Cloud-based belief world updates in real-time robotics systems
AssigneeIntrinsic Innovation LLC
InventorsBala Venkata Sai Ravi Krishna Kolluri, Stoyan Gaydarov, David Andrew Schmidt
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Abstract
Methods, systems, and media comprising; a physical robot in a physical workcell; an onsite execution subsystem that is configured to control the physical robot using a real-time control subsystem; a cloud-based belief world subsystem that is configured to receive and store sensor data captured in the workcell, wherein the onsite execution subsystem is configured to use sensor data stored by the cloud-based belief world subsystem in order to control the robot using the real-time control subsystem.
Claims18
A method for controlling a robotic workcell comprising:
- receiving, by a cloud-based belief world system, sensor data from a plurality of sensors in a workcell, wherein the workcell comprises a plurality of robots;
- determining, using the sensor data, a belief world associated with the workcell, wherein the belief world comprises a plurality of belief world footprints, wherein each belief world footprint is associated with sensor data from a particular robot from among the plurality of robots within the workcell;
- establishing a figure-of-merit for each of the belief world footprints;
- determining at least one instance of conflicting sensor data from among different robots in the workcell;
- resolving the conflicting sensor data using the belief world footprint with the higher figure-of-merit;
- in response to resolving the conflict, creating a modified belief world using the belief world footprint with the higher figure-of-merit;
- providing information relating to the modified belief world to the plurality of robots within the workcell;
- and
- executing, by the plurality of robots within the workcell, one or more workcell actions based on the modified belief world.
One or more non-transitory computer storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:
- receiving, by a cloud-based belief world system, sensor data from a plurality of sensors in a workcell, wherein the workcell comprises a plurality of robots;
- determining, using the sensor data, a belief world associated with the workcell, wherein the belief world comprises a plurality of belief world footprints, wherein each belief world footprint is associated with sensor data from a particular robot from among the plurality of robots within the workcell;
- establishing a figure-of-merit for each of the belief world footprints;
- determining at least one instance of conflicting sensor data from among different robots in the workcell;
- resolving the conflicting sensor data using the belief world footprint with the higher figure-of-merit;
- in response to resolving the conflict, creating a modified belief world using the belief world footprint with the higher figure-of-merit;
- providing information relating to the modified belief world to the plurality of robots within the workcell;
- and
- executing, by the plurality of robots within the workcell, one or more workcell actions based on the modified belief world.
Dependencies are inferred from the claim text.