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公开(公告)号：US12070857B2
公开(公告)日：2024-08-27
申请号：US17700133
申请日：2022-03-21
发明人： Jingyi Fang
IPC分类号： B25J9/16 , G06F3/04845 , G06F3/04847 , G06T13/40
CPC分类号： B25J9/1605 , B25J9/1664 , G06F3/04845 , G06F3/04847 , G06T13/40 , G05B2219/32128 , G05B2219/39001 , G06T2200/24
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot programming. One of the methods comprises generating an interactive user interface that includes an illustration of a first virtual robot, the first virtual robot having an initial pose that defines respective joint angles of one or more joints of the first virtual robot; receiving user input data specifying a target pose of the first virtual robot; and generating an animation of the first virtual robot transitioning between the initial pose and the target pose.
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公开(公告)号：US12053890B2
公开(公告)日：2024-08-06
申请号：US17338401
申请日：2021-06-03
发明人： Timothy Robert Kelch , Dirk Holz
CPC分类号： B25J9/1671 , B25J13/085
摘要： In one aspect, there is provided a computer-implemented method that includes receiving a request to generate workcell data representing physical dimensions of a workcell having a physical robot arm, executing a calibration program that causes the physical robot arm to move within the workcell and record locations within the workcell at which the robot arm made contact with an object, generating, from the locations within the workcell at which one or more sensors of the robot arm recorded a resistance above a threshold, a representation of physical boundaries in the workcell, obtaining an initial virtual representation of the workcell, and updating the initial virtual representation of the workcell according to the representation of physical boundaries generated from executing the calibration program.
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公开(公告)号：US20240221344A1
公开(公告)日：2024-07-04
申请号：US18395090
申请日：2023-12-22
发明人： Achuta Kadambi , Raghav Khanna , Agastya Kalra , Kerim Doruk Karinca , Tomas Gerlich , Vage Taamazyan
CPC分类号： G06V10/34 , G06T15/04 , G06V10/751 , G06V10/993
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detection of pixel correspondences in stereo imaging through the use of polarization data. One of the methods include: obtaining a first image from a first viewpoint of a stereo pair and a second image from a second viewpoint of the stereo pair; obtaining an angle of linear polarization (AOLP) map and a degree of linear polarization (DOLP) map having a field of view overlapping the first image and the second image; computing a surface normal map based on the AOLP map and the DOLP map; and detecting corresponding pixels between the first image and the second image by computing a disparity map that minimizes an energy function comprising a pixel matching cost term and a polarized smoothness regularization term computed based on pixels in a local neighborhood and based on the surface normal map.
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公开(公告)号：US20240208059A1
公开(公告)日：2024-06-27
申请号：US18545986
申请日：2023-12-19
发明人： Andre Gaschler , Markus Giftthaler
IPC分类号： B25J9/16
CPC分类号： B25J9/1664
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for switching in real-time between different trajectories during custom real-time control. One of the methods include: obtaining a definition of a first trajectory for a robot and a definition of a second trajectory for the robot; executing a current action for controlling the robot to follow set points of the first trajectory at each control tick of the real-time robotic control system, including, at each control tick of the real-time robotic control system: obtaining current data representing a latest execution status of the current action; evaluating one or more switching criteria associated with the current action according to the current data; and whenever the one or more switching criteria are satisfied during the control tick, switching to executing another action for controlling the robot to follow the second trajectory within the control tick.
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公开(公告)号：US20240198516A1
公开(公告)日：2024-06-20
申请号：US18083256
申请日：2022-12-16
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , G05B2219/31087 , G05B2219/39001
摘要： Methods, systems, and media comprising; a physical robot in a physical workcell; an onsite execution subsystem that is configured to control the physical robot using a real-time control subsystem; a cloud-based belief world subsystem that is configured to receive and store sensor data captured in the workcell, wherein the onsite execution subsystem is configured to use sensor data stored by the cloud-based belief world subsystem in order to control the robot using the real-time control subsystem.
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公开(公告)号：US12011832B2
公开(公告)日：2024-06-18
申请号：US17245709
申请日：2021-04-30
发明人： Andre Gaschler , Gregory J. Prisament , Sean Alexander Cassero , Nicholas Julian Cox , Benjamin Bremer , Nils Berg , Michael Beardsworth
IPC分类号： B25J9/16
CPC分类号： B25J9/1602 , B25J9/1682 , G05B2219/50391
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses a callback function. One of the methods comprises receiving a definition of a custom real-time control function that specifies a custom callback function, an action, and a custom reaction that references the custom callback function; providing a command to initiate the action; repeatedly executing, by the control layer of the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the custom reaction specified by the custom real-time control function according to the current values of the one or more state variables, and whenever the one or more conditions of the custom reaction are satisfied, invoking the custom callback function.
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公开(公告)号：US20240192942A1
公开(公告)日：2024-06-13
申请号：US18062792
申请日：2022-12-07
CPC分类号： G06F8/65 , G06F9/45558 , G06F2009/45562
摘要： Methods, systems, and media for a computing device comprising; receiving a plurality of container snapshots for operating an edge device, wherein the container snapshots include an operating system (OS) snapshot and a plurality of application snapshots; writing the OS snapshot into a read-only partition; writing the plurality of application snapshots into a writable partition as a plurality of overlay mounted container snapshot layers; obtaining metadata for each of the plurality of application snapshots; generating a merged collection of metadata using the metadata for each of the plurality of snapshots; executing the OS snapshot including a container runtime tool; and executing, using the container runtime tool, one or more containers using the plurality of overlay mounted container snapshot layers.
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公开(公告)号：US12008796B2
公开(公告)日：2024-06-11
申请号：US17588098
申请日：2022-01-28
IPC分类号： G06V10/82 , G06T7/73 , G06V10/44 , G06V10/764 , G06V10/774 , G06V20/64
CPC分类号： G06V10/454 , G06T7/75 , G06V10/764 , G06V10/774 , G06V10/82 , G06V20/647
摘要： A method for estimating a pose of an object includes: receiving a plurality of images of the object captured from multiple viewpoints with respect to the object; initializing a current pose of the object based on computing an initial estimated pose of the object from at least one of the plurality of images; predicting a plurality of 2-D keypoints associated with the object from each of the plurality of images; and computing an updated pose that minimizes a cost function based on a plurality of differences between the 2-D keypoints and a plurality of 3-D keypoints associated with a 3-D model of the object as arranged in accordance with the current pose, and as projected to each of the viewpoints.
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公开(公告)号：US20240165816A1
公开(公告)日：2024-05-23
申请号：US17993779
申请日：2022-11-23
发明人： Andre Gaschler , Benjamin Bremer
CPC分类号： B25J9/1689 , B25J13/006
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the system comprises a non-real-time control layer configured to compute a sequences of control data and to continually write data elements of the sequence of control data into a real-time streaming input buffer; and a real-time control layer configured to continually read data elements of the sequence of control data from the real-time streaming input buffer and to compute a robot control signal from the read data elements of the sequence of control data at every tick of a real-time control loop.
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公开(公告)号：US20240139961A1
公开(公告)日：2024-05-02
申请号：US17979612
申请日：2022-11-02
IPC分类号： B25J9/16
CPC分类号： B25J9/1697
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot in accordance with a real-time robotics control framework. One of the methods includes: receiving a definition of a custom real-time control function; and repeatedly executing the custom real-time control function at each predetermined tick of a real-time robotics system driving the robot, including: obtaining sensor measurements, computing a new position for an end effector of the robot based on the sensor measurements in order to satisfy a distance range specified by the custom real-time control function, computing new robot control signals to cause the robot to move the end effector to the new position, and providing the new robot control signals to the robot.
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