination of sensors (e.g., different types of LIDAR sensors, camera devices as sensors, and / or radar devices as sensors, among other examples), more or fewer retractable arms (e.g.,Some sensors may be permanently attached to the robotic device, while others may be attached to a retractable arm), a different position or positions of the retractable arms, retractable arms with different positioning capabilities and different degrees of freedom to move in multiple dimensions, different degrees of freedom associated with the LIDAR sensors, different constraints configured by the robotic device, and / or the like. Furthermore, two or more of the sensors described in . Fig. 2 shown devices are implemented in a single device, or a single in Fig. The device shown in Figure 2 can be implemented as multiple, distributed devices. Additionally or alternatively, a Fig. 2 illustrated set of devices (e.g. one or more devices) perform one or more functions that are performed by another in Fig. 2 shown set of devices.

[0034] Fig. 3 is a diagram of a side view of an example implementation 300 in conjunction with a robotic device, a robotic arm, and a LIDAR sensor array. As in Fig. 3, the example implementation 300 includes a robotic device 110. The robotic device 110 is described in more detail herein.

[0035] As shown in example implementation 300, and similar to example implementation 100, robotic device 110 is a mobile robotic device that operates in a physical environment containing shelves, such as a retail store, a warehouse, and / or the like. The robotic device includes a robotic arm 120 for interacting with a shelf and / or objects on the shelf and shows two 2D LIDAR sensors 130a and 130b, while a third 2D LIDAR sensor (not shown) may be on one side of the robotic device opposite LIDAR sensor 130a in the z-direction.

[0036] In this example, the LIDAR array provides a boundary 150 (e.g., portions of which are shown by the dashed and dotted lines) using three 2D LIDAR sensors. The side LIDAR sensors (e.g., LIDAR sensor 130a and the opposite LIDAR sensor, not shown) can provide 2D portions of the boundary 150 in the x,y plane on either side of the robot arm 120. The LIDAR sensor 130a is shown in this example as covering 360 degrees in the x,y plane. The rear LIDAR sensor (e.g., LIDAR sensor 130b) can provide a 2D boundary in the y,z plane on a side of the robot device 110 opposite the robot arm 120. In this situation, the boundary 150 may be formed by three planes provided by the LIDAR array, and the robotic device 110 is configured to detect activity associated with one of the three planes (e.g.,Activity within a zone or boundary defined by the three levels, activity associated with crossing the boundary, and / or the like) as described herein.

[0037] In this example, the LIDAR sensor 130a is illustrated as being positioned vertically to correspond to a position of the robot arm 120. In this way, the LIDAR sensor 130a may be better able to detect activities at a height consistent with the robot arm 120 that might otherwise be blocked by obstructions, such as other shelves or objects on the shelves, due to a difference in the angle of view of the LIDAR sensor 130a relative to the robot arm 120, or due to differences in the position, shape, and size of shelves and / or objects within the field of view of the LIDAR sensor 130a. For example, if the LIDAR sensor 130a is positioned higher or lower (in the y-dimension) relative to the robot arm 120, the field of view of the LIDAR sensor 130a may change and affect whether the LIDAR sensor 130a is able to detect movement at the rear of the shelf in which the robot arm 120 is moving.Likewise, the position and field of view of the LIDAR sensors may allow the LIDAR sensors to detect differences in the shape, size, and / or position of the shelves (e.g., the lower shelves of example 300 extend farther than the upper ones) and to detect differences in the shape, size, and / or position of objects (e.g., differently shaped objects at different depths of the shelves). This may allow the robot 110 to configure and monitor a more precise boundary over different and uneven surfaces than would otherwise be possible if the LIDAR sensor array were not as flexible as described herein.

[0038] As already mentioned, Fig. 3 is to be understood as an example. Other examples may differ from the description in Fig. 3. The number and arrangement of the Fig. 3 is an example. In practice, there may be additional devices, fewer devices, other devices, or differently arranged devices than those shown in Fig. 3. For example, the robot device 110 may have multiple robot arms, different moving parts, more or fewer LIDAR sensors, a different combination of sensors (e.g., different types of LIDAR sensors, camera devices as sensors, and / or radar devices as sensors, among other examples), more or fewer retractable arms (e.g., some sensors may be permanently attached to the robot device, while others may be attached to a retractable arm), a different position or positions of the retractable arms, retractable arms with different positioning capabilities and different degrees of freedom to move in multiple dimensions (e.g.,retractable arms capable of translation in the x, y, and z directions and rotation around the x, y, and z axes), different degrees of freedom associated with the LIDAR sensors, different constraints configured by the robotic device, and / or similar. Furthermore, two or more of the components described in . Fig. 3 shown devices are implemented in a single device, or a single in Fig. 3 can be implemented as multiple, distributed devices. Additionally or alternatively, a Fig. 3 illustrated set of devices (e.g. one or more devices) perform one or more functions which are performed by another in Fig. 3 shown set of devices.

[0039] Fig. 4 is a diagram of a top view of an example implementation 400 in conjunction with a LIDAR array. As in Fig. 4, the example implementation 400 includes a robotic device 110. The robotic device 110 is described in more detail herein.

[0040] As shown in example implementation 400, the LIDAR array includes two 2D LIDAR sensors 130a and 130c mounted on retractable arms 140. The LIDAR sensors 130a and 130c are angled to form a boundary 150 encompassing an operating range of the robot arm 120. In this way, the LIDAR array can provide a boundary with only two 2D LIDAR sensors, which can further reduce the cost and complexity associated with LIDAR arrays for controlling the deployment of the robot arm 120.

[0041] As already mentioned, Fig. 4 is to be understood as an example. Other examples may differ from the description in Fig. 4. The number and arrangement of the Fig. 4 is an example. In practice, there may be additional devices, fewer devices, other devices, or differently arranged devices than those shown in Fig. 4. For example, the robot device 110 may include multiple robot arms, different moving parts, more or fewer LIDAR sensors, a different combination of sensors (e.g., different types of LIDAR sensors, camera devices as sensors, and / or radar devices as sensors, among other examples), more or fewer retractable arms (e.g., some sensors may be permanently attached to the robot device, while others may be attached to a retractable arm), a different position or positions of the retractable arms, retractable arms with different positioning capabilities and different degrees of freedom to move in multiple dimensions, different degrees of freedom associated with the LIDAR sensors, different boundaries configured by the robot device, and / or the like. Furthermore, two or more of the Fig. 4 shown devices are implemented in a single device, or a single in Fig. 4 can be implemented as multiple, distributed devices. Additionally or alternatively, a Fig. 4 illustrated set of devices (e.g. one or more devices) perform one or more functions which are performed by another in Fig. 4 shown set of devices.

[0042] As the examples herein demonstrate, a LIDAR array may enable a robotic device to form a configurable boundary around a moving part, and the moving part may be enabled and / or disabled based on activity detected at the boundary. Consequently, the robotic device may reconfigure and / or recalibrate the LIDAR sensor array based on the physical environment of the robotic device and the moving part(s) of the robotic device. This may ensure that the robotic device is capable of using the LIDAR sensor array to create a boundary having a moving field of view and is capable of quickly detecting and interpreting sensor inputs from the LIDAR sensor array to enable and / or disable the moving parts.The ability to reposition the LIDAR sensors can result in more precise boundaries and detection that is less likely to have blind spots within an operating range of the moving parts (e.g., compared to fixed-position sensors). The sensor array may also be able to quickly detect activity within the boundary to enable and / or disable the moving parts more quickly (e.g., compared to slower and / or more complex sensor arrays). Furthermore, the ability to reconfigure and / or calibrate the LIDAR sensor array can enable the robotic device to dynamically adjust a boundary based on the physical environment, which may change as the robotic device moves and / or the physical environment otherwise changes.In this way, the safety of people and objects in a physical environment with the robotic device can be improved and the costs and complexity associated with the use of numerous and / or complex sensors can be reduced.

[0043] Fig. 5 is an illustration of an example environment 500 in which the systems and / or methods described herein may be implemented. As in Fig. As shown in Figure 5, the environment 500 may include a robotic device 510, a management device 520, and a network 530. The devices of the environment 500 may be interconnected via wired connections, wireless connections, or a combination of wired and wireless connections.

[0044] Robotic device 510 includes one or more devices capable of moving within a physical environment using one or more moving parts and carrying a LIDAR sensor array to perform operations within the physical environment while using the LIDAR sensor array to control the use of a robotic arm. Furthermore, robotic device 510 may be capable of receiving, generating, storing, processing, and / or providing information associated with the calibration and configuration of boundaries associated with the robotic device and corresponding moving parts, as described elsewhere herein. Robotic device 510 may include or be contained within a movable, unmanned device, such as an automated cart, an unmanned aerial vehicle, or a similar type of device.Robotic device 510 may include a communication device and / or a computing device. For example, robotic device 510 may include a wireless communication device, a mobile phone, a user accessory, a laptop computer, a tablet computer, a desktop computer, or a similar type of device capable of communicating with management device 520 and controlling the components of robotic device 510, as described elsewhere herein.

[0045] The management device 520 includes one or more devices capable of receiving, generating, storing, processing, providing, and / or forwarding information associated with the calibration and configuration of boundaries associated with robotic devices, as described elsewhere herein. The management device 520 may include a communication device and / or a computing device. For example, the management device 520 may be a wireless communication device, a mobile phone, a user accessory, a laptop computer, a tablet computer, a desktop computer, a game console, a set-top box, a wearable communication device (e.g., a smart watch, smart glasses, a head-mounted display, or a virtual reality headset), a handheld scanning device, or a similar type of device; a server, such asan application server, a client server, a web server, a database server, a host server, a proxy server, a virtual server (e.g., running on computer hardware), or a server in a cloud computing system. In some implementations, the management device 520 includes computer hardware used in a cloud computing environment.

[0046] Network 530 includes one or more wired and / or wireless networks. For example, network 530 may include a wireless wide area network (e.g., a cellular network or a public cellular network), a local area network (e.g., a wired local area network or a wireless local area network (WLAN), such as a Wi-Fi network), a personal area network (e.g., a Bluetooth network), a near field communication network, a telephone network, a private network, the Internet, and / or a combination of these or other types of networks. Network 530 enables communication between devices of environment 500.

[0047] The Fig. The number and arrangement of devices and networks shown in Figure 5 is an example. In practice, additional devices and / or networks, fewer devices and / or networks, other devices and / or networks, or differently arranged devices and / or networks than those shown in Fig. 5. In addition, two or more of the Fig. 5 shown devices may be implemented in a single device, or a single device in Fig. The device shown in Figure 5 may be implemented as multiple distributed devices. Additionally or alternatively, a set of devices (e.g., one or more devices) of environment 500 may perform one or more functions described as being performed by another set of devices of environment 500.

[0048] Fig. 6 is a diagram of example components of a device 600 that may correspond to the robotic device 510 and / or the management device 520. In some embodiments, the robotic device 510 and / or the management device 520 include one or more devices 600 and / or one or more components of the device 600. As shown in Fig. 6, the device 600 may include a bus 610, a processor 620, a memory 630, an input component 640, an output component 650, and a communication component 660.

[0049] The bus 610 includes one or more components that enable wired and / or wireless communication between the components of the device 600. The bus 610 may include two or more components of Fig. 6, e.g., through operative coupling, communicative coupling, electronic coupling, and / or electrical coupling. The processor 620 includes a central processing unit, a graphics processing unit, a microprocessor, a controller, a microcontroller, a digital signal processor, a field-programmable gate array, an application-specific integrated circuit, and / or another type of processing component. The processor 620 is implemented in hardware, firmware, or a combination of hardware and software. In some implementations, the processor 620 includes one or more processors that may be programmed to perform one or more operations or processes described herein.

[0050] Memory 630 includes volatile and / or non-volatile memory. For example, memory 630 may include random access memory (RAM), read-only memory (ROM), a hard disk drive, and / or another type of memory (e.g., flash memory, magnetic memory, and / or optical memory). Memory 630 may include internal memory (e.g., RAM, ROM, or a hard disk drive) and / or removable memory (e.g., removable via a universal serial bus connection). Memory 630 may be a non-transitory, computer-readable medium. Memory 630 stores information, instructions, and / or software (e.g., one or more software applications) related to the operation of device 600. In some implementations, memory 630 includes one or more memories coupled to one or more processors (e.g., processor 620), e.g., a processor 620. E.g. via bus 610.

[0051] Input component 640 enables device 600 to receive inputs, such as user inputs and / or sensed inputs. Input component 640 may include, for example, a touchscreen, a keyboard, a keypad, a mouse, a button, a microphone, a switch, a sensor, a global positioning system sensor, an accelerometer, a gyroscope, and / or an actuator. Output component 650 enables device 600 to provide outputs, such as via a display, a speaker, and / or an LED. Communication component 660 enables device 600 to communicate with other devices via a wired and / or wireless connection. Communication component 660 may include, for example, a receiver, a transmitter, a transceiver, a modem, a network card, and / or an antenna.

[0052] The device 600 may perform one or more operations or processes described herein. For example, a non-transitory computer-readable medium (e.g., memory 630) may store a set of instructions (e.g., one or more instructions or code) for execution by the processor 620. The processor 620 may execute the set of instructions to perform one or more operations or processes described herein. In some implementations, execution of the set of instructions by one or more processors 620 causes the one or more processors 620 and / or the device 600 to perform one or more operations or processes described herein. In some implementations, wired circuitry is used instead of, or in combination with, the instructions to perform one or more operations or processes described herein.Additionally or alternatively, processor 620 may be configured to perform one or more of the operations or processes described herein. Therefore, the implementations described herein are not limited to any particular combination of hardware circuitry and software.

[0053] The number and arrangement of the Fig. 6 is only an example. The device 600 may include additional components, fewer components, different components, or differently arranged components than those shown in Fig. 6. Additionally or alternatively, a set of components (e.g., one or more components) of device 600 may perform one or more functions described as being performed by another set of components of device 600.

[0054] Fig. 7 is a flowchart of an example process 700 associated with a LIDAR sensor system for enabling or disabling use of a robot arm. In some implementations, one or more process blocks of Fig. 7 may be executed by a robotic device (e.g., robotic device 510). In some implementations, one or more process blocks may be executed by Fig. 7 be executed by another device or group of devices that are separate from or comprise the robot device, such as a management device (e.g., management device 520). Additionally or alternatively, one or more process blocks of Fig. 7 may be executed by one or more components of device 600, such as processor 620, memory 630, input component 640, output component 650, and / or communication component 660.

[0055] As in Fig. As shown in Figure 7, process 700 may include receiving calibration data from a first LIDAR sensor and a second LIDAR sensor associated with a physical environment of a robot arm of the robot device (block 710). For example, the robot device may receive calibration data from a first LIDAR sensor and a second LIDAR sensor associated with a physical environment of a robot arm of the robot device, as described above.

[0056] As in Fig. 7, the process 700 may include determining a boundary configuration for the robot arm based on the calibration data (block 720). For example, the robotic device may determine a boundary configuration for the robot arm based on the calibration data, as described above. In some implementations, the process 700 includes configuring a first detection range of the first LIDAR sensor according to the first position and a second detection range of the second LIDAR sensor according to the second position.

[0057] In some implementations, process 700 includes receiving configuration data associated with an operating range of the robot arm from a management device and configuring the boundary of the operating range based on the configuration data.

[0058] As in Fig. 7, the process 700 may include positioning the first LIDAR sensor relative to the robot arm at a first position and the second LIDAR sensor at a second position according to the boundary configuration to allow the first LIDAR sensor and the second LIDAR sensor to detect activity within the boundary (block 730). For example, the robotic device may position the first LIDAR sensor relative to the robot arm at a first position and the second LIDAR sensor at a second position according to the boundary configuration to allow the first LIDAR sensor and the second LIDAR sensor to detect activity within the boundary, as described above. The first and second LIDAR sensors may be directional sensors with a preconfigured detection range.

[0059] In some embodiments, the first and second LIDAR sensors are mounted on a movable support structure. For example, the first LIDAR sensor may be positioned via a first retractable arm of the robotic device, and the second LIDAR sensor may be positioned via a second retractable arm of the robotic device. Process 700 may also include positioning at least one LIDAR sensor to achieve a vertical position of an end of the robotic arm. The first LIDAR sensor may be positioned to detect activity associated with a first planar portion of the boundary, and the second LIDAR sensor may be positioned to detect activity associated with a second planar portion of the boundary.

[0060] As in Fig. 7, process 700 may include monitoring the boundary of the robot arm based on first sensor data from the first LIDAR sensor and second sensor data from the second LIDAR sensor (block 740). For example, the robotic device may monitor the boundary of the robot arm based on the first sensor data from the first LIDAR sensor and the second sensor data from the second LIDAR sensor, as described above. In some implementations, process 700 may include monitoring the sensor data to detect activity during a time when the robot arm is active within a range of operation of the robot arm.

[0061] As in Fig. 7, process 700 may include disabling the robot arm from moving within the boundary based on the first sensor data or the second sensor data indicating activity associated with the boundary (block 750). For example, the robot device may prevent the robot arm from moving within the boundary based on the first sensor data or the second sensor data indicating activity associated with the boundary, as described above.

[0062] In some embodiments, process 700 includes monitoring the first sensor data and the second sensor data to identify a period of inactivity within the boundary, and enabling the robot arm to move within the boundary based on identifying the period of inactivity in a zone located within the boundary for a threshold amount of time. The period of inactivity within the boundary may be detected based on the first sensor data indicating inactivity within a first detection plane of the first LIDAR sensor and the second sensor data indicating inactivity within a second detection plane of the second LIDAR sensor. In some implementations, the duration of the inactivity period is based on the configuration of the boundary.The physical environment may be a first physical environment, and the boundary and operating range associated with the robot arm may be different from another boundary and operating range associated with a second physical environment that is different from the first physical environment.

[0063] In some implementations, process 700 may include determining a new configuration of a new boundary for the robot arm based on the occurrence of a trigger condition. The trigger condition may include detecting the elapse of a period of time, detecting that the robot device has moved, detecting that the robot arm has moved, detecting that an object has moved within the boundary, detecting activity associated with the boundary, and / or receiving instructions to recalibrate and / or reconfigure the boundary. Based on the reconfiguration, at least one LIDAR sensor may be repositioned.

[0064] Although Fig. 7 shows example blocks of the process 700, in some implementations the process 700 may include additional blocks, fewer blocks, different blocks, or differently arranged blocks than those shown in Fig.7. Additionally or alternatively, two or more of the blocks of process 700 may be executed in parallel.

[0065] The above disclosure is for purposes of illustration and description, but is not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. Changes and variations may be made in light of the above disclosure or may be acquired from practice.

[0066] As used herein, the term "component" should be broadly understood to include hardware, firmware, and / or a combination of hardware and software. The terms "accessible machine-readable medium," "non-transitory machine-readable medium," and "machine-readable storage device" are expressly defined herein as a storage medium (e.g., a disk of a hard disk drive, a digital versatile disc, a compact disc, flash memory, read-only memory, random access memory, or the like) on which machine-readable instructions (e.g., code in the form of software and / or firmware) can be stored. The instructions may be stored for any length of time, such as permanently, for an extended period of time (e.g., during the execution of a program associated with the instructions), or for a short period of time (e.g., while the instructions are being cached, during a buffering process, or the like).Furthermore, the terms "accessible machine-readable medium," "non-transitory machine-readable medium," and "machine-readable storage device" are expressly defined herein to exclude the transmission of signals. That is, an "accessible machine-readable medium," a "non-transitory machine-readable medium," and a "machine-readable storage device," or the like, as used in the claims, should not be interpreted as a propagating signal.

[0067] Depending on the context, meeting a threshold may refer to a value that is greater than the threshold, greater than or equal to the threshold, less than the threshold, less than or equal to the threshold, equal to the threshold, not equal to the threshold, or similar.

[0068] It will be appreciated that the systems and / or methods described herein may be implemented in various forms of hardware, firmware, or a combination of hardware and software. The actual specialized control hardware or software code used to implement these systems and / or methods is not a limitation on the implementations. Therefore, the operation and behavior of the systems and / or methods are described herein without reference to any specific software code, with the understanding that software and hardware may be developed to implement the systems and / or methods based on the description contained herein.

[0069] Even if certain combinations of features are listed in the claims and / or in the description, these combinations are not intended to limit the disclosure of various embodiments. Indeed, many of these features may be combined in ways not expressly recited in the claims and / or disclosed in the description. Although each dependent claim listed below may directly depend on only one claim, the disclosure of various embodiments encompasses each dependent claim in combination with every other claim in the claim group. As used herein, language referring to "at least one of" a list of elements refers to any combination of those elements, including individual members. For example, "at least one of: a, b, or c" is intended to include a, b, c, ab, ac, bc, and abc, as well as any combination including multiple of the same elements.

[0070] No element, act, or instruction used herein should be considered critical or essential unless specifically identified as such. The articles "a" and "an," as used herein, include one or more elements and may be used interchangeably with "one or more." Further, the article "the," as used herein, is intended to include one or more items referred to in conjunction with the article "the" and may be used interchangeably with "the one or more." In addition, the term "set," as used herein, is intended to include one or more items (e.g., related items, unrelated items, or a combination of related and unrelated items) and may be used interchangeably with "one or more." When only one item is meant, the phrase "only one" or similar wording is used.The terms "has," "have," "comprising," or the like, as used herein, should also be understood as open-ended terms. The term "based on" means "based at least in part on," unless explicitly stated otherwise. The term "or" as used herein is intended to be inclusive when used in a series and may be used interchangeably with "and / or" unless explicitly stated otherwise (e.g., when used in combination with "either" or "only one of").

Claims

[1] A method for controlling a robot device, comprising: Receiving calibration data associated with a physical environment of a robot arm of the robot device from a first LIDAR (Light Detection and Ranging) sensor and a second LIDAR sensor; Determining a configuration of a limit for the robot arm based on the calibration data; Positioning the first LIDAR sensor with respect to the robot arm 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 detect activity within the boundary; Monitoring the limitation of the robot arm based on first sensor data from the first LIDAR sensor and second sensor data from the second LIDAR sensor; and Disabling the robot arm from moving within the boundary based on the first sensor data or the second sensor data indicating the activity associated with the boundary. [2] The method of claim 1, further comprising: Configuring a first detection range of the first LIDAR sensor according to the first position and a second detection range of the second LIDAR sensor according to the second position. [3] The method of claim 1, further comprising: Monitoring the first sensor data and the second sensor data to identify a period of inactivity within the boundary; and Enabling the robot arm to move within the boundary based on identifying the period of inactivity in a zone that is within the boundary for a threshold period of time. [4] The method of claim 3, wherein the inactivity period within the boundary is detected based on the first sensor data indicating inactivity within a first detection plane of the first LIDAR sensor and the second sensor data indicating inactivity within a second detection plane of the second LIDAR sensor. [5] The method of claim 3, wherein the duration of the inactivity period is based on the configuration of the limit. [6] The method of claim 1, wherein the first LIDAR sensor is positioned via a first retractable arm of the robotic device and the second LIDAR sensor is positioned via a second retractable arm of the robotic device. [7] The method of claim 1, wherein the first LIDAR sensor and the second LIDAR sensor are directional sensors with a preconfigured detection range. [8] The method of claim 1, further comprising: Determining a new configuration of a new boundary for the robot arm based on the occurrence of a trigger condition, where the trigger condition comprises one or more of: Recognizing the passage of time, Detecting that the robot device has moved, Detecting that the robot arm has moved, Detecting that an object has moved within the boundary, Detecting the activity associated with the boundary, Receiving instructions to recalibrate and / or reconfigure the boundary; and Repositioning at least one of the first LIDAR sensor or the second LIDAR sensor based on the reconfiguration. [9] Robot device comprising: a LIDAR (Light Detection and Ranging) sensor array; a robotic arm; and a controller configured to: receives calibration data associated with a physical environment of the robot device from one or more LIDAR sensors of the LIDAR sensor array; determines an operative range of motion of the robot arm based on the calibration data; positions the one or more LIDAR sensors at appropriate locations based on a boundary of the operating area to detect activity within the boundary; and deactivates the robot arm to prevent the robot arm from moving within the boundary based on the sensor data from the one or more LIDAR sensors indicating the activity. [10] The robot apparatus of claim 9, wherein the controller is further configured to: receives configuration data associated with the operating area from a management device; and the limitation of the operating range is determined based on the configuration data. [11] Robot device according to claim 9, further comprising: a movable support structure, wherein at least one LIDAR sensor of the one or more LIDAR sensors is mounted on the movable support structure; and wherein the controller, when positioning the one or more LIDAR sensors, is further configured to: positioning the at least one LIDAR sensor using the movable support structure. [12] The robotic device of claim 9, wherein the controller, in positioning the one or more LIDAR sensors, is further configured to: positioning at least one LIDAR sensor of the one or more LIDAR sensors to achieve a vertical position of one end of the robot arm. [13] Robot device according to claim 9, wherein: a first LIDAR sensor of the one or more LIDAR sensors is positioned to detect the activity associated with a first planar portion of the boundary, and a second LIDAR sensor of the one or more LIDAR sensors is positioned to detect the activity in association with a second planar portion of the boundary. [14] The robot apparatus of claim 9, wherein the physical environment is a first physical environment; and wherein the boundary and operating range are different from another boundary and operating range associated with a second physical environment that is different from the first physical environment. [15] The robot apparatus of claim 9, wherein the controller is further configured to: monitors the sensor data to capture activity during a time when the robot arm is active within the operating envelope. [16] Accessible, machine-readable medium storing a set of instructions, the set of instructions comprising: one or more instructions which, when executed by one or more processors of a controller of a robot device, cause the controller to: receive calibration data associated with a physical environment of a robot arm of the robotic device from a first LIDAR (Light Detection and Ranging) sensor and a second LIDAR sensor; to determine a configuration of a limit for the robot arm based on the calibration data; position the first LIDAR sensor relative to the robot arm in a first position and the second LIDAR sensor in a second position according to the configuration of the boundary to enable the first LIDAR sensor and the second LIDAR sensor to detect activity within the boundary; monitor the boundary of the robot arm based on first sensor data from the first LIDAR sensor and second sensor data from the second LIDAR sensor; and based on the first sensor data or the second sensor data indicating the activity associated with the boundary, to disable the robot arm for movement within the boundary. [17] The accessible machine-readable medium of claim 16, wherein the one or more instructions further cause the controller to: to configure a first detection range of the first LIDAR sensor according to the first position and a second detection range of the second LIDAR sensor according to the second position. [18] The accessible machine-readable medium of claim 16, wherein the one or more instructions further cause the controller to: monitor the first sensor data and the second sensor data to identify a period of inactivity within the boundary; and based on the identification of the inactivity period in a zone located within the boundary for a threshold period of time, to enable the movement of the robot arm within the boundary. [19] The accessible machine-readable medium of claim 18, wherein the inactivity period within the boundary is detected based on the first sensor data indicating inactivity within a first detection plane of the first LIDAR sensor and the second sensor data indicating inactivity within a second detection plane of the second LIDAR sensor. [20] The accessible machine-readable medium of claim 16, wherein the first LIDAR sensor is positioned over a first retractable arm of the robotic device and the second LIDAR sensor is positioned over a second retractable arm of the robotic device.

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