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    Robotic device including machine vision
    1.
    发明授权
    Robotic device including machine vision 有权

    公开(公告)号：US09844881B2

    公开(公告)日：2017-12-19

    申请号：US14746072

    申请日：2015-06-22

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： David W. Payton ,  Kyungnam Kim ,  Zhichao Chen ,  Ryan M. Uhlenbrock ,  Li Yang Ku

    IPC: B25J9/16

    CPC classification number: B25J9/1697

    Abstract: A machine vision system for a controllable robotic device proximal to a workspace includes an image acquisition sensor arranged to periodically capture vision signal inputs each including an image of a field of view including the workspace. A controller operatively couples to the robotic device and includes a non-transitory memory component including an executable vision perception routine. The vision perception routine includes a focus loop control routine operative to dynamically track a focus object in the workspace and a background loop control routine operative to monitor a background of the workspace. The focus loop control routine executes simultaneously asynchronously in parallel with the background loop control routine to determine a combined resultant including the focus object and the background based upon the periodically captured vision signal inputs. The controller is operative to control the robotic device to manipulate the focus object based upon the focus loop control routine.

    ROBOTIC DEVICE INCLUDING MACHINE VISION
    2.
    发明申请
    ROBOTIC DEVICE INCLUDING MACHINE VISION 有权
    包括机器视觉的机器人设备

    公开(公告)号：US20160368148A1

    公开(公告)日：2016-12-22

    申请号：US14746072

    申请日：2015-06-22

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： David W. Payton ,  Kyungnam Kim ,  Zhichao Chen ,  Ryan M. Uhlenbrock ,  Li Yang Ku

    IPC: B25J9/16

    CPC classification number: B25J9/1697

    Abstract: A machine vision system for a controllable robotic device proximal to a workspace includes an image acquisition sensor arranged to periodically capture vision signal inputs each including an image of a field of view including the workspace. A controller operatively couples to the robotic device and includes a non-transitory memory component including an executable vision perception routine. The vision perception routine includes a focus loop control routine operative to dynamically track a focus object in the workspace and a background loop control routine operative to monitor a background of the workspace. The focus loop control routine executes simultaneously asynchronously in parallel with the background loop control routine to determine a combined resultant including the focus object and the background based upon the periodically captured vision signal inputs. The controller is operative to control the robotic device to manipulate the focus object based upon the focus loop control routine.

    Abstract translation: 用于靠近工作空间的可控机器人设备的机器视觉系统包括图像采集传感器，其布置成周期性地捕获视觉信号输入，每个视觉信号输入包括包括工作空间的视野的图像。 控制器可操作地耦合到机器人设备并且包括包括可执行视觉感知程序的非暂时性存储器组件。 视觉感知例程包括可操作地动态地跟踪工作空间中的焦点对象的焦点循环控制例程和可操作以监视工作空间背景的背景环路控制程序。 焦点循环控制程序与背景环路控制程序并行异步执行，以基于周期性捕获的视觉信号输入来确定包括焦点对象和背景的组合结果。 控制器可操作以基于聚焦环控制程序来控制机器人装置来操纵焦点对象。

    Rapid robotic imitation learning of force-torque tasks
    3.
    发明授权
    Rapid robotic imitation learning of force-torque tasks 有权
    快速机器人模拟学习力 - 扭矩任务

    公开(公告)号：US09403273B2

    公开(公告)日：2016-08-02

    申请号：US14285867

    申请日：2014-05-23

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： David W. Payton ,  Ryan M. Uhlenbrock ,  Li Yang Ku

    IPC: B25J9/16 ,  G05B19/423

    CPC classification number: B25J9/163 ,  B25J9/1664 ,  G05B19/423 ,  G05B2219/36442 ,  Y10S901/03

    Abstract: A method of training a robot to autonomously execute a robotic task includes moving an end effector through multiple states of a predetermined robotic task to demonstrate the task to the robot in a set of n training demonstrations. The method includes measuring training data, including at least the linear force and the torque via a force-torque sensor while moving the end effector through the multiple states. Key features are extracted from the training data, which is segmented into a time sequence of control primitives. Transitions between adjacent segments of the time sequence are identified. During autonomous execution of the same task, a controller detects the transitions and automatically switches between control modes. A robotic system includes a robot, force-torque sensor, and a controller programmed to execute the method.

    Abstract translation: 训练机器人以自主执行机器人任务的方法包括：通过预定机器人任务的多个状态移动末端执行器，以在一组训练演示中向机器人演示任务。 该方法包括在通过多个状态移动末端执行器时通过力 - 转矩传感器测量训练数据至少包括线性力和扭矩。 从训练数据中提取主要特征，将其分为控制原语的时间序列。 识别时间序列的相邻片段之间的转换。 在相同任务的自主执行期间，控制器检测转换并在控制模式之间自动切换。 机器人系统包括机器人，力 - 扭矩传感器和被编程为执行该方法的控制器。

    DYNAMICAL SYSTEM-BASED ROBOT VELOCITY CONTROL
    4.
    发明申请
    DYNAMICAL SYSTEM-BASED ROBOT VELOCITY CONTROL 有权
    基于动态系统的机器人速度控制

    公开(公告)号：US20160000511A1

    公开(公告)日：2016-01-07

    申请号：US14323047

    申请日：2014-07-03

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Heiko Hoffmann ,  David W. Payton ,  Derek Mitchell

    IPC: A61B19/00

    CPC classification number: B25J9/1628 ,  A61B34/30 ,  B25J9/1664 ,  G05B19/19

    Abstract: A robotic system includes an end-effector and a control system. The control system includes a processor, a dynamical system module (DSM), and a velocity control module (VCM). Via execution of a method, the DSM processes inputs via a flow vector field and outputs a control velocity command. The inputs may include an actual position, desired goal position, and demonstrated reference path of the end-effector. The VCM receives an actual velocity of the end-effector and the control velocity command as inputs, and transmits a motor torque command to the end-effector as an output command. The control system employs a predetermined set of differential equations to generate a motion trajectory of the end-effector in real time that approximates the demonstrated reference path. The control system is also programmed to modify movement of the end-effector in real time via the VCM in response to perturbations of movement of the end-effector.

    Abstract translation: 机器人系统包括末端执行器和控制系统。 控制系统包括处理器，动力系统模块（DSM）和速度控制模块（VCM）。 通过执行方法，DSM通过流矢量场处理输入并输出控制速度命令。 输入可以包括实际位置，期望的目标位置，以及演示的末端执行器的参考路径。 VCM接收末端执行器和控制速度指令的实际速度作为输入，并将电机转矩指令作为输出指令发送到末端执行器。 控制系统采用预定的微分方程组来实时地生成末端执行器的运动轨迹，其近似所演示的参考路径。 控制系统也被编程为响应于端部执行器的运动的扰动，通过VCM实时地修改末端执行器的运动。

    Dynamical system-based robot velocity control
    7.
    发明授权
    Dynamical system-based robot velocity control 有权
    基于动力系统的机器人速度控制

    公开(公告)号：US09381643B2

    公开(公告)日：2016-07-05

    申请号：US14323047

    申请日：2014-07-03

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Heiko Hoffmann ,  David W. Payton ,  Derek Mitchell

    IPC: B25J9/16 ,  G05B19/19

    CPC classification number: B25J9/1628 ,  A61B34/30 ,  B25J9/1664 ,  G05B19/19

    Abstract: A robotic system includes an end-effector and a control system. The control system includes a processor, a dynamical system module (DSM), and a velocity control module (VCM). Via execution of a method, the DSM processes inputs via a flow vector field and outputs a control velocity command. The inputs may include an actual position, desired goal position, and demonstrated reference path of the end-effector. The VCM receives an actual velocity of the end-effector and the control velocity command as inputs, and transmits a motor torque command to the end-effector as an output command. The control system employs a predetermined set of differential equations to generate a motion trajectory of the end-effector in real time that approximates the demonstrated reference path. The control system is also programmed to modify movement of the end-effector in real time via the VCM in response to perturbations of movement of the end-effector.

    Abstract translation: 机器人系统包括末端执行器和控制系统。 控制系统包括处理器，动力系统模块（DSM）和速度控制模块（VCM）。 通过执行方法，DSM通过流矢量场处理输入并输出控制速度命令。 输入可以包括实际位置，期望的目标位置，以及演示的末端执行器的参考路径。 VCM接收末端执行器和控制速度指令的实际速度作为输入，并将电机转矩指令作为输出指令发送到末端执行器。 控制系统采用预定的微分方程组来实时地生成末端执行器的运动轨迹，其近似所演示的参考路径。 控制系统也被编程为响应于末端执行器的运动的扰动，通过VCM实时地修改末端执行器的运动。

    RAPID ROBOTIC IMITATION LEARNING OF FORCE-TORQUE TASKS
    8.
    发明申请
    RAPID ROBOTIC IMITATION LEARNING OF FORCE-TORQUE TASKS 有权
    快速的机动特技学习强制扭矩任务

    公开(公告)号：US20150336268A1

    公开(公告)日：2015-11-26

    申请号：US14285867

    申请日：2014-05-23

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： David W. Payton ,  Ryan M. Uhlenbrock ,  Li Yang Ku

    IPC: B25J9/16

    CPC classification number: B25J9/163 ,  B25J9/1664 ,  G05B19/423 ,  G05B2219/36442 ,  Y10S901/03

    Abstract: A method of training a robot to autonomously execute a robotic task includes moving an end effector through multiple states of a predetermined robotic task to demonstrate the task to the robot in a set of n training demonstrations. The method includes measuring training data, including at least the linear force and the torque via a force-torque sensor while moving the end effector through the multiple states. Key features are extracted from the training data, which is segmented into a time sequence of control primitives. Transitions between adjacent segments of the time sequence are identified. During autonomous execution of the same task, a controller detects the transitions and automatically switches between control modes. A robotic system includes a robot, force-torque sensor, and a controller programmed to execute the method.

    Abstract translation: 训练机器人以自主执行机器人任务的方法包括：通过预定机器人任务的多个状态移动末端执行器，以在一组训练演示中向机器人演示任务。 该方法包括在通过多个状态移动末端执行器时通过力 - 转矩传感器测量训练数据至少包括线性力和扭矩。 从训练数据中提取主要特征，将其分为控制原语的时间序列。 识别时间序列的相邻片段之间的转换。 在相同任务的自主执行期间，控制器检测转换并在控制模式之间自动切换。 机器人系统包括机器人，力 - 扭矩传感器和被编程为执行该方法的控制器。

    VISUAL DEBUGGING OF ROBOTIC TASKS
    9.
    发明申请
    VISUAL DEBUGGING OF ROBOTIC TASKS 有权
    机器人任务视觉调试

    公开(公告)号：US20150239127A1

    公开(公告)日：2015-08-27

    申请号：US14189452

    申请日：2014-02-25

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC.

    Inventor： Leandro G. Barajas ,  David W. Payton ,  Li Yang Ku ,  Ryan M. Uhlenbrock ,  Darren Earl

    IPC: B25J9/16 ,  G05B13/02

    CPC classification number: B25J9/1697 ,  B25J9/1671 ,  G05B13/026 ,  G05B2219/40311

    Abstract: A robotic system includes a robot, sensors which measure status information including a position and orientation of the robot and an object within the workspace, and a controller. The controller, which visually debugs an operation of the robot, includes a simulator module, action planning module, and graphical user interface (GUI). The simulator module receives the status information and generates visual markers, in response to marker commands, as graphical depictions of the object and robot. An action planning module selects a next action of the robot. The marker generator module generates and outputs the marker commands to the simulator module in response to the selected next action. The GUI receives and displays the visual markers, selected future action, and input commands. Via the action planning module, the position and/or orientation of the visual markers are modified in real time to change the operation of the robot.

    Abstract translation: 机器人系统包括机器人，测量包括机器人的位置和取向以及工作空间内的物体的状态信息的传感器以及控制器。 视觉上调试机器人的操作的控制器包括模拟器模块，动作规划模块和图形用户界面（GUI）。 模拟器模块接收状态信息，并响应于标记命令生成视觉标记作为对象和机器人的图形描绘。 动作规划模块选择机器人的下一个动作。 标记生成器模块响应于所选择的下一个动作生成并将标记命令输出到模拟器模块。 GUI接收并显示可视标记，选择的未来操作和输入命令。 通过动作规划模块，实时修改视觉标记的位置和/或方向，以改变机器人的操作。

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