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公开(公告)号：US09259838B1
公开(公告)日：2016-02-16
申请号：US14339860
申请日：2014-07-24
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Gabriel Nelson , Neil Neville
CPC classification number: G05D1/0088 , B25J9/0006 , B25J9/1615 , B25J9/1694 , B25J9/1697 , B62D57/032 , G05D1/0891 , Y10S901/01
Abstract: Example systems and methods for estimating a ground plane are provided. An example method may include determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame. The method may also include determining the location of one or more contact points between the robotic device and a ground surface. The method may also include determining a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points. The method may also include determining a distance between the body of the robotic device and the determined ground plane estimation. The method may also include providing instructions to adjust a position and/or orientation of the robotic device based on the determined distance and the determined ground plane estimation.
Abstract translation: 提供了用于估计接地平面的示例系统和方法。 示例性方法可以包括相对于重力对准的参考系来确定机器人装置的主体的取向。 该方法还可以包括确定机器人装置和地面之间的一个或多个接触点的位置。 该方法还可以包括基于所确定的机器人装置相对于重力对准的参考系的方位和所确定的一个或多个接触点的位置来确定地面的接地面估计。 该方法还可以包括确定机器人装置的主体与所确定的接地平面估计之间的距离。 该方法还可以包括提供基于所确定的距离和所确定的接地平面估计来调整机器人装置的位置和/或取向的指令。
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公开(公告)号：US09908240B1
公开(公告)日：2018-03-06
申请号：US15386830
申请日：2016-12-21
Applicant: Google Inc.
Inventor： Marco da Silva , Kevin Blankespoor , Gabriel Nelson
IPC: B25J9/00 , B25J9/16 , B25J5/00 , G01C9/00 , B62D57/032
CPC classification number: B25J5/00 , B62D57/032 , Y10S901/01
Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) determining, for a particular topographical feature of the environment in a direction of travel of the robotic device, a height of the particular topographical feature and a distance between the robotic device and the particular topographical feature, (iii) estimating a ground plane extending from the robotic device in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height, (iv) determining a grade of the estimated ground plane, and (v) directing the robotic device to adjust pitch in proportion to the determined grade.
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公开(公告)号：US09561592B1
公开(公告)日：2017-02-07
申请号：US14713569
申请日：2015-05-15
Applicant: Google Inc.
Inventor： Marco da Silva , Kevin Blankespoor , Gabriel Nelson
CPC classification number: B25J5/00 , B62D57/032 , Y10S901/01
Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) determining, for a particular topographical feature of the environment in a direction of travel of the robotic device, a height of the particular topographical feature and a distance between the robotic device and the particular topographical feature, (iii) estimating a ground plane extending from the robotic device in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height, (iv) determining a grade of the estimated ground plane, and (v) directing the robotic device to adjust pitch in proportion to the determined grade.
Abstract translation: 示例性实现包括（i）接收指示机器人设备正在操作的环境的外形特征的传感器数据，（ii）针对机器人设备的行进方向的环境的特定地形特征确定高度 具体地形特征以及机器人装置与特定地形特征之间的距离，（iii）估计从机器人装置沿着行进方向向特定地形特征延伸的接地平面，接地平面拟合到所确定的距离， 高度，（iv）确定估计的接地平面的等级，以及（v）引导机器人装置与所确定的等级成比例地调节间距。
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公开(公告)号：US09804600B1
公开(公告)日：2017-10-31
申请号：US14988913
申请日：2016-01-06
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Gabriel Nelson , Neil Neville
CPC classification number: G05D1/0088 , B25J9/0006 , B25J9/1615 , B25J9/1694 , B25J9/1697 , B62D57/032 , G05D1/0891 , Y10S901/01
Abstract: Example systems and methods for estimating a ground plane are provided. An example method may include determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame. The method may also include determining the location of one or more contact points between the robotic device and a ground surface. The method may also include determining a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points. The method may also include determining a distance between the body of the robotic device and the determined ground plane estimation. The method may also include providing instructions to adjust a position and/or orientation of the robotic device based on the determined distance and the determined ground plane estimation.
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