公开(公告)号：WO2009148672A1

公开(公告)日：2009-12-10

申请号：PCT/US2009/036685

申请日：2009-03-10

Applicant: BATTELLE ENERGY ALLIANCE, LLC

Inventor： NIELSEN, Curtis ,  BRUEMMER, David ,  FEW, Douglas ,  WALTON, Miles

IPC: G05B19/18

CPC classification number: B25J9/162 ,  B25J9/161 ,  B25J9/1666 ,  G05B2219/33051 ,  G05B2219/35472 ,  G05B2219/39212 ,  G05B2219/40442 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0209

Abstract: Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the autonomy level indicates high robot initiative.

Abstract translation: 系统，方法和用户界面用于控制机器人。 环境地图和机器人指示符被呈现给用户。 用户可以在环境地图上放置，移动和修改任务指示符。 任务指示符指示环境地图中的位置，并指示机器人实现的任务。 控制中介链接任务指示符与机器人发出的机器人指令。 控制中介分析任务指示符和机器人之间的相对位置。 控制中介使用分析来确定机器人的面向任务的自主级别，并将目标成就信息传达给机器人。 如果自主级别表示低机器人主动性，则目标成就信息可以包括用于直接引导机器人的指令，并且可以包括如果自主级别指示高机器人主动性，则引导机器人确定用于实现任务的机器人计划的指令。

公开(公告)号：WO2009148672A9

公开(公告)日：2009-12-10

申请号：PCT/US2009/036685

申请日：2009-03-10

Applicant: BATTELLE ENERGY ALLIANCE, LLC

Inventor： NIELSEN, Curtis ,  BRUEMMER, David ,  FEW, Douglas ,  WALTON, Miles

IPC: G05B19/18

Abstract: Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the autonomy level indicates high robot initiative.