Optimization of observer robot locations

• US 10,507,578 B1
• Filed: 07/13/2017
• Issued: 12/17/2019
• Est. Priority Date: 01/27/2016
• Status: Active Grant

• Current Assignee: Intrinsic Innovation LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Linnell, Jeffrey, Jules, Anthony Sean
• Primary Examiner(s): Jen, Ian
• Application Number:
  US15/648,649
• Time in Patent Office: 887 Days
• CPC Class Codes: B25J 13/089 Determining the position of the robot with reference to its environment
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/10 characterised by positioning means for manipulator elements
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

Example implementations may relate to optimization of observer robot locations. In particular, a control system may detect an event that indicates desired relocation of observer robots within a worksite. Each such observer robot may have respective sensor(s) configured to provide information related to respective positions of a plurality of target objects within the worksite. Responsively, the control system may (i) determine observer robot locations within the worksite at which one or more of the respective sensors are each capable of providing information related to respective positions of one or more of the plurality of target objects and (ii) determine a respectively intended level of positional accuracy for at least two respective target objects. Based on the respectively intended levels of positional accuracy, the control system may select one or more of the observer robot locations and may direct one or more observer robots to relocate to the selected locations.

Claims

1. A computer-implemented method comprising:

determining that an observer robot that is configured to track a particular robot using a sensor is to be moved to a new location within a worksite;

identifying multiple candidate locations within the worksite where the sensor'"'"'s view of the particular robot will remain unoccluded if the observer robot is moved;

selecting, from among the multiple candidate locations within the worksite where the sensor'"'"'s view of the particular robot will remain in unoccluded if the observer robot is moved, a particular location within the worksite where (i) the sensor'"'"'s view of the particular robot remains unoccluded and (ii) the sensor of the observer robot is able to measure a position of the particular robot with at least a minimum degree of precision in relation to the particular robot'"'"'s true position; and

transmitting data to move the observer robot to the particular location within the worksite.

2. The method of claim 1, wherein determining that the observer robot is to be moved comprises:

determining that a view from a camera associated with the observer robot has become occluded.

3. The method of claim 1, wherein determining that the observer robot is to be moved comprises:

determining that the observer robot is no longer within a line of sight of the particular robot.

4. The method of claim 1, wherein determining that the observer robot is to be moved comprises:

determining that the sensor of the observer robot has an unoccluded view of the particular robot but is no longer able to track the particular robot with the minimum degree of precision.

5. The method of claim 1, wherein determining that the observer robot is to be moved comprises:

determining that the sensor of the observer robot is no longer close enough to the particular robot to track the particular robot so as to provide the minimum degree of precision specified level of accuracy.

6. The method of claim 1, wherein determining that the observer robot is to be moved comprises:

determining that multiple target objects including the particular robot are no longer able to be tracked with the specified level of accuracy.

7. A system comprising:

one or more computers; and

a non-transitory computer-readable medium coupled to the one or more computers having instructions stored thereon which, when executed by the one or more computers, cause the one or more computers to perform operations comprising;

determining that an observer robot that is configured to track a particular robot using a sensor is to be moved to a new location within a worksite;

identifying multiple candidate locations within the worksite where the sensor'"'"'s view of the particular robot will remain unoccluded if the observer robot is moved;

selecting, from among the multiple candidate locations within the worksite where the sensor'"'"'s view of the particular robot will remain in unoccluded if the observer robot is moved, a particular location within the worksite where (i) the sensor'"'"'s view of the particular robot remains unoccluded and (ii) the sensor of the observer robot is able to measure a position of the particular robot with at least a minimum degree of precision in relation to the particular robot'"'"'s true position; and

transmitting data to move the observer robot to the particular location within the worksite.

8. The system of claim 7, wherein determining that the observer robot is to be moved comprises:

determining that a view from a camera associated with the observer robot has become occluded.

9. The system of claim 7, wherein determining that the observer robot is to be moved comprises:

determining that the observer robot is no longer within a line of sight of the particular robot.

10. The system of claim 7, wherein determining that the observer robot is to be moved comprises:

determining that the sensor of the observer robot has an unoccluded view of the particular robot but is no longer able to track the particular robot with the minimum degree of precision.

11. The system of claim 7, wherein determining that the observer robot is to be moved comprises:

determining that the sensor of the observer robot is no longer close enough to the particular robot to track the particular robot so as to provide the minimum degree of precision specified level of accuracy.

12. The system of claim 7, wherein determining that the observer robot is to be moved comprises:

determining that multiple target objects including the particular robot are no longer able to be tracked with the specified level of accuracy.

13. A non-transitory computer storage medium encoded with a computer program, the computer program comprising instructions that when executed by one or more processors cause the one or more processors to perform operations comprising:

determining that an observer robot that is configured to track a particular robot using a sensor is to be moved to a new location within a worksite;

identifying multiple candidate locations within the worksite where the sensor'"'"'s view of the particular robot will remain unoccluded if the observer robot is moved;

selecting, from among the multiple candidate locations within the worksite where the sensor'"'"'s view of the particular robot will remain in unoccluded if the observer robot is moved, a particular location within the worksite where (i) the sensor'"'"'s view of the particular robot remains unoccluded and (ii) the sensor of the observer robot is able to measure a position of the particular robot with at least a minimum degree of precision in relation to the particular robot'"'"'s true position; and

transmitting data to move the observer robot to the particular location within the worksite.

14. The medium of claim 13, wherein determining that the observer robot is to be moved comprises:

determining that a view from a camera associated with the observer robot has become occluded.

15. The medium of claim 13, wherein determining that the observer robot is to be moved comprises:

determining that the observer robot is no longer within a line of sight of the particular robot.

16. The medium of claim 13, wherein determining that the observer robot is to be moved comprises:

determining that the sensor of the observer robot has an unoccluded view of the particular robot but is no longer able to track the particular robot with the minimum degree of precision.

17. The medium of claim 13, wherein determining that the observer robot is to be moved comprises:

determining that the sensor of the observer robot is no longer close enough to the particular robot to track the particular robot so as to provide the minimum degree of precision specified level of accuracy.

18. The medium of claim 13, wherein determining that the observer robot is to be moved comprises:

determining that multiple target objects including the particular robot are no longer able to be tracked with the specified level of accuracy.