公开(公告)号：US09393699B1

公开(公告)日：2016-07-19

申请号：US14561850

申请日：2014-12-05

Applicant: Google Inc.

Inventor： Anthony Sean Jules ,  Aaron Edsinger

IPC: B25J9/16 ,  B25J13/00 ,  B25J19/02

CPC classification number: B25J13/006 ,  B25J9/1656 ,  G05B2219/33192 ,  G05B2219/36159

Abstract: Methods and systems for wireless control of robotic devices are described herein. As one example of implementing wireless control of a robot, a computing device may provide an alert, such as visual, audio, and/or vibration signals, when the device is capable of engaging in wireless communication with a robot. Prior to engaging the robot, the device may require some gesture of confirmation from the user, such as a passcode, predefined motion, or biometric input, prior to requesting for some amount of control of the robot. After engaging the robot via wireless communication (e.g., near field communication (NFC)), the device may receive control of the robot and enable the user to input control commands. Additionally, in some instances, the device may be configured to receive a subsequent gesture from the user that requests to relinquish control back to a control system of the robot.

Abstract translation: 本文描述了用于机器人设备的无线控制的方法和系统。 作为实现机器人的无线控制的一个示例，当设备能够与机器人进行无线通信时，计算设备可以提供诸如视觉，音频和/或振动信号的警报。 在接合机器人之前，在请求对机器人的一定量的控制之前，该设备可能需要来自用户的一些确认手势，例如密码，预定义的运动或生物特征输入。 在通过无线通信（例如，近场通信（NFC））接合机器人之后，设备可以接收机器人的控制，并且使得用户能够输入控制命令。 另外，在一些情况下，该设备可以被配置为从用户接收请求放弃对机器人的控制系统的控制的后续手势。

公开(公告)号：US09375853B1

公开(公告)日：2016-06-28

申请号：US14559134

申请日：2014-12-03

Applicant: Google Inc.

Inventor： Aaron Edsinger

IPC: B25J19/00 ,  B25J19/06 ,  B25J13/08

CPC classification number: B25J19/06 ,  B25J13/08 ,  Y10S901/02

Abstract: Examples are provided that describe a motion based light display for a robotic arm. In one example, a robotic device comprising one or more components configured to be actuated for movement. The robotic device also includes one or more processors are configured to determine a motion per path metric of the one or more components based on a motion plan associated with the robotic device. The one or more processors are configured to determine one or more feedback characteristics based on the motion per path metric. The one or more feedback characteristics include information indicative of an effect of motion associated with the one or more components. The robotic device also includes an indicator coupled to the one or more components and configured to provide feedback about the one or more components based on the feedback characteristics indicative of the effect of motion.

Abstract translation: 提供了描述机器人臂的基于运动的光显示的实例。 在一个示例中，包括被配置为被致动以移动的一个或多个部件的机器人装置。 机器人装置还包括一个或多个处理器被配置为基于与机器人装置相关联的运动计划来确定一个或多个部件的每个路径度量的运动。 一个或多个处理器被配置为基于每个路径度量的运动来确定一个或多个反馈特性。 一个或多个反馈特征包括指示与一个或多个部件相关联的运动的影响的信息。 所述机器人装置还包括耦合到所述一个或多个部件的指示器，并且被配置为基于指示运动的影响的反馈特性来提供关于所述一个或多个部件的反馈。

公开(公告)号：US20160291697A1

公开(公告)日：2016-10-06

申请号：US14672750

申请日：2015-03-30

Applicant: Google Inc.

Inventor： Anthony Sean Jules ,  Aaron Edsinger

IPC: G06F3/01 ,  G06F3/041

CPC classification number: G06F3/017 ,  G06F3/041 ,  G06F3/04883 ,  G06F3/04886 ,  G06F21/31 ,  G06F2221/2133

Abstract: Examples described may relate to methods and systems for gesture based switch for machine control. Some machines may be operated by computing devices that include touchscreens, and a graphical user interface (GUI) is provided for enabling control of the machines. Within examples, a disconnect switch can be incorporated into the GUI. As one example, to initiate operation of a machine, such as a robotic device, a user may be required to contact the touchscreen at a location and then trace out a pattern. To enable continued operation of the machine, the GUI may require the user to maintain contact with the touchscreen at a “goal” position. If contact with the touchscreen is broken (e.g., for more than a threshold amount of time), the machine operation may be halted, and the process to initiate operation can be performed again on the touchscreen to cause the machine to resume operation.

Abstract translation: 所描述的示例可以涉及用于机器控制的基于手势的切换的方法和系统。 一些机器可以由包括触摸屏的计算设备操作，并且提供图形用户界面（GUI）以实现对机器的控制。 在示例中，可以将连接开关并入GUI。 作为一个示例，为了启动诸如机器人设备的机器的操作，可能需要用户在一个位置处联系触摸屏，然后跟踪图案。 为了能够继续操作机器，GUI可能要求用户在“目标”位置保持与触摸屏的接触。 如果与触摸屏的接触被破坏（例如，超过阈值的时间），则可以停止机器操作，并且可以在触摸屏上再次执行开始操作的处理以使机器恢复操作。

公开(公告)号：US09434069B1

公开(公告)日：2016-09-06

申请号：US14537390

申请日：2014-11-10

Applicant: Google Inc.

Inventor： Aaron Edsinger

IPC: B25J9/02 ,  B25J9/16

CPC classification number: B25J9/1607 ,  B25J9/161 ,  B25J9/1664 ,  B25J9/1674 ,  G05B2219/40318

Abstract: Examples are provided that describe a motion heat map. In one example, a method includes receiving, an input indicative of an environment including a robotic device. The method also includes receiving information associated with the robotic device such as operational characteristics of the robotic device and a range of motion associated with a component of the robotic device. The method also includes determining a motion per path metric associated with the component of the robotic device based on a simulated operation of the robotic device. The method also includes determining a force associated with the motion per path metric. Based on the force, determining a heat map to demonstrate a varying effect of motion of the component.

Abstract translation: 提供描述运动热图的实例。 在一个示例中，一种方法包括接收指示包括机器人装置的环境的输入。 该方法还包括接收与机器人装置相关联的信息，例如机器人装置的操作特性以及与机器人装置的部件相关联的运动范围。 该方法还包括基于机器人装置的模拟操作来确定与机器人装置的部件相关联的每个路径度量的运动。 该方法还包括确定与每个路径度量的运动相关联的力。 基于力，确定热图以显示组件的运动的变化的影响。

公开(公告)号：US20160263752A1

公开(公告)日：2016-09-15

申请号：US15165160

申请日：2016-05-26

Applicant: Google Inc.

Inventor： Aaron Edsinger

IPC: B25J19/06 ,  B25J13/08

CPC classification number: B25J19/06 ,  B25J13/08 ,  Y10S901/02

Abstract: Examples are provided that describe a motion based light display for a robotic arm. In one example, a robotic device comprising one or more components configured to be actuated for movement. The robotic device also includes one or more processors are configured to determine a motion per path metric of the one or more components based on a motion plan associated with the robotic device. The one or more processors are configured to determine one or more feedback characteristics based on the motion per path metric. The one or more feedback characteristics include information indicative of an effect of motion associated with the one or more components. The robotic device also includes an indicator coupled to the one or more components and configured to provide feedback about the one or more components based on the feedback characteristics indicative of the effect of motion.

Abstract translation: 提供了描述机器人臂的基于运动的光显示的实例。 在一个示例中，包括被配置为被致动以移动的一个或多个部件的机器人装置。 机器人装置还包括一个或多个处理器被配置为基于与机器人装置相关联的运动计划来确定一个或多个部件的每个路径度量的运动。 一个或多个处理器被配置为基于每个路径度量的运动来确定一个或多个反馈特性。 一个或多个反馈特征包括指示与一个或多个组件相关联的运动的影响的信息。 所述机器人装置还包括耦合到所述一个或多个部件的指示器，并且被配置为基于指示运动的影响的反馈特性来提供关于所述一个或多个部件的反馈。

公开(公告)号：US09400035B1

公开(公告)日：2016-07-26

申请号：US14275984

申请日：2014-05-13

Applicant: Google Inc.

Inventor： Aaron Edsinger ,  Andy Metzger

IPC: F16H1/32 ,  F16H1/34

CPC classification number: F16H1/32 ,  F16H1/34 ,  F16H2001/323 ,  F16H2001/325 ,  F16H2057/125

Abstract: Examples are provided that describe a cycloid transmission with an adjustable ring. An example cycloid transmission includes a disc and a motor shaft attached to the disc. The motor shaft is capable of rotating the disc around an outer ring of rollers. The outer ring of rollers surrounds the disc. As the disc is rotated, contact is made between the disc and the outer ring of rollers. A cycloid transmission also comprises an adjustable ring that is interposed between the motor shaft and the disc. A circumference of the adjustable ring can be adjusted in order to cause expansion of a radius of the disc. This expansion will result in increased contact of the disc with the outer ring of rollers and thereby lower backlash during rotation of the disc.

Abstract translation: 提供了描述具有可调环的摆线传动的实例。 示例性摆线传动包括盘和连接到盘的马达轴。 电机轴能够绕圆周的滚筒旋转圆盘。 辊的外圈围绕盘。 当盘旋转时，在盘和外圈之间进行接触。 摆线传动装置还包括插入电动机轴和盘之间的可调环。 可以调节可调环的周长以使得盘的半径膨胀。 这种膨胀将导致盘与辊的外圈的接触增加，从而在盘旋转期间降低齿隙。

公开(公告)号：US20160305509A1

公开(公告)日：2016-10-20

申请号：US15191810

申请日：2016-06-24

Applicant: Google Inc.

Inventor： Aaron Edsinger ,  Andy Metzger

IPC: F16H1/32

CPC classification number: F16H1/32 ,  F16H1/34 ,  F16H2001/323 ,  F16H2001/325 ,  F16H2057/125

Abstract: Examples are provided that describe a cycloid transmission with an adjustable ring. An example cycloid transmission includes a disc and a motor shaft attached to the disc. The motor shaft is capable of rotating the disc around an outer ring of rollers. The outer ring of rollers surrounds the disc. As the disc is rotated, contact is made between the disc and the outer ring of rollers. A cycloid transmission also comprises an adjustable ring that is interposed between the motor shaft and the disc. A circumference of the adjustable ring can be adjusted in order to cause expansion of a radius of the disc. This expansion will result in increased contact of the disc with the outer ring of rollers and thereby lower backlash during rotation of the disc.

Abstract translation: 提供了描述具有可调环的摆线传动的实例。 示例性摆线传动包括盘和连接到盘的马达轴。 电机轴能够绕圆周的滚筒旋转圆盘。 辊的外圈围绕盘。 当盘旋转时，在盘和外圈之间进行接触。 摆线传动装置还包括插入电动机轴和盘之间的可调环。 可以调节可调环的周长以使得盘的半径膨胀。 这种膨胀将导致盘与辊的外圈的接触增加，从而在盘旋转期间降低齿隙。

公开(公告)号：US09228909B1

公开(公告)日：2016-01-05

申请号：US14276032

申请日：2014-05-13

Applicant: Google Inc.

Inventor： Justine Rembisz ,  Aaron Edsinger

IPC: G01L3/02 ,  G01L3/08 ,  G01P3/44 ,  F16C41/00

CPC classification number: G01L3/14 ,  B65G43/02 ,  F16C41/007 ,  F16H7/02 ,  F16H7/023 ,  G01B7/18 ,  G01L3/02 ,  G01L5/105 ,  G01M13/023 ,  G01N3/56 ,  G01P3/443

Abstract: In examples, methods and systems for sensing tension in a timing belt are provided. In one example, a transmission device is provided that comprises a timing belt transmission configured to cause rotation of an output hub, and the timing belt transmission includes a timing belt with markings. The transmission device also includes a detector for detecting the markings on the timing belt as the timing belt is placed under a tension due to a load at the output hub, and a distance between the markings on the timing belt changes as the timing belt is placed under the tension. The transmission device also includes one or more processors for determining output torque of the timing belt transmission based on the distance between the markings on the timing belt or based on a time between detected markings.

Abstract translation: 在实施例中，提供了用于感测同步带中的张力的方法和系统。 在一个示例中，提供了一种传动装置，其包括构造成使输出轮毂旋转的同步带传动装置，同步带传动装置包括具有标记的同步带。 传动装置还包括一个用于检测同步带上的标记的检测器，因为正时带由​​于输出轮毂处的负载而处于张力下，并且同步带上的标记之间的距离随同步带的位置而改变 在紧张局势下。 传输装置还包括一个或多个处理器，用于基于同步带上的标记之间的距离或者基于检测到的标记之间的时间来确定同步带传输的输出扭矩。