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。

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

IPC: G05B19/04 ,  G05B19/18 ,  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。

公开(公告)号：US09457970B1

公开(公告)日：2016-10-04

申请号：US14792534

申请日：2015-07-06

Applicant: Google Inc.

Inventor： John Zevenbergen ,  Stefan Nusser ,  Troy Straszheim

IPC: B65G67/02 ,  B60P1/48 ,  B62D63/08 ,  B65G47/90 ,  B60P1/38 ,  B60P1/64 ,  B65G15/22 ,  B65G47/52 ,  B25J5/00

CPC classification number: B65G67/02 ,  B25J5/007 ,  B25J9/0093 ,  B60P1/38 ,  B60P1/48 ,  B60P1/6409 ,  B62D63/08 ,  B65G15/22 ,  B65G47/52 ,  B65G47/905 ,  B65G61/00 ,  B65G2203/041

Abstract: An example system includes a plurality of trailers arranged such that a given trailer of the plurality is connected to at least one other trailer of the plurality, where the plurality of trailers includes a plurality of respective conveyance systems to transport objects between connected trailers. The system further includes a control system configured to cause a conveyance system of a first trailer of the plurality to move at least one object to the first trailer from a first external trailer, cause respective conveyance systems of one or more trailers of the plurality to transport the at least one object from the first trailer of the plurality to a second trailer of the plurality that is connected to a second external trailer, and cause a conveyance system of the second trailer of the plurality to move the at least one object to the second external trailer.

Abstract translation: 示例系统包括多个拖车，其布置成使得多个的给定拖车连接到多个的至少另一个拖车，其中多个拖车包括多个相应的输送系统以在连接的拖车之间输送物体。 该系统还包括控制系统，该控制系统被配置为使得多个第一拖车的输送系统从第一外部拖车将至少一个物体移动到第一拖车，使得多个拖车中的一个或多个拖车的相应输送系统运输 所述至少一个物体从所述多个的第一拖车到所述多个的第二拖车连接到第二外部拖车，并且使得所述多个的第二拖车的输送系统将所述至少一个物体移动到所述第二拖车的第二拖车 外部拖车

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

IPC: G05B19/04 ,  G05B19/18 ,  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.