公开(公告)号：US10012729B2

公开(公告)日：2018-07-03

申请号：US14489216

申请日：2014-09-17

Applicant: Disney Enterprises, Inc.

Inventor： Kyle G. Freeman

IPC: G01C3/08 ,  G01S15/66 ,  G01S17/42 ,  G01S17/66 ,  G01S17/89 ,  G01S7/48 ,  G01S15/42 ,  G01S15/89

CPC classification number: G01S15/66 ,  G01S7/4808 ,  G01S15/42 ,  G01S15/89 ,  G01S17/42 ,  G01S17/66 ,  G01S17/89

Abstract: Systems and methods for tracking subjects within a three-dimensional physical environment are presented herein. A ranging sensor is mounted at a sensor location in the environment. The ranging sensor generates sensor output. The sensor output includes detected ranges of surfaces present in the environment as a function of orientations of the ranging sensor. Characteristics of the surface are determined using the detected ranges and orientations as polar coordinates of the surfaces.

公开(公告)号：US20190224850A1

公开(公告)日：2019-07-25

申请号：US15877192

申请日：2018-01-22

Applicant: Disney Enterprises, Inc.

Inventor： Michael R. Honeck ,  Shelley O. Short ,  Jerry Rees ,  Kyle G. Freeman ,  Cory J. Rouse ,  Jeremy A. Mika ,  Michael Fusco

IPC: B25J9/16 ,  H04W4/33 ,  H04W4/38 ,  H04W4/024 ,  G06K9/00

Abstract: A self-guiding automaton includes sensors, a hardware processor, and a memory storing a self-guidance software code. The hardware processor executes the self-guidance software code to detect a location and/or travel path of one or more human being(s) in a pedestrian environment using the sensors, and identify a self -guided path forward in the pedestrian environment based on the location and/or travel path of each human being(s). The self-guidance software code also determines a social cue for communicating the self-guided path forward to the human being(s), detects any change in the location and/or travel path of each human being(s) using the sensors, determines a pedestrian safety score of the self-guided path forward based on the location and/or travel path and any change in the location and/or travel path of each human being(s), and moves the automaton along the self-guided path forward if the pedestrian safety score satisfies a safety threshold.

公开(公告)号：US11590660B2

公开(公告)日：2023-02-28

申请号：US16447909

申请日：2019-06-20

Applicant: DISNEY ENTERPRISES, INC.

Inventor： Kyle G. Freeman ,  Michael Fusco ,  Jeremy Andrew Mika ,  Michael Richard Honeck ,  Jon Hayes Snoddy ,  Shelley Short ,  Cory Rouse ,  Raymond J. Scanlon ,  Clifford Wong ,  Lance Duane Updyke ,  Jeremie Papon ,  Daniel Pike

IPC: B25J11/00 ,  A63G31/02 ,  B25J9/16 ,  G05B19/406 ,  G05B19/4155 ,  G05D1/00 ,  G05D1/02 ,  G01S17/89

Abstract: An interactive autonomous robot is configured for deployment within a social environment. The disclosed robot includes a show subsystem configured to select between different in-character behaviors depending on robot status, thereby allowing the robot to appear in-character despite technical failures. The disclosed robot further includes a safety subsystem configured to intervene with in-character behavior when necessary to enforce safety protocols. The disclosed robot is also configured with a social subsystem that interprets social behaviors of humans and then initiates specific behavior sequences in response.

公开(公告)号：US10814487B2

公开(公告)日：2020-10-27

申请号：US15877192

申请日：2018-01-22

Applicant: Disney Enterprises, Inc.

Inventor： Michael R. Honeck ,  Shelley O. Short ,  Jerry Rees ,  Kyle G. Freeman ,  Cory J. Rouse ,  Jeremy A. Mika ,  Michael Fusco

IPC: B25J9/16 ,  H04W4/38 ,  H04W4/33 ,  H04W4/024 ,  G06K9/00

Abstract: A self-guiding automaton includes sensors, a hardware processor, and a memory storing a self-guidance software code. The hardware processor executes the self-guidance software code to detect a location and/or travel path of one or more human being(s) in a pedestrian environment using the sensors, and identify a self-guided path forward in the pedestrian environment based on the location and/or travel path of each human being(s). The self-guidance software code also determines a social cue for communicating the self-guided path forward to the human being(s), detects any change in the location and/or travel path of each human being(s) using the sensors, determines a pedestrian safety score of the self-guided path forward based on the location and/or travel path and any change in the location and/or travel path of each human being(s), and moves the automaton along the self-guided path forward if the pedestrian safety score satisfies a safety threshold.

公开(公告)号：US11890747B2

公开(公告)日：2024-02-06

申请号：US16447910

申请日：2019-06-20

Applicant: DISNEY ENTERPRISES, INC.

Inventor： Jeremy Andrew Mika ,  Michael Richard Honeck ,  Kyle G. Freeman ,  Michael Fusco

IPC: G05B19/406 ,  G05D1/00 ,  G05D1/02 ,  B25J11/00 ,  A63G31/02 ,  B25J9/16 ,  G05B19/4155 ,  G01S17/89

CPC classification number: B25J11/0005 ,  A63G31/02 ,  B25J9/163 ,  B25J9/1664 ,  G05B19/406 ,  G05B19/4155 ,  G05D1/0088 ,  G05D1/0214 ,  G01S17/89 ,  G05B2219/50193 ,  G05B2219/50391

Abstract: An interactive autonomous robot is configured for deployment within a social environment. The disclosed robot includes a show subsystem configured to select between different in-character behaviors depending on robot status, thereby allowing the robot to appear in-character despite technical failures. The disclosed robot further includes a safety subsystem configured to intervene with in-character behavior when necessary to enforce safety protocols. The disclosed robot is also configured with a social subsystem that interprets social behaviors of humans and then initiates specific behavior sequences in response.

公开(公告)号：US10796195B1

公开(公告)日：2020-10-06

申请号：US16745145

申请日：2020-01-16

Applicant: Disney Enterprises, Inc.

Inventor： Jeremie A. Papon ,  Kyle G. Freeman

IPC: G06T13/80 ,  G06K9/46 ,  G06K9/62 ,  G06T11/00 ,  G06T7/70

Abstract: Embodiments provide for perceptual data association from at least a first and a second sensor disposed at different positions in an environment, in respective series of local scene graphs that identify characteristics of objects in the environment that are updated asynchronously and merging the series of local scene graphs to form a coherent image of the environment from multiple perspectives.

公开(公告)号：US10607105B1

公开(公告)日：2020-03-31

申请号：US16366191

申请日：2019-03-27

Applicant: Disney Enterprises, Inc.

Inventor： Jeremie A. Papon ,  Kyle G. Freeman

IPC: G06T13/80 ,  G06K9/46 ,  G06T11/00 ,  G06T7/70 ,  G06K9/62

Abstract: Embodiments provide for perceptual data association received from at least a first and a second sensor disposed at different positions in an environment, in respective time series of local scene graphs that identify several characteristics of at least one object in the environment that are updated different rates; merging, at an output rate, characteristics for each given object from the several time series of local scene graphs that are updated at the output rate; merging, at the output rate, characteristics for each given object from the time series of local scene graphs that are updated at rates other than the output rate; and outputting, at the output rate, a time series of global scene graphs including the merged characteristics.

公开(公告)号：US09943959B2

公开(公告)日：2018-04-17

申请号：US15137735

申请日：2016-04-25

Applicant: DISNEY ENTERPRISES, INC.

Inventor： Kyle G. Freeman

IPC: G05B19/04 ,  B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1697 ,  G01C21/00 ,  G05D1/024 ,  G05D1/0274 ,  G05D1/0278 ,  Y10S901/01 ,  Y10S901/47

Abstract: A method for localizing robots and other objects when ranging devices are partially obstructed. The method includes retrieving a digital map of the space and then identifying potential locations for the object in the space. The method involves generating a prediction of expected ranges between the object and surfaces in the space at each of the potential locations. The method includes operating a ranging device to measure ranges to the surfaces in the space and comparing, for each of the predictions, the measured ranges with the expected ranges to identify the most accurate prediction. The comparing includes weighting ranges that are too small neutrally as these are strikes on obstructions, weighting ranges that provide matches positively, and weighting ranges that are too large negatively, and the comparing then involves summing the weighted ranges to identify a most accurate one of the predictions and associated current location for the object.

公开(公告)号：US09776323B2

公开(公告)日：2017-10-03

申请号：US14989345

申请日：2016-01-06

Applicant: DISNEY ENTERPRISES, INC.

Inventor： Carol Ann O'Sullivan ,  Chonhyon Park ,  Max L. Gilbert ,  Jan Ondrej ,  Kyle G. Freeman

IPC: B25J5/00 ,  B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/163 ,  G05D1/0088 ,  G05D2201/0211 ,  G06N3/00 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

Abstract: A trained classifier to be used with a navigation algorithm for use with mobile robots to compute safe and efficient trajectories. An offline learning process is used to train a classifier for the navigation algorithm (or motion planner), and the classifier functions, after training is complete, to accurately detect intentions of humans within a space shared with the robot to block the robot from traveling along its current trajectory. At runtime, the trained classifier can be used with regression based on past trajectories of humans (or other tracked, mobile entities) to predict where the humans will move in the future and whether the humans are likely to be blockers. The planning algorithm or motion planner generates trajectories based on predictions of human behavior that allow the robot to navigate amongst crowds of people more safely and efficiently.