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公开(公告)号：US20160297429A1
公开(公告)日：2016-10-13
申请号：US15148055
申请日：2016-05-06
Applicant: Google Inc.
Inventor： Kevin William Watts
CPC classification number: G05D1/0223 , B60K31/00 , B60P3/00 , B60W30/04 , B60W2300/12 , B60W2300/121 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2530/10 , B60W2550/404 , B60W2720/10 , B60W2720/14 , B60Y2200/80 , B66F9/063 , B66F17/003 , G05D1/0011 , G05D1/0027 , G05D1/0038 , G05D1/0044 , G05D1/0214 , G05D2201/0216
Abstract: Example systems and methods are disclosed for implementing vehicle operation limits to prevent vehicle load failure during vehicle teleoperation. The method may include receiving sensor data from sensors on a vehicle that carries a load. The vehicle may be controlled by a remote control system. The load weight and dimensions may be determined based on the sensor data. In order to prevent a vehicle load failure, a forward velocity limit and an angular velocity limit may be calculated. Vehicle load failures may include the vehicle tipping over, the load tipping over, the load sliding off of the vehicle, or collisions. The vehicle carrying the load may be restricted from exceeding the forward velocity limit and/or the angular velocity limit during vehicle operation. The remote control system may display a user interface indicating to a remote operator the forward velocity limit and the angular velocity limit.
Abstract translation: 公开了用于实现车辆操作限制的示例系统和方法，以防止车辆远程操作期间的车辆负载故障。 该方法可以包括从携带负载的车辆上的传感器接收传感器数据。 车辆可以由遥控系统控制。 负载重量和尺寸可以根据传感器数据确定。 为了防止车辆负载故障，可以计算向前速度极限和角速度极限。 车辆负载故障可能包括车辆翻转，负载翻转，车辆滑落的负载或碰撞。 承载负载的车辆可以限制在车辆操作期间超过前进速度极限和/或角速度极限。 遥控系统可以显示向远程操作员指示前进速度限制和角速度限制的用户界面。
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Patent Agency Ranking
公开(公告)号：US09358975B1
公开(公告)日：2016-06-07
申请号：US14683721
申请日：2015-04-10
Applicant: Google Inc.
Inventor： Kevin William Watts
CPC classification number: G05D1/0223 , B60K31/00 , B60P3/00 , B60W30/04 , B60W2300/12 , B60W2300/121 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2530/10 , B60W2550/404 , B60W2720/10 , B60W2720/14 , B60Y2200/80 , B66F9/063 , B66F17/003 , G05D1/0011 , G05D1/0027 , G05D1/0038 , G05D1/0044 , G05D1/0214 , G05D2201/0216
Abstract: Example systems and methods are disclosed for implementing vehicle operation limits to prevent vehicle load failure during vehicle teleoperation. The method may include receiving sensor data from sensors on a vehicle that carries a load. The vehicle may be controlled by a remote control system. The load weight and dimensions may be determined based on the sensor data. In order to prevent a vehicle load failure, a forward velocity limit and an angular velocity limit may be calculated. Vehicle load failures may include the vehicle tipping over, the load tipping over, the load sliding off of the vehicle, or collisions. The vehicle carrying the load may be restricted from exceeding the forward velocity limit and/or the angular velocity limit during vehicle operation. The remote control system may display a user interface indicating to a remote operator the forward velocity limit and the angular velocity limit.
Abstract translation: 公开了用于实现车辆操作限制的示例系统和方法，以防止车辆远程操作期间的车辆负载故障。 该方法可以包括从携带负载的车辆上的传感器接收传感器数据。 车辆可以由遥控系统控制。 负载重量和尺寸可以根据传感器数据确定。 为了防止车辆负载故障，可以计算向前速度极限和角速度极限。 车辆负载故障可能包括车辆翻转，负载翻转，车辆滑落的负载或碰撞。 承载负载的车辆可以限制在车辆操作期间超过前进速度极限和/或角速度极限。 遥控系统可以显示向远程操作员指示前进速度限制和角速度限制的用户界面。
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3.发明授权公开(公告)号：US09649767B2
公开(公告)日：2017-05-16
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
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.
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公开(公告)号：US20160282126A1
公开(公告)日：2016-09-29
申请号：US14667655
申请日：2015-03-24
Applicant: Google Inc.
CPC classification number: G01C21/206 , G05B19/41895 , G05B2219/31007 , G05D1/0274 , G05D1/0297 , G05D2201/0216 , G06K9/00664 , G06Q10/08 , G09B29/004 , G09B29/007 , G09C1/00 , H03K19/17768 , H04L9/3278 , H04L2209/04 , H04L2209/12 , H04W4/043 , Y02P90/285 , Y02P90/60
Abstract: Systems and methods are provided for generating maps with semantic labels. A computing device can determine a first map that includes features located at first positions and semantic labels located at semantic positions, and determine a second map that includes at least some of the features located at second positions. The computing device can identify a first region with fixed features located at first positions and corresponding equivalent second positions. The computing device can identify a second region with moved features located at first positions and corresponding non-equivalent second positions. The computing device can determine one or more transformations between first positions and second positions. The computing device can assign the semantic labels to the second map at second semantic positions, where the second semantic positions are the same in the first region, and where the second semantic positions in the second region are based on the transformation(s).
Abstract translation: 提供了用于生成具有语义标签的地图的系统和方法。 计算设备可以确定包括位于位于语义位置处的第一位置和语义标签的特征的第一地图，并且确定包括位于第二位置的至少一些特征的第二地图。 计算设备可以识别具有位于第一位置和相应等效的第二位置的固定特征的第一区域。 计算设备可以识别具有位于第一位置和对应的非等效第二位置的移动特征的第二区域。 计算设备可以确定第一位置和第二位置之间的一个或多个变换。 计算设备可以在第二语义位置处将语义标签分配给第二映射，其中第二语义位置在第一区域中相同，并且第二区域中的第二语义位置基于变换。
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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。
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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
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。
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