中科微点-全球专利检索

  1. Login
  2. Sign Up

Search Results

15 records (took 0.019 seconds)

    Methods and systems for determining and modeling admissible gripper forces for robotic devices
    1.
    发明授权
    Methods and systems for determining and modeling admissible gripper forces for robotic devices 有权
    用于确定和建模用于机器人装置的容许夹持力的方法和系统

    公开(公告)号：US09393693B1

    公开(公告)日：2016-07-19

    申请号：US14467348

    申请日：2014-08-25

    Applicant: Google Inc.

    Inventor： Mrinal Kalakrishnan ,  Ethan Rublee

    IPC: B25J9/16

    CPC classification number: B25J9/1671 ,  B25J9/1602 ,  B25J9/1633 ,  G05B2219/39332 ,  G05B2219/40006 ,  G05B2219/40521 ,  Y10S901/02

    Abstract: Methods and systems for determining and modeling admissible gripper forces are described. An example method may involve receiving data representative of a plurality of trajectories along which a robotic manipulator, while gripping one or more physical objects, previously moved the one or more objects without dropping the one or more objects. The method may also involve determining set of force vectors corresponding to the trajectories. The method may also involve determining a three-dimensional virtual model of the set, where boundaries of the model represent constraints on magnitudes of forces that are applied in a given direction to perform the trajectories. The method may then involve determining one or more subsequent trajectories that correspond to a subsequent set of force vectors that are within the boundaries of the model and along which the robotic manipulator can move a subsequent physical object at particular accelerations without dropping the subsequent object.

    Abstract translation: 描述了用于确定和建模允许的夹持力的方法和系统。 示例性方法可以包括接收表示多个轨迹的数据，在抓住一个或多个物理对象之前，机器人操纵器先前移动了一个或多个对象而不掉下一个或多个对象。 该方法还可以涉及确定与轨迹相对应的力矢量集合。 该方法还可以涉及确定该集合的三维虚拟模型，其中模型的边界表示在给定方向上施加以执行轨迹的力的大小的约束。 该方法然后可以涉及确定与在模型的边界内的随后的一组力向量相对应的一个或多个后续轨迹，并且机器人操纵器可以沿着该轨迹移动特定加速度处的后续物理对象而不会丢弃随后的对象。

    Combination of Stereo and Structured-Light Processing
    2.
    发明申请
    Combination of Stereo and Structured-Light Processing 有权
    立体声和结构光处理的组合

    公开(公告)号：US20160063309A1

    公开(公告)日：2016-03-03

    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。

    Real-Time Determination of Object Metrics for Trajectory Planning
    3.
    发明申请
    Real-Time Determination of Object Metrics for Trajectory Planning 有权
    实时确定轨迹规划对象指标

    公开(公告)号：US20160016311A1

    公开(公告)日：2016-01-21

    申请号：US14333258

    申请日：2014-07-16

    Applicant: Google Inc.

    Inventor： Kurt Konolige ,  Ethan Rublee ,  Mrinal Kalakrishnan

    IPC: B25J9/16

    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. Alter 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。 改变使机器人操纵器用末端执行器拾取对象，该方法还可以包括从指示对象的一个​​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。

    Multiple suction cup control
    4.
    发明授权
    Multiple suction cup control 有权
    多吸盘控制

    公开(公告)号：US09205558B1

    公开(公告)日：2015-12-08

    申请号：US14333288

    申请日：2014-07-16

    Applicant: Google Inc.

    Inventor： John Zevenbergen ,  Ethan Rublee

    IPC: B25J15/06 ,  B25J9/16

    CPC classification number: B25J9/1664 ,  B25J9/1633 ,  B25J9/1687 ,  B25J15/0052 ,  B25J15/0616 ,  B25J15/0625 ,  G05B2219/40006 ,  G05B2219/45056 ,  Y10S901/09 ,  Y10S901/40 ,  Y10S901/46

    Abstract: Example embodiments may provide for control of a suction gripper with multiple suction cups. One example system includes a suction gripper and a control system. The suction gripper may include a vacuum pump, a plurality of suction cups coupled to the vacuum pump, and a plurality of sensors corresponding to the suction cups, where a sensor is positioned between the vacuum pump and a suction cup and measures a vacuum pressure of the suction cup. The control system may be configured to activate the vacuum pump to cause the suction gripper to apply suction to an object through one or more active suction cups, receive sensor data indicative of the vacuum pressure of the one or more active suction cups from the corresponding sensors, identify at least one suction cup to deactivate from the one or more active suction cups, and deactivate the at least one identified suction cup.

    Abstract translation: 示例性实施例可以提供具有多个吸盘的抽吸夹具的控制。 一个示例系统包括抽吸夹持器和控制系统。 抽吸夹具可以包括真空泵，耦合到真空泵的多个吸盘以及对应于吸盘的多个传感器，其中传感器位于真空泵和吸盘之间，并且测量真空泵的真空压力 吸杯。 控制系统可以被配置为激活真空泵以使吸力夹具通过一个或多个主动吸盘向吸收物体施加吸力，从相应的传感器接收表示一个或多个主动吸盘的真空压力的传感器数据 识别至少一个吸盘以从一个或多个主动吸盘去激活，并且使至少一个识别的吸盘停用。

    Methods And Systems For Distributing Remote Assistance To Facilitate Robotic Object Manipulation
    5.
    发明申请
    Methods And Systems For Distributing Remote Assistance To Facilitate Robotic Object Manipulation 有权
    用于分发远程协助以促进机器人对象操纵的方法和系统

    公开(公告)号：US20170021502A1

    公开(公告)日：2017-01-26

    申请号：US15286237

    申请日：2016-10-05

    Applicant: Google Inc.

    Inventor： Stefan Nusser ,  Ethan Rublee ,  Troy Donald Straszheim ,  Kevin William Watts ,  John William Zevenbergen

    IPC: B25J9/16

    CPC classification number: B25J9/1679 ,  B25J9/1687 ,  B25J9/1697 ,  G05B2219/40006 ,  G05B2219/40298 ,  G05B2219/40513 ,  G05B2219/40518 ,  G05B2219/40629 ,  Y10S901/47

    Abstract: Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks.

    Abstract translation: 本文提供了用于分发远程协助以促进机器人对象操纵的方法和系统。 可以确定机器人操纵器的环境中的对象模型的区域，其中每个区域对应于机器人操纵器被配置为执行相应任务的对象的不同子集。 可以识别某些任务，并且可以基于机器人操纵器将执行所识别的任务的预期时间来确定与所识别的任务相关联的用于远程协助的请求的优先级队列。 然后可以根据优先级队列请求至少一个远程组合器装置，以向所识别的任务提供远程协助。 然后可以使机器人操纵器基于从至少一个远程组合装置接收到的对请求的响应来执行所识别的任务，其指示如何执行所识别的任务。

    Methods and systems for distributing remote assistance to facilitate robotic object manipulation
    6.
    发明授权
    Methods and systems for distributing remote assistance to facilitate robotic object manipulation 有权
    用于分发远程协助以方便机器人对象操纵的方法和系统

    公开(公告)号：US09486921B1

    公开(公告)日：2016-11-08

    申请号：US14669374

    申请日：2015-03-26

    Applicant: Google Inc.

    Inventor： Troy Donald Straszheim ,  Stefan Nusser ,  Kevin William Watts ,  Ethan Rublee ,  John William Zevenbergen

    IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16

    CPC classification number: B25J9/1679 ,  B25J9/1687 ,  B25J9/1697 ,  G05B2219/40006 ,  G05B2219/40298 ,  G05B2219/40513 ,  G05B2219/40518 ,  G05B2219/40629 ,  Y10S901/47

    Abstract: Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks.

    Abstract translation: 本文提供了用于分发远程协助以促进机器人对象操纵的方法和系统。 可以确定机器人操纵器的环境中的对象模型的区域，其中每个区域对应于机器人操纵器被配置为执行相应任务的对象的不同子集。 可以识别某些任务，并且可以基于机器人操纵器将执行所识别的任务的预期时间来确定与所识别的任务相关联的用于远程协助的请求的优先级队列。 然后可以根据优先级队列请求至少一个远程组合器装置，以向所识别的任务提供远程协助。 然后可以使机器人操纵器基于从至少一个远程组合装置接收到的对请求的响应来执行所识别的任务，其指示如何执行所识别的任务。

    Variable stiffness suction gripper
    7.
    发明授权
    Variable stiffness suction gripper 有权
    可变刚度吸力夹具

    公开(公告)号：US09457477B1

    公开(公告)日：2016-10-04

    申请号：US14584070

    申请日：2014-12-29

    Applicant: Google Inc.

    Inventor： Ethan Rublee ,  John Zevenbergen ,  Kurt Konolige

    IPC: B25J15/06 ,  B25J11/00 ,  B25J9/16

    CPC classification number: B25J15/0616 ,  B25J9/16 ,  B25J11/00 ,  B25J15/0023 ,  B25J15/06 ,  Y10S901/02 ,  Y10S901/40

    Abstract: An example suction gripper is disclosed that includes a contacting pillow including a plurality of particles inside a non-rigid membrane that allow the contacting pillow to conform to a shape of an object when the contacting pillow is pressed against the object, a plurality of suction cups arranged on the non-rigid membrane of the contacting pillow, and a vacuum system coupled to the contacting pillow and to the plurality of suction cups. The vacuum system may be configured to apply suction to the object through at least one of the plurality of suction cups that is in contact with the object when the contacting pillow is pressed against the object and increase stiffness of the contacting pillow by removing air between the plurality of particles inside the non-rigid membrane of the contacting pillow.

    Abstract translation: 公开了一种示例性吸嘴，其包括在非刚性膜内包括多个颗粒的接触枕头，当接触枕头被压靠在物体上时，允许接触枕头符合物体的形状;多个吸盘 布置在接触枕头的非刚性膜上，以及耦合到接触枕头和多个吸盘的真空系统。 真空系统可以被配置成当接触枕头被压靠在物体上时通过与物体接触的多个吸盘中的至少一个来吸收物体，并通过除去接触枕头之间的空气来增加接触枕头的刚度 接触枕头的非刚性膜内的多个颗粒。

    Real-time determination of object metrics for trajectory planning
    8.
    发明授权
    Real-time determination of object metrics for trajectory planning 有权
    实时确定轨迹规划的对象度量

    公开(公告)号：US09272417B2

    公开(公告)日：2016-03-01

    申请号：US14333258

    申请日：2014-07-16

    Applicant: Google Inc.

    Inventor： Kurt Konolige ,  Ethan Rublee ,  Mrinal Kalakrishnan

    IPC: B25J9/16

    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。

Patent Agency Ranking