Surface markers and methods for use

• US 10,011,016 B1
• Filed: 05/11/2016
• Issued: 07/03/2018
• Est. Priority Date: 05/11/2016
• Status: Active Grant

• Current Assignee: X Development LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Rembisz, Justine, Rivas, Miguel
• Primary Examiner(s): McPherson, James M
• Application Number:
  US15/151,852
• Time in Patent Office: 783 Days
• Field of Search: None
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 13/003 by means of an audio-responsive input audible safety signals B25J19/061
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

An example implementation includes operating a robotic system in an environment. The implementation also includes detecting, using one or more sensors of the robotic system, a surface marker at a first location in the environment. The implementation also includes determining that the detected surface marker indicates the presence of an object having a first surface attribute at the first location, wherein the first surface attribute is one of a plurality of predefined surface attributes. The implementation also includes determining one or more tasks that correspond to the first surface attribute in response to determining that the surface marker indicates the object having the first surface attribute. The implementation also includes causing the robotic system to perform the one or more tasks with respect to the object.

Claims

1. A method comprising:

operating a robotic system in an environment;

detecting, using one or more sensors of the robotic system, a surface marker positioned on an object at a first location in the environment;

determining that the detected surface marker indicates a first surface attribute of the object, wherein the first surface attribute is one of a plurality of predefined surface attributes, and wherein the first surface attribute comprises an indication of a material of the object;

in response to determining that the surface marker indicates the first surface attribute, determining one or more tasks that correspond to the first surface attribute, wherein at least one of the one or more tasks comprises manipulating the object using one or more parameters, and wherein the one or more parameters are determined based on the material of the object; and

causing the robotic system to perform the one or more tasks with respect to the object.

2. The method of claim 1, wherein the surface marker is invisible to a human eye.

3. The method of claim 1, wherein the surface marker is a speaker that emits a sound outside of a human hearing range.

4. The method of claim 1, wherein manipulating the object comprises avoiding the object.

5. The method of claim 1, wherein manipulating the object comprises:

picking up the object from the first location;

moving the object to a second location; and

placing the object in the second location.

6. The method of claim 1, wherein the object comprises a first object and the surface marker comprises a first surface marker, the method further comprising:

detecting a contact between the robotic system and a second object in the environment; and

in response to the detected contact, placing a second surface marker on the second object, wherein the second surface marker includes instructions for the robotic system to avoid the second object.

7. The method of claim 1, wherein manipulating the object comprises cleaning the object.

8. The method of claim 7, wherein the one or more parameters comprises one or more cleaning parameters, and wherein the one or more cleaning parameters are determined based on the material of the object.

9. The method of claim 1, wherein manipulating the object comprises:

picking up the object at the first location;

determining a weight of the object;

comparing the determined weight of the object to a threshold weight; and

in response to a determination that the comparison indicates that the determined weight is less than the threshold weight, transmitting a message indicating that a substance within the object is threshold low.

10. The method of claim 9, further comprising:

providing instructions to purchase a product corresponding to the object.

20. The method of claim 1, wherein the surface marker is located above a floor surface in the environment.

11. A robotic system comprising:

one or more processors;

one or more sensors; and

data storage including program instructions stored thereon that when executed by the one or more processors of the robotic system while operating in an environment, cause the robotic system to perform operations comprising;

detecting, using the one or more sensors, a surface marker positioned on an object at a first location in the environment;

determining that the detected surface marker indicates a first surface attribute of the object, wherein the first surface attribute is one of a plurality of predefined surface attributes, and wherein the first surface attribute comprises a material of the object;

in response to determining that the surface marker indicates the first surface attribute, determining one or more tasks that correspond to the first surface attribute, wherein at least one of the one or more tasks comprises manipulating the object using one or more parameters, and wherein the one or more parameters are determined based on the material of the object; and

causing the robotic system to perform the one or more tasks with respect to the object.

12. The robotic system of claim 11, wherein manipulating the object comprises avoiding the object.

13. The robotic system of claim 11, wherein manipulating the object comprises:

picking up the object from the first location;

moving the object to a second location; and

placing the object in the second location.

14. The robotic system of claim 11, wherein the object comprises a first object and the surface marker comprises a first surface marker, and wherein the operations further comprise:

detecting a contact between the robotic system and a second object in the environment; and

in response to the detected contact, placing a second surface marker on the second object, wherein the second surface marker includes instructions for the robotic system to avoid the second object.

15. The robotic system of claim 11, wherein manipulating the object comprises cleaning the object using one or more cleaning parameters, and wherein the one or more cleaning parameters are determined based on the material of the object.

16. A non-transitory computer-readable medium having stored thereon instructions, that when executed by one or more processors, cause a robotic system to perform operations comprising:

operating a robotic system in an environment;

detecting, using one or more sensors of the robotic system, a surface marker positioned on an object at a first location in the environment;

determining that the detected surface marker indicates a first surface attribute of the object, wherein the first surface attribute is one of a plurality of predefined surface attributes, and wherein the first surface attribute comprises a material of the object;

in response to determining that the surface marker indicates the first surface attribute, determining one or more tasks that correspond to the first surface attribute, wherein at least one of the one or more tasks comprises manipulating the object using one or more parameters, and wherein the one or more parameters are determined based on the material of the object; and

causing the robotic system to perform the one or more tasks with respect to the object.

17. The non-transitory computer-readable medium of claim 16, wherein manipulating the object comprises avoiding the object.

18. The non-transitory computer-readable medium of claim 16, wherein the object comprises a first object and the surface marker comprises a first surface marker, and wherein the operations further comprise:

detecting a contact between the robotic system and a second object in the environment; and

in response to the detected contact, placing a second surface marker on the second object, wherein the second surface marker includes instructions for the robotic system to avoid the second object.

19. The non-transitory computer-readable medium of claim 16, wherein manipulating the object comprises:

picking up the object at the first location;

determining a weight of the object;

comparing the determined weight of the object to a threshold weight;

in response to a determination that the comparison indicates that the determined weight is less than the threshold weight, transmitting a message indicating that a substance within the object is threshold low.