JP6039611B2 - 可動式ロボットシステム - Google Patents
可動式ロボットシステム Download PDFInfo
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- JP6039611B2 JP6039611B2 JP2014140540A JP2014140540A JP6039611B2 JP 6039611 B2 JP6039611 B2 JP 6039611B2 JP 2014140540 A JP2014140540 A JP 2014140540A JP 2014140540 A JP2014140540 A JP 2014140540A JP 6039611 B2 JP6039611 B2 JP 6039611B2
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Description
本米国特許出願は、2010年12月30日に出願された米国仮出願第61/428,717号、2010年12月30日に出願された米国仮出願第61/428,734号、2010年12月30日に出願された米国仮出願第61/428,759号、および2011年1月5日に出願された米国仮出願第61/429,863号に対する米国特許法第119条(e)の下の優先権を主張する。これらの先願の開示は、本願の開示の一部であると見なされ、それらの全体が参照することによって本明細書に組み込まれる。
いくつかの実施例では、地形モデルは、2−D位置および床面からの複数の占有および非占有高さ境界の座標系のためのものである。例えば、テーブルを有する部屋が、関連テーブル面の上限および下限高さを示すデータを提供する場合の、テーブルの下を通過することができるかどうかをロボットが判定することができるようにする地形モデルである。
この配設では、前進させるために、コントローラ500は、第1の駆動車輪210aを順転方向に駆動させ、第2および第3の駆動車輪210b、210cを第1の駆動車輪210aと同等の速度で逆方向に駆動させる、駆動コマンドを発行してもよい。
脚部130は、第1の脚部分132に対して第2の脚部分134を移動させるためのアクチュエータアセンブリ136(図8C)を含んでもよい。アクチュエータアセンブリ136は、コントローラ500に位置フィードバックを提供する、リフトモータ138bおよびエンコーダ138cと通信している、モータドライバ138aを含んでもよい。
胴部140は、マイクロコントローラ140cと、マイクロフォン(単数または複数)330と、スピーカ(単数または複数)340と、走査3−D画像センサ450aと、コントローラ500がユーザの接触またはタッチを受けとり、それに応答する(例えば、胴部140を基部120に対して移動させる、首部150を回動および/もしくは傾斜させる、ならびに/またはこれらに応えて駆動システム200にコマンドを発行することによって)ことを可能にする、胴部タッチセンサシステム480とを収容してもよい。首部150は、対応するモータドライバ156aおよびエンコーダ158aを有する回動モータ152と、対応するモータドライバ156bおよびエンコーダ158bを有する傾斜モータ154とを含んでもよい、回動−傾斜アセンブリ151を収容してもよい。頭部160は、1つ以上のウェブパッド310と、カメラ320とを収容してもよい。
他の実施例では、ロボットは、医療データを遠隔ユーザ(医師)に伝送するように、電子聴診器、耳鏡、および超音波等のクラスII医療デバイスへの直接接続を可能にする、コネクタ170を含む。
本実現形態は、1)潜在的な段差の早期検出(未知の環境内でのより速い移動速度を可能にし得る)、2)段差事象が本当に安全ではないものであるか否か、または安全に横断すること(例えば、敷居を登って越える等)ができるものであるか否かを知るために、コントローラ500が段差検出近接センサ420からの段差撮像情報を受信することによる、自律的可動性の信頼性の増加、3)段差の誤検出の低減(例えば、縁部検出対複数の狭い視界を伴う別個のIR近接センサの使用による)を可能にする。冗長性のため、および距離感知カメラが特定のタイプの段差を確実に検出することができない状況を検出するために、「脱輪」センサとして配設される追加のセンサを使用することができる。
3−D画像センサ450は、画像パターン合致、源から放射され、標的から反射される光の飛行時間および/または位相遅延偏移計測によって、そのようなデータを取得してもよい。
例えば、情景内の感知されるアイテムは、情景10内の高くなっている可能性のある物体12(例えば、戸口、敷居、または段差)を感知するために、動作を繰り返す(1212)頻度を増加させる事象をトリガし得る。追加の実施例では、検出された物体12間の経過時間事象が、動作を繰り返す(1212)頻度を低下させ得る、またはある期間停止させ得る(例えば、別の事象によって起こされるまで活動停止状態になる)。いくつかの実施例では、情景10内の物体12の1つ以上の特徴を検出する(1208)動作は、画像深度データが取得される速度を増加させるために、比較的大きい頻度の繰り返し動作(1212)をもたらす、特徴検出事象をトリガする。画像深度データの比較的大きい獲得速度は、情景内の相対的により信頼できる特徴追跡を可能にすることができる。
コントローラ500は、捕捉される体積点群のデータを解析するために、骨格/デジタル認識ソフトウェアを実行してもよい。
ダイバーシティコーディングは、信号のダイバーシティを強化するために、複数のアンテナリンクで独立したフェーディングを利用する。チャネルの知識がないため、ダイバーシティコーディングからのビーム形成またはアレイ利得はない。空間多重化はまた、伝送機においてチャネルが把握されているときに、プリコーディングと組み合わせることもでき、または復号の確実性がトレードオフであるときに、ダイバーシティコーディングと組み合わせることもできる。
停止ルーチンは、センサシステム400がロボット100との(例えば、胴部140との)接触をもはや感知しなくなった場合に、約0.5秒後に駆動システム200に駆動を停止させてもよい。胴部タッチ遠隔操作挙動600aは、トリガ期間にわたって待機する必要なく、タッチ点の移動を可能にするように、ロボット100の停止における遅延を提供することができる。
高密度画像1611および訓練されたモデル1609は、長期記憶インスタンスで保つことができる。訓練された分類子1625またはモデル1609のパラメータは、未加工画像1611のシーケンスを除外して、ロボット100に返信される(例えば、直接、またはロボット100のエージェントを介して)。
高密度画像1611は、リアルタイム捕捉速度で可動式ロボット100の運動の軌跡に沿って捕捉される。受信速度は、リアルタイム捕捉速度よりも遅い。本方法はまた、高密度画像1611のシーケンス1615の中の高密度画像1611のうちの少なくともいくつかと関連付けられる注釈1613を受信すること1604gと、高密度画像1611のうちの少なくともいくつかの中の高密度データを、高密度画像1611のシーケンス1615の少なくとも一部分を表すデータセット1607、1617まで低減させるためのバッチ処理タスクをディスパッチすること1606gとを含む。本方法はまた、データセット1617を可動式ロボット100に伝送すること1608gも含む。データセット1607、1617は、高密度画像1611のシーケンス1615の未加工画像データを除外する。
仮想記憶1622のうちの少なくともいくらかは、ロボット100へのデータセット1607、1617の伝送後に解放される。また、バッチ処理タスクは、可動式ロボット100への地理的近接性および/または複数の可動式ロボット100からのネットワークトラフィックのうちの1つに従って、拡張性のある複数の仮想サーバ1621を分散させることを含んでもよい。
本方法は、タグ付けされたレイアウトマップ点1912と選択されたレイアウトマップ点1914との間の距離の逆二乗のいずれかを使用して、タグ付けされたレイアウトマップ点1912の「影響要因」を判定することを含む。次いで、タグ付けされたレイアウトマップ点1912について、本方法は、タグ付けされたレイアウトマップ点1912の影響要因を使用することによって比例配分される、「理想ロボットマップ座標」点1924iとロボットマップ点1924との間の差である、ベクターを判定することを含む。本方法は、比例配分されたベクターを合計することと、それらを選択されたレイアウトマップ点1914に対する「理想ロボットマップ座標」点1924iに加算することを含む。結果は、ロボットマップ1820上の対応するロボットマップ点1924である。いくつかの実施例では、この方法/アルゴリズムは、全てのタグ付けされたレイアウトマップ点1912ではなく、最も近いN個のタグ付けされたレイアウトマップ点1912のみを含む。
クラウドサービスは、スケジュールを管理する。夜中に、遠隔の病院にいる重体患者を診察する必要があるという呼び出しを医師が受けた場合、医師は、スケジューリングアプリケーション1610dを使用してロボット100を要請し、および/またはマッピングおよびナビゲーションアプリケーション1610bを使用してロボット100を病室に送ることができる。医師は、テレビ会議アプリケーション1610cを使用して、(例えば、クラウド記憶装置1622にアクセスすることによって)自分のコンピューティングデバイス上で診察記録および患者のビデオまたは画像にアクセスしてもよい。クラウドサービスは、ロボット管理、電子健康記録システム、および医療用撮像システムと統合してもよい。医師は、患者と遠隔でやりとりするように、ロボット100の移動を制御してもよい。患者がポルトガル語しか話さない場合、テレビ会議アプリケーション1610cが、自動的に言語を翻訳してもよく、または第三者の翻訳者が、(例えば、インターネットを介して)クラウド1620と通信している別のコンピューティングデバイスを使用してテレビ会議に参加してもよい。クラウドサービスを使用して、翻訳サービスを要請し、遂行し、記録し、および課金請求することができる。
Claims (10)
- 可動式ロボット(100)を動作させる方法であって、
情景(10)の周囲で前記ロボット(100)を動かすステップと、
前記情景(10)を示すセンサデータ(1601)を受信するステップと、
前記受信したセンサデータ(1601)を処理し、処理結果(1607、1609)を前記ロボット(100)に伝達するクラウドコンピューティングサービス(1620)に、前記センサデータ(1601)を伝達するステップと、
前記受信した処理結果(1607、1609)に基づいて、前記情景(10)内で前記ロボット(100)を動かすステップと、
を備え、
前記クラウドコンピューティングサービス(1620)は、前記ロボット(100)から画像データ(1601)を受信し、前記画像データ(1601)を処理して前記情景(10)の3−Dマップ(1605)および/またはモデル(1609)にし、
更に、
前記ロボット(100)の周囲の前記情景(10)の上に光を放射するステップと、
前記ロボット(100)の駆動方向(F)に沿った前記情景(10)の画像であって、(a)3次元深度画像、(b)アクティブ照明画像、および(c)周囲照明画像のうちの少なくとも1つを含む、画像を捕捉するステップと、
を含み、
前記センサデータ(1601)は、前記画像を備え、前記処理結果(1607、1609)は、前記情景(10)のマップ(1607)またはモデル(1609)を備え、
前記画像データ(1601)を処理するステップは、前記ロボット(100)上に位置するカメラ(320)または体積点群撮像デバイス(450)にて捕捉された写真またはビデオをともに連結し、且つ走行距離計測、全地球測位システム、および/または中間地点ナビゲーションによって提供される基準座標を使用することによって、前記ロボット(100)の周囲の前記情景(10)のマップ(1605)を構築するステップをさらに含み、
前記マップ(1605)に基準位置を印付けし、前記マップ(1605)に印付けされた基準位置を通じて経路を計画するステップをさらに備え、
前記マップ(1605)は、前記情景(10)の屋内または屋外の街路ビューまたは経路ビューを含み、前記マップ(1605)に印付けされた各基準位置は、リンクした画像またはビデオ、若しくは販促情報を含む、方法。 - 前記情景(10)の上に光のスペックルパターンを放射するステップと、
前記情景(10)内の物体(12)から前記スペックルパターンの反射を受けるステップと、
前記情景(10)内の基準物体(12)から反射された前記スペックルパターンの基準画像であって、前記基準物体(12)から様々な異なる距離(Zn)で捕捉される基準画像を、前記クラウドコンピューティングサービス(1620)のクラウド記憶装置(1622)の中に記憶するステップと、
前記情景(10)内の標的物体(12)から反射された前記スペックルパターンの少なくとも1つの標的画像を捕捉し、前記少なくとも1つの標的画像を前記クラウドコンピューティングサービス(1620)に伝達するステップと、
をさらに含み、
前記クラウドコンピューティングサービス(1620)は、前記標的物体(12)の反射面の距離(ΔZ)を判定するために、前記少なくとも1つの標的画像を前記基準画像と比較する、請求項1に記載の方法。 - 前記標的物体(12)上の一次スペックルパターンを判定するステップと、前記一次スペックルパターンと前記基準画像の前記スペックルパターンとの間のそれぞれの相互相関および非相関のうちの少なくとも1つを算出するステップをさらに含む、請求項2に記載の方法。
- 前記クラウドコンピューティングサービス(1620)は、クラウド記憶装置(1622)の中に前記受信したセンサデータ(1601)を少なくとも一時的に記憶し、随意に、前記データ(1601)を処理した後に前記記憶したセンサデータ(1601)を破棄する、請求項1〜3のいずれかに記載の方法。
- 前記センサデータ(1601)は、関連センサシステムデータを有する画像データを備え、前記センサシステムデータは、加速度計データ追跡、走行距離計測データ、およびタイムスタンプのうちの少なくとも1つを備える、請求項1〜4のいずれかに記載の方法。
- 前記クラウドコンピューティングサービス(1620)は、2−D高さマップ(1607)および/または前記モデル(1609)を前記ロボット(100)に提供し、前記クラウドコンピューティングサービス(1620)は、前記3−Dマップ(1605)から前記2−D高さマップ(1607)を算出する、請求項1に記載の方法。
- 前記センサデータ(1601)を前記クラウドコンピューティングサービス(1620)に定期的に伝達するステップをさらに含み、前記クラウドコンピューティングサービス(1620)は、閾値のセンサデータセット(1603)を蓄積した後に、前記受信した画像データ(1601)を処理する、請求項1〜6のいずれかに記載の方法。
- 前記ロボット(100)と通信しており、前記ロボット(100)に取り外し可能に取り付け可能である、携帯用コンピューティングデバイス(310)を通して、無線で前記センサデータ(1601)を前記クラウドコンピューティングサービス(1620)に伝達するステップをさらに含む、請求項1〜7のいずれかに記載の方法。
- 前記情景(10)は、店のモールであり、前記マップ(1605)は、当該マップ(1605)に基準位置として印付けされた各店を伴う経路ビューを含む、請求項1に記載の方法。
- 前記モールのマップされた店を通る経路巡回を提供するステップをさらに含む、請求項9に記載の方法。
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US11407117B1 (en) | 2019-08-20 | 2022-08-09 | X Development Llc | Robot centered augmented reality system |
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GB2519433B (en) | 2015-07-01 |
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WO2012091814A3 (en) | 2013-07-18 |
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