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1.发明授权公开(公告)号：US09707682B1
公开(公告)日：2017-07-18
申请号：US14950828
申请日：2015-11-24
Applicant: Google Inc.
Inventor： Kurt Konolige , Ethan Rublee , Gary Bradski
CPC classification number: B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
Abstract: Methods and systems for recognizing machine-readable information on three-dimensional (3D) objects are described. A robotic manipulator may move at least one physical object through a designated area in space. As the at least one physical object is being moved through the designated area, one or more optical sensors may determine a location of a machine-readable code on the at least one physical object and, based on the determined location, scan the machine-readable code so as to determine information associated with the at least one physical object encoded in the machine-readable code. Based on the information associated with the at least one physical object, a computing device may then determine a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object. The robotic manipulator may then be directed to place the at least one physical object at the respective location.
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公开(公告)号：US09327406B1
公开(公告)日：2016-05-03
申请号：US14463156
申请日：2014-08-19
Applicant: Google Inc.
Inventor： Stefan Hinterstoisser , Kurt Konolige
CPC classification number: B25J9/1697 , G05B2219/31066 , G05B2219/40006 , Y02P90/04
Abstract: One or more images of a physical environment may be received, where the one or more images may include one or more objects. A type of surface feature predicted to be contained on a portion of one or more surfaces of a single object may be determined. Surface features of the type within regions of the one or more images may then be identified. The regions may then be associated to corresponding objects in the physical environment based on the identified surface features. Based at least in part on the regions associated to the corresponding objects, a virtual representation of the physical environment may be determined, the representation including at least one distinct object segmented from a remaining portion of the physical environment so as to virtually distinguish a boundary of the at least one distinct object from boundaries of objects present in the remaining portion of the physical environment.
Abstract translation: 可以接收物理环境的一个或多个图像，其中一个或多个图像可以包括一个或多个对象。 可以确定预测包含在单个物体的一个或多个表面的一部分上的一种表面特征。 然后可以识别一个或多个图像的区域内的类型的表面特征。 然后可以基于所识别的表面特征将区域与物理环境中的相应对象相关联。 至少部分地基于与相应对象相关联的区域，可以确定物理环境的虚拟表示，所述表示包括从物理环境的剩余部分分割的至少一个不同对象，以便虚拟地区分 所述至少一个不同对象来自存在于物理环境的剩余部分中的对象的边界。
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公开(公告)号：US09507995B2
公开(公告)日：2016-11-29
申请号：US14584016
申请日：2014-12-29
Applicant: Google Inc.
Inventor： Kurt Konolige , Ethan Rublee
CPC classification number: G06K9/00201 , G06T1/0014 , G06T7/0004 , G06T7/521 , G06T7/593 , G06T2207/10012 , G06T2207/30108
Abstract: Methods and systems for determining depth information using a combination of stereo and structured-light processing are provided. An example method involves receiving a plurality of images captured with at least two optical sensors, and determining a first depth estimate for at least one surface based on corresponding features between a first image and a second image. Further, the method involves causing a texture projector to project a known texture pattern, and determining, based on the first depth estimate, at least one region of at least one image of the plurality of images within which to search for a particular portion of the known texture pattern. And the method involves determining points corresponding to the particular portion of the known texture pattern within the at least one region, and determining a second depth estimate for the at least one surface based on the determined points corresponding to the known texture pattern.
Abstract translation: 提供了使用立体声和结构光处理的组合来确定深度信息的方法和系统。 示例性方法包括接收利用至少两个光学传感器捕获的多个图像，以及基于第一图像和第二图像之间的对应特征来确定至少一个表面的第一深度估计。 此外，该方法包括使纹理投影仪投影已知的纹理图案，并且基于第一深度估计确定多个图像中的至少一个图像的至少一个区域，在该图像的至少一个区域内搜索该图像的特定部分 已知纹理图案。 并且该方法包括确定与至少一个区域内的已知纹理图案的特定部分相对应的点，以及基于对应于已知纹理图案的确定点来确定该至少一个表面的第二深度估计。
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公开(公告)号：US20160136808A1
公开(公告)日：2016-05-19
申请号：US15006264
申请日：2016-01-26
Applicant: Google Inc.
Inventor： Kurt Konolige , Ethan Rublee , Mrinal Kalakrishnan
CPC classification number: B25J9/1612 , B25J5/007 , B25J9/1633 , B25J9/1664 , B25J15/0616 , G05B2219/37345 , G05B2219/40006 , G05B2219/40512 , G05B2219/40513 , G05B2219/45056 , Y10S901/09 , Y10S901/27 , Y10S901/30 , Y10S901/46
Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.
Abstract translation: 示例系统和方法可以用于确定使用机器人装置移动对象的轨迹。 一个示例性方法包括基于多个可能的对象测量来确定用于利用机器人操纵器的末端执行器移动对象的多个可能轨迹。 该方法可以进一步包括使机器人操纵器用端部执行器拾起物体。 在使机器人操纵器用末端执行器拾起物体之后，该方法还可以包括从指示物体的一个或多个测量的一个或多个传感器接收传感器数据。 基于所接收的传感器数据，该方法可以另外包括从多个可能的轨迹中选择用于移动对象的轨迹。 该方法还可以包括使机器人操纵器通过所选择的轨迹移动对象。
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公开(公告)号：US20160288330A1
公开(公告)日：2016-10-06
申请号：US14672369
申请日：2015-03-30
Applicant: Google Inc.
Inventor： Kurt Konolige
CPC classification number: G01B11/2545 , B25J9/1697 , G01B11/026 , G05D1/0242 , G06K9/00201 , G06T1/0014 , G06T7/521 , G06T7/593 , G06T2207/10012 , G06T2207/10048 , G06T2207/30164 , H04N13/239 , H04N13/254 , H04N13/271 , H04N2013/0081 , Y10S901/09 , Y10S901/47
Abstract: Methods and systems for depth sensing are provided. A system includes a first and second optical sensor each including a first plurality of photodetectors configured to capture visible light interspersed with a second plurality of photodetectors configured to capture infrared light within a particular infrared band. The system also includes a computing device configured to (i) identify first corresponding features of the environment between a first visible light image captured by the first optical sensor and a second visible light image captured by the second optical sensor; (ii) identify second corresponding features of the environment between a first infrared light image captured by the first optical sensor and a second infrared light image captured by the second optical sensor; and (iii) determine a depth estimate for at least one surface in the environment based on the first corresponding features and the second corresponding features.
Abstract translation: 提供了深度感测的方法和系统。 一种系统包括第一和第二光学传感器，每个光学传感器包括第一多个光电检测器，其被配置为捕获散布有配置成捕获特定红外波段内的红外光的第二多个光电检测器的可见光。 该系统还包括计算设备，其被配置为（i）识别由第一光学传感器捕获的第一可见光图像和由第二光学传感器捕获的第二可见光图像之间的环境的第一对应特征; （ii）识别由第一光学传感器捕获的第一红外光图像和由第二光学传感器捕获的第二红外光图像之间的环境的第二对应特征; 以及（iii）基于第一对应特征和第二对应特征来确定环境中的至少一个表面的深度估计。
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Patent Agency Ranking
公开(公告)号：US09457477B1
公开(公告)日：2016-10-04
申请号：US14584070
申请日：2014-12-29
Applicant: Google Inc.
Inventor： Ethan Rublee , John Zevenbergen , Kurt Konolige
CPC classification number: B25J15/0616 , B25J9/16 , B25J11/00 , B25J15/0023 , B25J15/06 , Y10S901/02 , Y10S901/40
Abstract: An example suction gripper is disclosed that includes a contacting pillow including a plurality of particles inside a non-rigid membrane that allow the contacting pillow to conform to a shape of an object when the contacting pillow is pressed against the object, a plurality of suction cups arranged on the non-rigid membrane of the contacting pillow, and a vacuum system coupled to the contacting pillow and to the plurality of suction cups. The vacuum system may be configured to apply suction to the object through at least one of the plurality of suction cups that is in contact with the object when the contacting pillow is pressed against the object and increase stiffness of the contacting pillow by removing air between the plurality of particles inside the non-rigid membrane of the contacting pillow.
Abstract translation: 公开了一种示例性吸嘴，其包括在非刚性膜内包括多个颗粒的接触枕头，当接触枕头被压靠在物体上时，允许接触枕头符合物体的形状;多个吸盘 布置在接触枕头的非刚性膜上，以及耦合到接触枕头和多个吸盘的真空系统。 真空系统可以被配置成当接触枕头被压靠在物体上时通过与物体接触的多个吸盘中的至少一个来吸收物体，并通过除去接触枕头之间的空气来增加接触枕头的刚度 接触枕头的非刚性膜内的多个颗粒。
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公开(公告)号：US09272417B2
公开(公告)日：2016-03-01
申请号：US14333258
申请日：2014-07-16
Applicant: Google Inc.
Inventor： Kurt Konolige , Ethan Rublee , Mrinal Kalakrishnan
IPC: B25J9/16
CPC classification number: B25J9/1612 , B25J5/007 , B25J9/1633 , B25J9/1664 , B25J15/0616 , G05B2219/37345 , G05B2219/40006 , G05B2219/40512 , G05B2219/40513 , G05B2219/45056 , Y10S901/09 , Y10S901/27 , Y10S901/30 , Y10S901/46
Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.
Abstract translation: 示例系统和方法可以用于确定使用机器人装置移动对象的轨迹。 一个示例性方法包括基于多个可能的对象测量来确定用于利用机器人操纵器的末端执行器移动对象的多个可能轨迹。 该方法可以进一步包括使机器人操纵器用端部执行器拾起物体。 在使机器人操纵器用末端执行器拾起物体之后，该方法还可以包括从指示物体的一个或多个测量的一个或多个传感器接收传感器数据。 基于所接收的传感器数据，该方法可以另外包括从多个可能的轨迹中选择用于移动对象的轨迹。 该方法还可以包括使机器人操纵器通过所选择的轨迹移动对象。
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公开(公告)号：US09205562B1
公开(公告)日：2015-12-08
申请号：US14577664
申请日：2014-12-19
Applicant: Google Inc.
Inventor： Kurt Konolige , Cedric Cagniart
CPC classification number: B25J9/1687 , G05B2219/40006 , G05B2219/45056 , G05B2219/50378 , Y10S901/09 , Y10S901/46
Abstract: An example method includes receiving a plurality of detected depth points indicative of depths of at least one surface and determining a projection of the detected depth points onto a plane. The method may also include identifying a plurality of first detected points, where a first detected point comprises a first point at a particular location of the plane in the projection. The method may also include storing digital entries corresponding to points located within a threshold buffer from one of the first detected points relative to the plane. The method may additionally include determining values for the digital entries, where a value for a digital entry corresponding to a particular point comprises an accumulation of distances from detected depth points that cross the particular point. The method may further include determining a digital height map representative of heights of the at least one surface relative to the plane.
Abstract translation: 一个示例性方法包括：接收多个检测到的指示至少一个表面的深度的深度点，并确定检测到的深度点在平面上的投影。 该方法还可以包括识别多个第一检测点，其中第一检测点包括投影中平面的特定位置处的第一点。 所述方法还可以包括相对于所述第一检测点之一相对于所述平面存储对应于位于阈值缓冲器内的点的数字条目。 该方法可以另外包括确定数字条目的值，其中对应于特定点的数字条目的值包括与经过特定点的检测到的深度点的距离的累积。 该方法还可以包括确定代表相对于该平面的至少一个表面的高度的数字高度图。
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公开(公告)号：US09465390B2
公开(公告)日：2016-10-11
申请号：US14538047
申请日：2014-11-11
Applicant: Google Inc.
Inventor： Julian Mason , Kurt Konolige
CPC classification number: G05D1/0246 , B65G1/1373 , G05B19/41815 , G05B2219/39129 , G05B2219/40605 , G05D1/0287 , Y02P90/08
Abstract: Example methods and systems may provide for a system that includes a control system communicatively coupled to a first robotic device and a second robotic device. The control system may identify a collaborative operation to be performed by a first robotic device and a second robotic device that is based on a relative positioning between the first robotic device and the second robotic device. The control system may also determine respective locations of the first robotic device and the second robotic device. The control system may further initiate a movement of the first robotic device along a path from the determined location of the first robotic device towards the determined location of the second robotic device. The first robotic device and the second robotic device may then establish a visual handshake that indicates the relative positioning between the first robotic device and the second robotic device for the collaborative operation.
Abstract translation: 示例性方法和系统可以提供包括通信地耦合到第一机器人设备和第二机器人设备的控制系统的系统。 控制系统可以识别由第一机器人设备和第二机器人设备执行的协作操作，其基于第一机器人设备和第二机器人设备之间的相对定位。 控制系统还可以确定第一机器人装置和第二机器人装置的相应位置。 控制系统还可以启动第一机器人装置沿着从第一机器人装置的确定位置朝向第二机器人装置的确定位置的路径的移动。 然后，第一机器人装置和第二机器人装置可以建立视觉握手，其指示用于协作操作的第一机器人装置和第二机器人装置之间的相对定位。
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公开(公告)号：US20160132059A1
公开(公告)日：2016-05-12
申请号：US14538047
申请日：2014-11-11
Applicant: Google Inc.
Inventor： Julian Mason , Kurt Konolige
CPC classification number: G05D1/0246 , B65G1/1373 , G05B19/41815 , G05B2219/39129 , G05B2219/40605 , G05D1/0287 , Y02P90/08
Abstract: Example methods and systems may provide for a system that includes a control system communicatively coupled to a first robotic device and a second robotic device. The control system may identify a collaborative operation to be performed by a first robotic device and a second robotic device that is based on a relative positioning between the first robotic device and the second robotic device. The control system may also determine respective locations of the first robotic device and the second robotic device. The control system may further initiate a movement of the first robotic device along a path from the determined location of the first robotic device towards the determined location of the second robotic device. The first robotic device and the second robotic device may then establish a visual handshake that indicates the relative positioning between the first robotic device and the second robotic device for the collaborative operation.
Abstract translation: 示例性方法和系统可以提供包括通信地耦合到第一机器人设备和第二机器人设备的控制系统的系统。 控制系统可以识别由第一机器人设备和第二机器人设备执行的协作操作，其基于第一机器人设备和第二机器人设备之间的相对定位。 控制系统还可以确定第一机器人装置和第二机器人装置的相应位置。 控制系统还可以启动第一机器人装置沿着从第一机器人装置的确定位置朝向第二机器人装置的确定位置的路径的移动。 然后，第一机器人装置和第二机器人装置可以建立视觉握手，其指示用于协作操作的第一机器人装置和第二机器人装置之间的相对定位。
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