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US 11,691,286 B2Granted
Systems and methods for assisting a robotic apparatus
AssigneeBrain Corporation
InventorsOleg Sinyavskiy, Jean-Baptiste Passot, Borja Ibarz Gabardos, Diana Vu Le
Life of this patent
Estimating the term…
Abstract
Systems and methods assisting a robotic apparatus are disclosed. In some exemplary implementations, a robot can encounter situations where the robot cannot proceed and/or does not know with a high degree of certainty it can proceed. Accordingly, the robot can determine that it has encountered an error and/or assist event. In some exemplary implementations, the robot can receive assistance from an operator and/or attempt to resolve the issue itself. In some cases, the robot can be configured to delay actions in order to allow resolution of the error and/or assist event.
Claims18
A method for operating a robot, comprising:
- causing the robot to perform a first task in an environment;
- detecting an assist event based on, at least in part data from one or more sensors coupled to the robot;
- waiting, for a first time delay, for the assist event to be addressed by transmitting a signal to at least one actuator to halt performance of the first task;
- attempting, for a second time delay, to autonomously address the assist event by activating at least one actuator to perform a recovery if the assist event is not addressed within the first time delay, the second time delay being subsequent to the first time delay;
- determining a first alert if the assist event is still not addressed after the second time delay, wherein the first alert comprises a request for assistance from one or more human operators of the robot and indicates, at least in part, an error that has occurred with data indicative of a reason for the error occurring;
- communicating the first alert to a server in order to cause the server to provide the first alert to an access point for the one or more human operators, the access point comprising a device separate from the robot, the access point displays an assist view indicating the robot is at least in part obstructed from completing the first task, the assist view is transmitted to the access point via the server and is configured to allow an operator of the robot to send the operating instructions to the robot;
- and
- receiving operating instructions from the access point via the server from the one or more human operators to address the assist event.
5 more elements
A robotic system, comprising:
- a memory comprising computer readable instructions stored thereon;
- and
- at least one processing device configurable to execute the computer readable instructions to:
- cause the robotic system to perform a task in an environment;
- detect an assist event based on, at least in part, data from one or more sensors coupled to the robotic system;
- wait, for a first time delay, for the assist event to be addressed by transmitting a signal to at least one actuator to halt performance of the first task;
- attempt, for a second time delay, to autonomously address the assist event by activating at least one actuator to perform a recovery if the assist event is not addressed within the first time delay, the second time delay being subsequent to the first time delay;
- determine a first alert if the assist event is still not addressed after the second time delay, wherein the first alert comprises a request for assistance from one or more human operators of the robot and indicates, at least in part, an error that has occurred with data indicative of a reason for the error occurring;
- communicating the first alert to a server in order to cause the server to provide the first alert to an access point for the one or more human operators, the access point comprising a device separate from the robot, the access point displays an assist view indicating the robot is at least in part obstructed from completing the first task, the assist view is transmitted to the access point via the server and is configured to allow an operator of the robot to send the operating instructions to the robot;
- and
- receive operating instructions from the access point via the server from the one or more human operators to address the assist event.
8 more elements
A non-transitory computer readable storage apparatus comprising a plurality of instructions stored therein, that when executed by at least one processing device, configure the at least one processing device to,
- cause a robot to perform a first task in an environment;
- detect an assist event based on, at least in part, data from one or more sensors coupled to the robot;
- wait, for a first time delay, for the assist event to be addressed by transmitting a signal to at least one actuator to halt performance of the task;
- attempt, for a second time delay, to autonomously address the assist event by transmitting the signal to at least one actuator to perform a recovery if the assist event is not addressed within the first time delay, the second time delay being subsequent to the first time delay;
- determine a first alert if the assist event is still not addressed after the second time delay, wherein the first alert comprises a request for assistance from one or more human operators of the robot and indicates, at least in part, an error that has occurred with data indicative of a reason for the error occurring;
- communicating the first alert to a server in order to cause the server to provide the first alert to an access point for the one or more human operators, the access point comprising a separate device than the robot, the access point displays an assist view indicating the robot is at least in part obstructed from completing the first task, the assist view is transmitted to the access point via the server and is configured to allow an operator of the robot to send the operating instructions to the robot;
- and
- receive operating instructions from the access point via the server from the one or more human operators to address the assist event.
5 more elements
Dependencies are inferred from the claim text.