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    Optimization of Motion Paths of a Robot Using Vision Data
    1.
    发明申请
    Optimization of Motion Paths of a Robot Using Vision Data 有权

    公开(公告)号：US20220371195A1

    公开(公告)日：2022-11-24

    申请号：US17753979

    申请日：2019-11-19

    Applicant: Google LLC

    Inventor： Johnny Lee ,  Stefan Welker

    IPC: B25J9/16 ,  B25J13/08 ,  G06V20/50 ,  G05B19/4155

    Abstract: An example computer-implemented method includes receiving, from one or more vision components in an environment, vision data that captures features of the environment, including object features of an object that is located in the environment, and prior to a robot manipulating the object: (i) determining based on the vision data, at least one first adjustment to a programmed trajectory of movement of the robot operating in the environment to perform a task of transporting the object, and (ii) determining based on the object features of the object, at least one second adjustment to the programmed trajectory of movement of the robot operating in the environment to perform the task, and causing the robot to perform the task, in accordance with the at least one first adjustment and the at least one second adjustment to the programmed trajectory of movement of the robot.

    Sharing in an augmented and/or virtual reality environment
    2.
    发明授权
    Sharing in an augmented and/or virtual reality environment 有权

    公开(公告)号：US10484508B2

    公开(公告)日：2019-11-19

    申请号：US16274898

    申请日：2019-02-13

    Applicant: Google LLC

    Inventor： Manuel Christian Clement ,  Stefan Welker

    IPC: H04L29/06 ,  G06F3/01 ,  A63F13/428 ,  G06F3/048 ,  A63F13/573 ,  G06F3/0484

    Abstract: In a system and method for sharing items in an augmented and/or virtual reality environment, selected virtual items may be virtually propelled using, for example, a tossing or throwing motion, to a target recipient, so that the selected item may be shared with the target recipient without direct physical and/or virtual contact with the target recipient. Movement of a user's hand may be detected and tracked, so that the intended target recipient for the shared item may be identified based on a projected trajectory of a throwing motion of the user's hand. Associations between the user and different target recipients may cause different possible target recipients to exhibit different attractive forces, or different levels of magnetism, for particular items being tossed or thrown by a user for sharing, to further differentiate between the possible target recipients, and resolve recipient ambiguity.

    SHARING IN AN AUGMENTED AND/OR VIRTUAL REALITY ENVIRONMENT
    3.
    发明申请
    SHARING IN AN AUGMENTED AND/OR VIRTUAL REALITY ENVIRONMENT 审中-公开

    公开(公告)号：US20190182355A1

    公开(公告)日：2019-06-13

    申请号：US16274898

    申请日：2019-02-13

    Applicant: Google LLC

    Inventor： Manuel Christian Clement ,  Stefan Welker

    IPC: H04L29/06 ,  G06F3/01 ,  A63F13/428 ,  G06F3/048 ,  A63F13/573

    CPC classification number: H04L67/38 ,  A63F13/428 ,  A63F13/573 ,  A63F2300/8082 ,  G06F3/011 ,  G06F3/017 ,  G06F3/048 ,  G06F3/04842

    Abstract: In a system and method for sharing items in an augmented and/or virtual reality environment, selected virtual items may be virtually propelled using, for example, a tossing or throwing motion, to a target recipient, so that the selected item may be shared with the target recipient without direct physical and/or virtual contact with the target recipient. Movement of a user's hand may be detected and tracked, so that the intended target recipient for the shared item may be identified based on a projected trajectory of a throwing motion of the user's hand. Associations between the user and different target recipients may cause different possible target recipients to exhibit different attractive forces, or different levels of magnetism, for particular items being tossed or thrown by a user for sharing, to further differentiate between the possible target recipients, and resolve recipient ambiguity.

    Optimization of motion paths of a robot using vision data
    5.
    发明授权
    Optimization of motion paths of a robot using vision data 有权

    公开(公告)号：US11919169B2

    公开(公告)日：2024-03-05

    申请号：US17753979

    申请日：2019-11-19

    Applicant: Google LLC

    Inventor： Johnny Lee ,  Stefan Welker

    IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155 ,  G06V20/50

    CPC classification number: B25J9/1664 ,  B25J9/1612 ,  B25J9/1697 ,  B25J13/08 ,  B25J13/085 ,  G05B19/4155 ,  G06V20/50 ,  G05B2219/40269

    Abstract: An example computer-implemented method includes receiving, from one or more vision components in an environment, vision data that captures features of the environment, including object features of an object that is located in the environment, and prior to a robot manipulating the object: (i) determining based on the vision data, at least one first adjustment to a programmed trajectory of movement of the robot operating in the environment to perform a task of transporting the object, and (ii) determining based on the object features of the object, at least one second adjustment to the programmed trajectory of movement of the robot operating in the environment to perform the task, and causing the robot to perform the task, in accordance with the at least one first adjustment and the at least one second adjustment to the programmed trajectory of movement of the robot.

    TRANSITIONING BETWEEN MAP VIEW AND AUGMENTED REALITY VIEW
    6.
    发明申请
    TRANSITIONING BETWEEN MAP VIEW AND AUGMENTED REALITY VIEW 有权

    公开(公告)号：US20210102820A1

    公开(公告)日：2021-04-08

    申请号：US15733492

    申请日：2018-02-23

    Applicant: Google LLC

    Inventor： Andre Le ,  Stefan Welker ,  Paulo Coelho

    IPC: G01C21/36 ,  G06F3/01 ,  G06T11/00 ,  G09G5/38 ,  G06F3/0346 ,  G09G5/37

    Abstract: A method includes: triggering presentation of at least a portion of a map on a device that is in a map mode, wherein a first point of interest (POI) object is placed on the map, the first POI object representing a first POI located at a first physical location; detecting, while the map is presented, an input triggering a transition of the device from the map mode to an augmented reality (AR) mode; triggering presentation of an AR view on the device in the AR mode, the AR view including an image captured by a camera of the device, the image having a field of view; determining whether the first physical location of the first POI is within the field of view; and if so, triggering placement of the first POI object at a first edge of the AR view.

    Two-handed object manipulations in virtual reality
    7.
    发明授权
    Two-handed object manipulations in virtual reality 有权

    公开(公告)号：US10754497B2

    公开(公告)日：2020-08-25

    申请号：US16001490

    申请日：2018-06-06

    Applicant: Google LLC

    Inventor： Stefan Welker ,  Manuel Christian Clement

    IPC: G06F3/0481 ,  G06F3/01 ,  G06F3/03 ,  G06F3/0484 ,  G02B27/01 ,  G06T19/00 ,  G06T19/20

    Abstract: Systems and methods are described for generating a virtual environment including at least one three-dimensional virtual object within a user interface provided in a head mounted display device, detecting a first interaction pattern and a second interaction pattern. In response to detecting the second interaction pattern, a modified version of the three-dimensional virtual object at the first virtual feature is generated according to the first interaction pattern and at the second virtual feature according to the second interaction pattern. The modified version of the three-dimensional virtual object is provided in the user interface in the head mounted display device.

    POSITION-BASED LOCATION INDICATION AND DEVICE CONTROL
    8.
    发明申请
    POSITION-BASED LOCATION INDICATION AND DEVICE CONTROL 审中-公开

    公开(公告)号：US20200233502A1

    公开(公告)日：2020-07-23

    申请号：US16843296

    申请日：2020-04-08

    Applicant: GOOGLE LLC

    Inventor： Steven Goldberg ,  Charles L. Chen ,  Stefan Welker

    IPC: G06F3/0346 ,  G06F3/0482 ,  G06T7/73 ,  G06F3/01 ,  G08C17/00 ,  G08C21/00 ,  G08C23/04

    Abstract: Systems and methods for identifying locations and controlling devices are provided. For example, a user may indicate a location by aiming at the location from multiple positions in a physical space. The user may also identify a controllable device to control by aiming at the device. Example systems and methods include determining a first position within a three-dimensional space, receiving a first directional input, and determining a first ray based on the first position and first directional input. Example systems and methods also include determining a second position within the three-dimensional space, receiving a second directional input, and determining a second ray based on the second position and second directional input. Example systems and methods may also include identifying a location within a three-dimensional space based on the first ray and the second ray.

    EFFICIENT ROBOT CONTROL BASED ON INPUTS FROM REMOTE CLIENT DEVICES
    10.
    发明公开
    EFFICIENT ROBOT CONTROL BASED ON INPUTS FROM REMOTE CLIENT DEVICES 审中-公开

    公开(公告)号：US20230398690A1

    公开(公告)日：2023-12-14

    申请号：US18233261

    申请日：2023-08-11

    Applicant: GOOGLE LLC

    Inventor： Johnny Lee ,  Stefan Welker

    IPC: B25J9/16

    CPC classification number: B25J9/1689 ,  B25J9/163 ,  B25J9/1697 ,  B25J9/1612

    Abstract: Utilization of user interface inputs, from remote client devices, in controlling robot(s) in an environment. Implementations relate to generating training instances based on object manipulation parameters, defined by instances of user interface input(s), and training machine learning model(s) to predict the object manipulation parameter(s). Those implementations can subsequently utilize the trained machine learning model(s) to reduce a quantity of instances that input(s) from remote client device(s) are solicited in performing a given set of robotic manipulations and/or to reduce the extent of input(s) from remote client device(s) in performing a given set of robotic operations. Implementations are additionally or alternatively related to mitigating idle time of robot(s) through the utilization of vision data that captures object(s), to be manipulated by a robot, prior to the object(s) being transported to a robot workspace within which the robot can reach and manipulate the object.

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