Robotics virtual rail system and method
First Claim
1. A method for implementing a virtual track for a robot, comprising:
- on a computer remote from the robot;
operating a graphical user interface by a user for;
generating a desired path comprised of a plurality of segments representative of the virtual track for the robot;
assigning start and end points to the desired path; and
associating velocities with each of the plurality of segments of the desired path;
analyzing the desired path to determine velocity transitions between at least some of the plurality of segments and to determine a turn gain of the robot during transition between the at least some of the plurality of segments as the robot traverses the virtual track;
generating a waypoint file including positions along the virtual track as represented by the desired path, the velocities of each of the plurality of segments and the turn gain between the at least some of the plurality of segments; and
sending the waypoint file to the robot for traversing the virtual track along the positions from the start point to the end point; and
on the robot;
repeating on each iteration through an event timing loop, the acts of;
defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot;
detecting a range to an obstacle near the robot; and
testing for an event horizon intrusion by determining if the range to the obstacle is within the event horizon;
performing a localization process to determine a present frame of reference for use in alignment of the robot to the virtual track; and
adjusting the desired path of the robot by;
determining that the range to the obstacle within the event horizon represents a blockage on the desired path to a next waypoint; and
avoiding the blockage and pointing at the next waypoint by;
adjusting a translational velocity of the robot;
adjusting a rotational velocity of the robot; and
backing up the robot if there is insufficient room to turn the robot.
4 Assignments
0 Petitions
Accused Products
Abstract
A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.
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Citations
22 Claims
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1. A method for implementing a virtual track for a robot, comprising:
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on a computer remote from the robot; operating a graphical user interface by a user for; generating a desired path comprised of a plurality of segments representative of the virtual track for the robot; assigning start and end points to the desired path; and associating velocities with each of the plurality of segments of the desired path; analyzing the desired path to determine velocity transitions between at least some of the plurality of segments and to determine a turn gain of the robot during transition between the at least some of the plurality of segments as the robot traverses the virtual track; generating a waypoint file including positions along the virtual track as represented by the desired path, the velocities of each of the plurality of segments and the turn gain between the at least some of the plurality of segments; and sending the waypoint file to the robot for traversing the virtual track along the positions from the start point to the end point; and on the robot; repeating on each iteration through an event timing loop, the acts of; defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot; detecting a range to an obstacle near the robot; and testing for an event horizon intrusion by determining if the range to the obstacle is within the event horizon; performing a localization process to determine a present frame of reference for use in alignment of the robot to the virtual track; and adjusting the desired path of the robot by; determining that the range to the obstacle within the event horizon represents a blockage on the desired path to a next waypoint; and avoiding the blockage and pointing at the next waypoint by; adjusting a translational velocity of the robot; adjusting a rotational velocity of the robot; and backing up the robot if there is insufficient room to turn the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for generating robot programming instructions for implementing a virtual track, comprising:
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a remote computer for; operating a graphical user interface configured to generate a desired path comprised of a plurality of segments representative of the virtual track for a robot; and performing a path plan process configured to; enable a user to assign start and end points to the desired path and to associate velocities with each of the plurality of segments of the desired path; analyze the desired path to determine velocity transitions between at least some of the plurality of segments and to determine a turn gain of the robot during transition between the at least some of the plurality of segments as the robot traverses the virtual track; and generate a waypoint file including positions along the virtual track as represented by the desired path, the velocities of each of the plurality of segments and the turn gain between the at least some of the plurality of segments; and a mobile robot platform configured for; repeating on each iteration through an event timing loop, the acts of; defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot; detecting a range to an obstacle near the robot; and testing for an event horizon intrusion by determining if the range to the obstacle is within the event horizon; performing a localization process to determine a present frame of reference for use in alignment of the mobile robot platform to the virtual track; and adjusting the desired path of the robot by; determining that the range to the obstacle within the event horizon represents a blockage on the desired path to a next waypoint; and avoiding the blockage and pointing at the next waypoint by; adjusting a translational velocity of the robot; adjusting a rotational velocity of the robot; and backing up the robot if there is insufficient room to turn the robot. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A computer-readable medium having computer-executable instructions thereon for implementing a virtual track for a robot, the computer-executable instructions for performing the acts of:
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enabling a user to generate a desired path comprised of a plurality of segments representative of the virtual track for the robot; enabling a user to assign start and end points to the desired path; enabling a user to associate velocities with each of the plurality of segments of the desired path; analyzing the desired path to determine velocity transitions between at least some of the plurality of segments and to determine a turn gain of the robot during transition between the at least some of the plurality of segments as the robot traverses the virtual track; generating a waypoint file including positions along the virtual track as represented by the desired path, the velocities of each of the plurality of segments and the turn gain between the at least some of the plurality of segments; sending the waypoint file to the robot for traversing the virtual track along the positions from the start point to the end point; repeating on each iteration through an event timing loop on the robot, the acts of; defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot; detecting a range to an obstacle near the robot; and testing for an event horizon intrusion by determining if the range to the obstacle is within the event horizon; performing a localization process on the robot to determine a present frame of reference for use in alignment of the robot to the virtual track; and adjusting the desired path of the robot by; determining that the range to the obstacle within the event horizon represents a blockage on the desired path to a next waypoint; adjusting a translational velocity of the robot; adjusting a rotational velocity of the robot; and backing up the robot if there is insufficient room to turn the robot. - View Dependent Claims (17, 18, 19, 20, 21, 22)
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Specification