公开(公告)号：US09471904B2

公开(公告)日：2016-10-18

申请号：US14681878

申请日：2015-04-08

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Ryan Hickman

IPC: G08B21/00 ,  G06Q10/00 ,  G08B21/18 ,  B25J9/00 ,  B25J9/16

CPC classification number: G06Q10/20 ,  B25J9/0084 ,  B25J9/1674 ,  G08B21/18 ,  Y10S901/49

Abstract: Methods and systems for proactively preventing hazardous or other situations in a robot-cloud interaction are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices. The task logs may include information associated with tasks performed by the plurality of robotic devices. The method may also include a computing system determining information associated with hazardous situations based on the information associated with the task logs. For example, the hazardous situations may comprise situations associated with failures of one or more components of the plurality of robotic devices. According to the method, information associated with a contextual situation of a first robotic device may be determined, and when the information associated with the contextual situation is consistent with information associated with the one or more hazardous situations, an alert indicating a potential failure of the first robotic device may be provided.

公开(公告)号：US09327404B2

公开(公告)日：2016-05-03

申请号：US14556846

申请日：2014-12-01

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Ryan Hickman

IPC: G06F19/00 ,  B25J9/16 ,  B25J5/00 ,  B62D55/075 ,  H04L29/08 ,  G06F9/50

CPC classification number: B25J9/1692 ,  B25J5/005 ,  B25J9/1674 ,  B62D55/075 ,  G05B2219/39413 ,  G06F9/5072 ,  H04L67/12

Abstract: Methods and systems for determining a status of a component of a device are provided. An example method includes triggering an action of a component of a device, and responsively receiving information associated with the action of the component from a sensor. The method further includes a computing system having a processor and a memory comparing the information with calibration data and determining a status of the component based on the comparison. In some examples, the calibration data may include information derived from data received from a pool of one or more devices utilizing same or similar components as the component. The determined status may include information associated with a performance of the component with respect to performances of same or similar components of the pool of devices. In one example, the device may self-calibrate the component based on the status.

公开(公告)号：US09024771B1

公开(公告)日：2015-05-05

申请号：US13753729

申请日：2013-01-30

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Ryan Hickman

IPC: G08B21/00 ,  G08B21/18 ,  G06F19/00

CPC classification number: G06Q10/20 ,  B25J9/0084 ,  B25J9/1674 ,  G08B21/18 ,  Y10S901/49

Abstract: Methods and systems for proactively preventing hazardous or other situations in a robot-cloud interaction are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices. The task logs may include information associated with tasks performed by the plurality of robotic devices. The method may also include a computing system determining information associated with hazardous situations based on the information associated with the task logs. For example, the hazardous situations may comprise situations associated with failures of one or more components of the plurality of robotic devices. According to the method, information associated with a contextual situation of a first robotic device may be determined, and when the information associated with the contextual situation is consistent with information associated with the one or more hazardous situations, an alert indicating a potential failure of the first robotic device may be provided.

Abstract translation: 提供了主动防止机器人 - 云相互作用中的危险或其他情况的方法和系统。 示例性方法包括接收与多个机器人设备的任务日志相关联的信息。 任务日志可以包括与由多个机器人设备执行的任务相关联的信息。 该方法还可以包括基于与任务日志相关联的信息来确定与危险情况相关联的信息的计算系统。 例如，危险情况可以包括与多个机器人装置中的一个或多个部件的故障有关的情况。 根据该方法，可以确定与第一机器人设备的上下文情况相关联的信息，并且当与上下文情况相关联的信息与与一个或多个危险情况相关联的信息一致时，指示潜在故障的警报 可以提供第一机器人装置。

公开(公告)号：US08948498B1

公开(公告)日：2015-02-03

申请号：US13974129

申请日：2013-08-23

Applicant: Google Inc.

Inventor： Ryan Hickman ,  James J. Kuffner, Jr. ,  James R. Bruce

IPC: G06K9/00 ,  G06T15/04

CPC classification number: G06T15/04 ,  G06T17/00 ,  G06T2210/56

Abstract: Examples disclose a method and system to transform a colored point cloud to a 3D textured mesh. The method may be executable to identify a location on a 2D image of an object, identify a location on a 3D image of the object, and determine a color associated with the location on the 2D image. Determining a color may include receiving data associated with a simulation of a plurality of rays cast on the 3D image, identifying a color of the location on the 3D image associated with the received data, identifying a confidence level associated with the identified color of the location on the 3D image, and associating the identified color of the location on the 3D image with the location on the 2D image.

Abstract translation: 实例公开了将彩色点云变换为3D纹理网格的方法和系统。 该方法可以执行以识别对象的2D图像上的位置，识别对象的3D图像上的位置，并且确定与2D图像上的位置相关联的颜色。 确定颜色可以包括接收与在3D图像上投射的多个光线的模拟相关联的数据，识别与所接收的数据相关联的3D图像上的位置的颜色，识别与所识别的位置的颜色相关联的置信度 并且将3D图像上的位置的识别颜色与2D图像上的位置相关联。

公开(公告)号：US08930022B1

公开(公告)日：2015-01-06

申请号：US13757808

申请日：2013-02-03

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Ryan Hickman

IPC: G06F19/00 ,  G05B19/18 ,  B25J5/00 ,  B62D55/075

CPC classification number: B25J9/1692 ,  B25J5/005 ,  B25J9/1674 ,  B62D55/075 ,  G05B2219/39413 ,  G06F9/5072 ,  H04L67/12

Abstract: Methods and systems for determining a status of a component of a robotic device are provided. An example method includes triggering an action of a component of a robotic device, and responsively receiving information associated with the action of the component from a sensor. The method further includes a computing system having a processor and a memory comparing the information with calibration data and determining a status of the component based on the comparison. In some examples, the calibration data may include information derived from data received from a pool of one or more robotic devices utilizing same or similar components as the component. The determined status may include information associated with a performance of the component with respect to performances of same or similar components of the pool of robotic devices. In one example, the robotic device may self-calibrate the component based on the status.

Abstract translation: 提供了用于确定机器人装置的部件的状态的方法和系统。 示例性方法包括触发机器人设备的组件的动作，并且响应地接收与来自传感器的组件的动作相关联的信息。 该方法还包括具有处理器和存储器的信息与校准数据进行比较的计算系统，并且基于该比较来确定组件的状态。 在一些示例中，校准数据可以包括从使用与组件相同或相似的组件的一个或多个机器人设备的池接收的数据得到的信息。 所确定的状态可以包括与组件的性能相关的关于机器人设备池的相同或相似组件的性能的信息。 在一个示例中，机器人设备可以基于状态来自我校准组件。

公开(公告)号：US09446511B2

公开(公告)日：2016-09-20

申请号：US14645135

申请日：2015-03-11

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Ryan Hickman

IPC: B25J9/00 ,  G06Q10/06 ,  G05B19/418 ,  B25J9/16

CPC classification number: B25J9/0084 ,  B25J9/1679 ,  G05B19/4187 ,  G05B2219/39117 ,  G05B2219/39146 ,  G05B2219/40095 ,  G06Q10/06 ,  Y02P90/205 ,  Y02P90/86 ,  Y10S901/01

Abstract: Methods and systems for allocating tasks to robotic devices are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices and in a computing system configured to access a processor and memory, determining information associated with a health level for the plurality of robotic devices based on the information associated with the task logs. A health level for a given robotic device may be proportional to a current level of ability to perform a function, which may change over a lifespan of the given robotic device. Information associated with a plurality of tasks to be performed by one or more or the robotic devices may also be determined. The computing system may optimize an allocation of the plurality of tasks such that a high precision task may be allocated to a robotic device having a greater current health level than another robotic device.

Abstract translation: 提供了将任务分配给机器人设备的方法和系统。 示例性方法包括接收与多个机器人设备的任务日志相关联的信息，并且在被配置为访问处理器和存储器的计算系统中，基于与所述任务相关联的信息确定与所述多个机器人设备的健康水平相关联的信息 日志。 给定机器人设备的健康水平可以与执行功能的当前能力水平成比例，其可以在给定的机器人设备的寿命期内改变。 还可以确定与由一个或多个或机器人设备执行的多个任务相关联的信息。 计算系统可以优化多个任务的分配，使得可以将高精度任务分配给具有比另一机器人设备更大的当前健康水平的机器人设备。

公开(公告)号：US09008839B1

公开(公告)日：2015-04-14

申请号：US13757810

申请日：2013-02-03

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Ryan Hickman

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/0084 ,  B25J9/1679 ,  G05B19/4187 ,  G05B2219/39117 ,  G05B2219/39146 ,  G05B2219/40095 ,  G06Q10/06 ,  Y02P90/205 ,  Y02P90/86 ,  Y10S901/01

Abstract: Methods and systems for allocating tasks to robotic devices are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices and in a computing system configured to access a processor and memory, determining information associated with a health level for the plurality of robotic devices based on the information associated with the task logs. A health level for a given robotic device may be proportional to a current level of ability to perform a function, which may change over a lifespan of the given robotic device. Information associated with a plurality of tasks to be performed by one or more or the robotic devices may also be determined. According to the method, the computing system may optimize an allocation of the plurality of tasks such that a high precision task may be allocated to a robotic device having a greater current health level than another robotic device.

Abstract translation: 提供了将任务分配给机器人设备的方法和系统。 示例性方法包括接收与多个机器人设备的任务日志相关联的信息，并且在被配置为访问处理器和存储器的计算系统中，基于与所述任务相关联的信息确定与所述多个机器人设备的健康水平相关联的信息 日志。 给定机器人设备的健康水平可以与执行功能的当前能力水平成比例，其可以在给定的机器人设备的寿命期内改变。 还可以确定与由一个或多个或机器人设备执行的多个任务相关联的信息。 根据该方法，计算系统可以优化多个任务的分配，使得可以将高精度任务分配给具有比另一机器人设备更大的当前健康水平的机器人设备。

公开(公告)号：US08922576B2

公开(公告)日：2014-12-30

申请号：US14284889

申请日：2014-05-22

Applicant: Google Inc.

Inventor： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC: G09G5/00 ,  G06T19/20 ,  G06T17/00

CPC classification number: G06T19/20 ,  G06T15/20 ,  G06T17/00 ,  G06T2219/2004 ,  G09G5/00

Abstract: Methods and systems for interacting with multiple three-dimensional (3D) object data models are provided. An example method may involve providing to a display device for display a first 3D object data model and a second 3D object data model. Information associated with a modification to the first 3D object data model may be received. Based on the received information, a same change may be applied to the first 3D object data model and applied to the second 3D object data model to obtain a first modified 3D object data model and a second modified 3D object data model. According to the method, the first modified 3D object data model and the second modified 3D object data model may be provided to the display device for substantially simultaneous display.

Abstract translation: 提供了与多个三维（3D）对象数据模型交互的方法和系统。 示例性方法可以涉及向显示设备提供用于显示第一3D对象数据模型和第二3D对象数据模型。 可以接收与第一3D对象数据模型的修改相关联的信息。 基于接收到的信息，可以将相同的变化应用于第一3D对象数据模型并应用于第二3D对象数据模型以获得第一修改的3D对象数据模型和第二修改3D对象数据模型。 根据该方法，可以将第一修改3D对象数据模型和第二修改3D对象数据模型提供给显示装置，以便基本上同时显示。

公开(公告)号：US08831366B1

公开(公告)日：2014-09-09

申请号：US13673994

申请日：2012-11-10

Applicant: Google Inc.

Inventor： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure ,  Won Chun

IPC: G06K9/36 ,  G06K9/46 ,  G06T9/00

CPC classification number: G06T15/10 ,  G06T9/001 ,  G06T15/80 ,  G06T19/20 ,  G06T2219/2012 ,  G06T2219/2021

Abstract: Methods and systems for encoding and compressing 3D object data models are provided. An example method may involve receiving 3D mesh data for an object that includes geometry coordinates for a surface of the object. Additionally, material properties may be associated with the geometry coordinates. The method may also include identifying multiple portions of the mesh data based on the material properties associated with the geometry coordinates. For example, a given group of adjacent geometry coordinates having common material properties may be identified as a given portion. For at least some of the identified portions of the mesh data, the method may further include encoding information related to an identified portion of the mesh data and compressing the encoded information into a file of compressed geometric data.

Abstract translation: 提供了用于编码和压缩3D对象数据模型的方法和系统。 示例性方法可以涉及接收包括对象表面的几何坐标的对象的3D网格数据。 另外，材料属性可以与几何坐标相关联。 该方法还可以包括基于与几何坐标相关联的材料属性来识别网格数据的多个部分。 例如，具有共同材料属性的给定组的相邻几何坐标可以被识别为给定部分。 对于网格数据的所识别的部分的至少一些，该方法还可以包括对与网格数据的识别部分相关的信息进行编码，并将编码的信息压缩成压缩几何数据的文件。

公开(公告)号：US08817021B1

公开(公告)日：2014-08-26

申请号：US13644680

申请日：2012-10-04

Applicant: Google Inc.

Inventor： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC: G06T17/00

CPC classification number: G06T15/00 ,  G06F17/30271

Abstract: Methods and systems for writing, interpreting, and translating three-dimensional (3D) scenes are provided. An example method may involve accessing data associated with a three-dimensional (3D) scene that includes one or more objects of the 3D scene and one or more rendering effects for the one or more objects. Requests for assets and instructions associated with rendering the one or more objects based on the data associated with the 3D scene may be determined and sent to a server. Additionally, the method may include receiving from the server assets and instructions that facilitate rendering the one or more objects based on the one or more rendering effects. According to the method, the one or more objects of the 3D scene may be rendered based on the received instructions and the received assets.

Abstract translation: 提供了编写，解释和翻译三维（3D）场景的方法和系统。 示例性方法可以涉及访问与包括3D场景的一个或多个对象和一个或多个对象的一个​​或多个呈现效果的三维（3D）场景相关联的数据。 可以确定与基于与3D场景相关联的数据呈现一个或多个对象相关联的资产和指令的请求，并将其发送到服务器。 另外，该方法可以包括从服务器接收资源和基于一个或多个呈现效果来促进呈现一个或多个对象的指令。 根据该方法，3D场景的一个或多个对象可以基于接收到的指令和接收到的资产来呈现。