Apparatus and methods for controlling attention of a robot

• US 10,213,921 B2
• Filed: 12/22/2017
• Issued: 02/26/2019
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: GoPro, Inc.
• Original Assignee: GoPro, Inc.
• Inventors: Meier, Philip
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US15/852,821
• Publication Number:
  US 20180117761A1
• Time in Patent Office: 431 Days
• Field of Search: 700245, 700250
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B60K 11/02 with liquid cooling
• CPC Class Codes: B60Y 2400/432 Diesel Engines
• CPC Class Codes: B60Y 2400/433 Gas Engines, e.g. using LPG, natural gas or gasifiers
• CPC Class Codes: F01P 11/16 concerning coolant temperature F01P11/20 takes precedence
• CPC Class Codes: F01P 3/20 Cooling circuits not specific to a single part of engine or machine F01P3/22 takes precedence
• CPC Class Codes: F01P 7/16 by thermostatic control
• CPC Class Codes: G01N 1/2273 Atmospheric sampling
• CPC Class Codes: G01N 1/44 Sample treatment involving radiation, e.g. heat
• CPC Class Codes: G01N 2001/2288 Filter arrangements
• CPC Class Codes: G01N 2035/00475 Filters
• CPC Class Codes: G01N 30/72 Mass spectrometers mass spectrometers per se H01J49/00
• CPC Class Codes: G01N 33/0016 by regulating a physical variable, e.g. pressure, temperature
• CPC Class Codes: G01N 33/0047 for organic compounds
• CPC Class Codes: G05B 19/42 Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
• CPC Class Codes: G05B 2219/31048 Project on workpiece, image of finished workpiece, info or a spot
• CPC Class Codes: G05B 2219/36447 Project light on path to be followed, keep also distance constant
• CPC Class Codes: G05B 2219/40103 Show object with laser pointer, give oral command for action on, with object
• CPC Class Codes: Y02P 90/02 : Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A method includes receiving, from an imaging device associated with a robotic apparatus, an image signal; identifying an object of interest that is represented in the image signal, wherein the object of interest is identified by the robotic apparatus using the image signal based on irradiation of the object of interest by an external agent; receiving, by the robotic apparatus from the external agent, a task indication that is representative of a task to be performed by the robotic apparatus. Responsive to receipt of the task indication, the method further includes saving a robotic context including information associating the task to be performed with the object of interest, and causing the robotic apparatus to perform the task with respect to the object of interest.

Claims

1. A method, comprising:

obtaining, by a robotic apparatus from an imaging device associated with the robotic apparatus, an image signal;

processing, by the robotic apparatus, the image signal to identify image features that indicate irradiation of an object of interest that is represented in the image signal by an external agent;

receiving, by the robotic apparatus from the external agent, a task indication that is representative of a task to be performed by the robotic apparatus; and

responsive to receipt of the task indication;

saving, by the robotic apparatus, a robotic context including information associating the task to be performed with the object of interest, and

performing, by the robotic apparatus, the task with respect to the object of interest.

2. The method of claim 1, wherein the object of interest is irradiated using a beam of visible or invisible electromagnetic radiation.

3. The method of claim 1, wherein the robotic apparatus was previously trained to perform the task over a plurality of different robotic contexts.

4. A method of guiding a robotic apparatus, comprising:

obtaining, by the robotic apparatus from an imaging device associated with the robotic apparatus, an image signal;

obtaining, by the robotic apparatus, a task indication representative of a task to be performed by the robotic apparatus with respect to an object of interest, wherein the task indication includes an encoded task identifier that is detectable within the image signal; and

responsive to receipt of the task indication, saving, by the robotic apparatus, a robotic context including information associating the task to be performed with the object of interest.

5. The method of claim 4, wherein the task indication is generated based on an input from a user to a remote device.

6. The method of claim 4, wherein the task indication is sent from a remote device to the robotic apparatus.

7. The method of claim 4, wherein the task includes at least one of approaching the object of interest, exploring an area of interest around the object of interest, or capturing an image of the object of interest.

8. The method of claim 4, wherein the task includes moving the robotic apparatus to a location irradiated by the task indication within the image signal.

9. The method of claim 4, further comprising:

receiving, at a remote device, feedback indicative of the robotic apparatus being unable to complete the task.

10. The method of claim 4, further comprising:

responsive to receipt of the task indication, causing the robotic apparatus to complete the task.

11. The method of claim 10, further comprising:

receiving, at a remote device, feedback indicative of the robotic apparatus completing the task.

12. A remote interface apparatus for a robot operable in an environment, comprising:

a device configured to project a beam of electromagnetic radiation onto a portion of an environment,

wherein an attention signal is encoded into the beam of electromagnetic radiation,

wherein the attention signal corresponds to a task, and

wherein the attention signal is configured to provide a specific robotic context configured to cause a robot to perform the task, using previous training for the task over a plurality of different contexts.

13. The remote interface apparatus of claim 12, wherein the beam of electromagnetic radiation is generated based on an input from a user to the device.

14. The remote interface apparatus of claim 12, wherein the attention signal corresponds to a characteristic of the beam of electromagnetic radiation.

15. The remote interface apparatus of claim 12, wherein the portion of the environment is an object of interest.

16. The remote interface apparatus of claim 15, wherein the task includes at least one of approaching the object of interest, exploring an area of interest around the object of interest, or capturing an image of the object of interest.

17. The remote interface apparatus of claim 12, wherein the task includes moving the robot to the portion of the environment irradiated by the beam of electromagnetic radiation.

18. The remote interface apparatus of claim 12, further comprising:

a receiver component configured to receive an indication from the robot based on receipt of the attention signal.

19. The remote interface apparatus of claim 18, further comprising:

responsive to receipt of the indication, causing the task to be performed based on the attention signal and the specific robotic context.

20. The remote interface apparatus of claim 18, wherein the receiver component is configured to receive a confirmation from the robot based on performance of the task.