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公开(公告)号：US09333649B1
公开(公告)日：2016-05-10
申请号：US14213089
申请日：2014-03-14
发明人： Gary Bradski , Kurt Konolige , Ethan Rublee , Troy Straszheim , Hauke Strasdat , Stefan Hinterstoisser , Steve Croft , John Zevenbergen
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.
摘要翻译： 示例性实施例可以涉及用于选择对象上的抓取点的方法和系统。 特别地，机器人操纵器可以识别物理环境内的物理对象的特征。 基于所识别的特征，机器人操纵器可以确定对应于附接到机器人操纵器的夹持器可操作以夹持物理对象的点的物理对象上的潜在抓握点。 随后，机器人操纵器可以确定用于抓握器的运动路径以便将物理物体移动到物理物体的下落位置，然后基于所确定的运动从潜在的抓取点中选择抓取点 路径。 在选择抓握点之后，机器人操纵器可以用夹具夹住所选抓握点处的物理物体，并将物理物体通过确定的运动路径移动到落下位置。
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公开(公告)号：US09630320B1
公开(公告)日：2017-04-25
申请号：US14793246
申请日：2015-07-07
发明人： Kurt Konolige , Ethan Rublee , Stefan Hinterstoisser , Troy Straszheim , Gary Bradski , Hauke Malte Strasdat
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Methods and systems for detecting and reconstructing environments to facilitate robotic interaction with such environments are described. An example method may involve determining a three-dimensional (3D) virtual environment representative of a physical environment of the robotic manipulator including a plurality of 3D virtual objects corresponding to respective physical objects in the physical environment. The method may then involve determining two-dimensional (2D) images of the virtual environment including 2D depth maps. The method may then involve determining portions of the 2D images that correspond to a given one or more physical objects. The method may then involve determining, based on the portions and the 2D depth maps, 3D models corresponding to the portions. The method may then involve, based on the 3D models, selecting a physical object from the given one or more physical objects. The method may then involve providing an instruction to the robotic manipulator to move that object.
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公开(公告)号：US20160221187A1
公开(公告)日：2016-08-04
申请号：US15093118
申请日：2016-04-07
发明人： Gary Bradski , Kurt Konolige , Ethan Rublee , Troy Straszheim , Hauke Strasdat , Stefan Hinterstoisser , Steve Croft , John Zevenbergen
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.
摘要翻译： 示例性实施例可以涉及用于选择对象上的抓取点的方法和系统。 特别地，机器人操纵器可以识别物理环境内的物理对象的特征。 基于所识别的特征，机器人操纵器可以确定对应于附接到机器人操纵器的夹持器可操作以夹持物理对象的点的物理对象上的潜在抓握点。 随后，机器人操纵器可以确定用于抓握器的运动路径以便将物理物体移动到物理物体的下落位置，然后基于所确定的运动从潜在的抓取点中选择抓取点 路径。 在选择抓握点之后，机器人操纵器可以用夹具夹住所选抓握点处的物理物体，并将物理物体通过确定的运动路径移动到落下位置。
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4.发明授权公开(公告)号：US09630321B2
公开(公告)日：2017-04-25
申请号：US14964724
申请日：2015-12-10
发明人： Gary Bradski , Kurt Konolige , Ethan Rublee , Troy Straszheim , Hauke Strasdat , Stefan Hinterstoisser
IPC分类号： B25J13/08 , B25J9/16 , G06T17/00 , B25J19/02 , B65G47/46 , B65G47/50 , G06K9/00 , G06T7/00 , G01B11/25 , G06K9/46 , G06K9/52 , G06T7/60 , H04N5/33 , H04N13/02 , B25J9/00 , B25J5/00 , B65G41/00 , B65G61/00 , B65H67/06 , H04N13/00
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.
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5.发明申请Continuous Updating of Plan for Robotic Object Manipulation Based on Received Sensor Data 有权基于接收传感器数据的机器人对象操纵计划的连续更新公开(公告)号：US20160089791A1
公开(公告)日：2016-03-31
申请号：US14964724
申请日：2015-12-10
发明人： Gary Bradski , Kurt Konolige , Ethan Rublee , Troy Straszheim , Hauke Strasdat , Stefan Hinterstoisser
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.
摘要翻译： 示例系统和方法允许动态更新使用机器人设备移动对象的计划。 一个示例性方法包括：基于从一个或多个传感器接收的传感器数据，由一个或多个处理器确定虚拟环境，所述虚拟环境表示包含多个物理对象的物理环境，基于虚拟环境开发计划，以引起 机器人操纵器，用于在物理环境中移动一个或多个物理对象，使机器人操纵器根据该计划执行第一动作，在机器人操纵器执行第一动作之后从一个或多个传感器接收更新的传感器数据， 基于更新的传感器数据修改虚拟环境，基于修改的虚拟环境确定对该计划的一个或多个修改，并且使机器人操纵器根据修改的计划执行第二动作。
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6.发明授权Continuous updating of plan for robotic object manipulation based on received sensor data 有权基于接收的传感器数据不断更新机器人对象操纵的计划公开(公告)号：US09238304B1
公开(公告)日：2016-01-19
申请号：US14212994
申请日：2014-03-14
发明人： Gary Bradski , Kurt Konolige , Ethan Rublee , Troy Straszheim , Hauke Strasdat , Stefan Hinterstoisser
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.
摘要翻译： 示例系统和方法允许动态更新使用机器人设备移动对象的计划。 一个示例性方法包括：基于从一个或多个传感器接收的传感器数据，由一个或多个处理器确定虚拟环境，所述虚拟环境表示包含多个物理对象的物理环境，基于虚拟环境开发计划，以引起 机器人操纵器，用于在物理环境中移动一个或多个物理对象，使机器人操纵器根据该计划执行第一动作，在机器人操纵器执行第一动作之后从一个或多个传感器接收更新的传感器数据， 基于更新的传感器数据修改虚拟环境，基于修改的虚拟环境确定对该计划的一个或多个修改，并且使机器人操纵器根据修改的计划执行第二动作。
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7.发明授权公开(公告)号：US09102055B1
公开(公告)日：2015-08-11
申请号：US14212328
申请日：2014-03-14
发明人： Kurt Konolige , Ethan Rublee , Stefan Hinterstoisser , Troy Straszheim , Gary Bradski , Hauke Strasdat
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Methods and systems for detecting and reconstructing environments to facilitate robotic interaction with such environments are described. An example method may involve determining a three-dimensional (3D) virtual environment representative of a physical environment of the robotic manipulator including a plurality of 3D virtual objects corresponding to respective physical objects in the physical environment. The method may then involve determining two-dimensional (2D) images of the virtual environment including 2D depth maps. The method may then involve determining portions of the 2D images that correspond to a given one or more physical objects. The method may then involve determining, based on the portions and the 2D depth maps, 3D models corresponding to the portions. The method may then involve, based on the 3D models, selecting a physical object from the given one or more physical objects. The method may then involve providing an instruction to the robotic manipulator to move that object.
摘要翻译： 描述了用于检测和重建环境以促进与这种环境的机器人交互的方法和系统。 示例性方法可以涉及确定代表机器人操纵器的物理环境的三维（3D）虚拟环境，其包括对应于物理环境中的各个物理对象的多个3D虚拟对象。 该方法然后可以涉及确定包括2D深度图的虚拟环境的二维（2D）图像。 该方法然后可以涉及确定对应于给定的一个或多个物理对象的2D图像的部分。 然后，该方法可以包括基于部分和2D深度图确定对应于该部分的3D模型。 然后，该方法可以基于3D模型来涉及从给定的一个或多个物理对象中选择物理对象。 该方法然后可以包括向机器人操纵器提供移动该对象的指令。
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