公开(公告)号：US09427874B1

公开(公告)日：2016-08-30

申请号：US14541576

申请日：2014-11-14

Applicant: Google Inc.

Inventor： Ethan Rublee

IPC: B25J19/00 ,  B25J9/16 ,  B25J19/02 ,  B65G59/02 ,  B05B13/04

CPC classification number: B25J9/1697 ,  B05B12/122 ,  B05B13/0431 ,  B25J11/0075 ,  B25J13/089 ,  B25J19/021 ,  B65G59/02 ,  B65G61/00 ,  B65G2203/041 ,  G05B2219/40298 ,  G05B2219/40543 ,  Y10S901/01 ,  Y10S901/43 ,  Y10S901/47

Abstract: Methods and systems for providing landmarks to facilitate robot localization and visual odometry are provided herein. At least one area of a physical environment in which a robotic device resides may be determined to include surfaces that lack sufficient discernable features to determine a location of the at least one area. Instructions may responsively be provided to the robotic device for the robotic device to provide a material in respective patterns onto one or more surfaces of the at least one area. Instructions can responsively be provided for the robotic device to provide the material in respective textures as well. The respective patterns or textures may include sufficient discernable features to determine a location of the at least one area, and the material may remain on the one or more surfaces for a predetermined period of time.

Abstract translation: 本文提供了用于提供地标以促进机器人定位和视觉测距的方法和系统。 机器人设备所在的物理环境的至少一个区域可以被确定为包括缺少足够的可辨别特征以确定至少一个区域的位置的表面。 可以响应地将机器人设备的指令提供给机器人设备以将相应图案中的材料提供到至少一个区域的一个或多个表面上。 可以响应地为机器人装置提供指令以在相应纹理中提供材料。 相应的图案或纹理可以包括足够的可辨别特征以确定至少一个区域的位置，并且材料可以保留在一个或多个表面上一段预定的时间段。

公开(公告)号：US20170100837A1

公开(公告)日：2017-04-13

申请号：US14876947

申请日：2015-10-07

Applicant: Google Inc.

Inventor： John William Zevenbergen ,  Ethan Rublee

IPC: B25J9/16 ,  B25J19/00 ,  B25J5/00

CPC classification number: B25J9/1674 ,  B25J5/00 ,  B25J9/1664 ,  B25J19/005 ,  G05D1/0225 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/50

Abstract: An example method includes receiving, by a mobile robotic device, power from a battery of a first battery pack in order to operate within an environment. The method further includes establishing a first data channel between the mobile robotic device and the first battery pack. The method also includes using the first data channel to transfer sensor data acquired by the mobile robotic device during operation to a local data storage component of the first battery pack. The method additionally includes navigating, by the mobile robotic device, to a battery exchange station to transfer the first battery pack containing the battery and the local data storage component with the sensor data to the battery exchange station. The method further includes after transferring the first battery pack to the battery exchange station, receiving a second battery pack from the battery exchange station to continue operation within the environment.

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

IPC: G06K9/00 ,  G06T7/00 ,  G06T1/00

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。

公开(公告)号：US20160339587A1

公开(公告)日：2016-11-24

申请号：US15226353

申请日：2016-08-02

Applicant: Google Inc.

Inventor： Ethan Rublee

IPC: B25J9/16 ,  B25J11/00 ,  B05B13/04 ,  B25J19/02 ,  B65G59/02

CPC classification number: B25J9/1697 ,  B05B12/122 ,  B05B13/0431 ,  B25J11/0075 ,  B25J13/089 ,  B25J19/021 ,  B65G59/02 ,  B65G61/00 ,  B65G2203/041 ,  G05B2219/40298 ,  G05B2219/40543 ,  Y10S901/01 ,  Y10S901/43 ,  Y10S901/47

Abstract: Methods and systems for providing landmarks to facilitate robot localization and visual odometry are provided herein. At least one area of a physical environment in which a robotic device resides may be determined to include surfaces that lack sufficient discernable features to determine a location of the at least one area. Instructions may responsively be provided to the robotic device for the robotic device to provide a material in respective patterns onto one or more surfaces of the at least one area. Instructions can responsively be provided for the robotic device to provide the material in respective textures as well. The respective patterns or textures may include sufficient discernable features to determine a location of the at least one area, and the material may remain on the one or more surfaces for a predetermined period of time.

Abstract translation: 本文提供了用于提供地标以促进机器人定位和视觉测距的方法和系统。 机器人设备所在的物理环境的至少一个区域可以被确定为包括缺少足够的可辨别特征以确定至少一个区域的位置的表面。 可以响应地将机器人设备的指令提供给机器人设备以将相应图案中的材料提供到至少一个区域的一个或多个表面上。 可以响应地为机器人装置提供指令以在相应纹理中提供材料。 相应的图案或纹理可以包括足够的可辨别特征以确定至少一个区域的位置，并且材料可以保留在一个或多个表面上一段预定的时间段。

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

IPC: B25J9/16 ,  B25J5/00 ,  B25J15/06

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。