Apparatus and methods for robotic learning

• US 9,440,352 B2
• Filed: 06/30/2015
• Issued: 09/13/2016
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm Technologies Incorporated (Qualcomm, Inc.)
• Inventors: Meier, Philip, Bender, Paul
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US14/788,719
• Publication Number:
  US 20150306763A1
• Time in Patent Office: 441 Days
• Field of Search: 700/248, 700/250, 700/258, 700/259, 901/1, 901/3, 901/30, 901 41- 47
• US Class Current: 1/1
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/0081 with master teach-in means
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 19/41815 characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
• 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 2219/39393 Camera detects projected image, compare with reference image, position end effector
• CPC Class Codes: G05B 2219/40003 Move end effector so that image center is shifted to desired position
• CPC Class Codes: G05B 2219/40033 Assembly, microassembly
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: Y10S 901/03 Teaching system
• CPC Class Codes: Y10S 901/08 Robot

Abstract

Apparatus and methods for implementing learning by robotic devices. Attention of the robot may be manipulated by use of a spot-light device illuminating a portion of the aircraft undergoing inspection in order to indicate to inspection robot target areas requiring more detailed inspection. The robot guidance may be aided by way of an additional signal transmitted by the agent to the robot indicating that the object has been illuminated and attention switch may be required. The robot may initiate a search for the signal reflected by the illuminated area requiring its attention. Responsive to detecting the illuminated object and receipt of the additional signal, the robot may develop an association between the two events and the inspection task thereby storing a robotic context. The context of one robot may be shared with other devices in lieu of training so as to enable other devices to perform the task.

Claims

1. A non-transitory computer-readable storage medium having instructions embodied thereon, the instructions being executable by a processor to perform a method for sharing information between a plurality of robots, the method comprising:

irradiating an object using a carrier; and

transmitting an indication to a first robot of the plurality of robots, the indication being configured to cause the first robot to;

(i) obtain an image using a waveform of the carrier, the waveform comprising at least a portion of the carrier being reflected by at least a portion of the object;

(ii) store, in a buffer, a record comprising first information related to the image; and

(iii) associate the at least a portion of the carrier with the indication to establish a context, the context being configured to cause the first robot to commence a task associated with the context, the task being configured to make use of at least a portion of the image;

wherein;

the buffer is configured to store a plurality of records, comprising the record, individual ones of the plurality of records being associated with one or more tasks having been performed by the first robot, the one or more tasks comprising the task, and

the first robot is configured to transfer at least a portion of the plurality of records to at least one other robot of the plurality of robots enabling the at least one other robot to perform the task absent performing the association of the at least a portion of the carrier with the indication by the at least one other robot.

2. The non-transitory computer-readable storage medium of claim 1, wherein:

the image comprises a plurality of pixels obtained by digitizing at least a portion of the waveform; and

the record comprises information associated with the plurality of pixels.

3. The non-transitory computer-readable storage medium of claim 2, wherein:

the information associated with the plurality of pixels is configured to represent a feature within the image;

the task comprises identifying the feature; and

the transferring at least a portion of the plurality of records is configured to enable the one other robot to identify the feature within another image associated with another object that is distinct from the object.

4. The non-transitory computer-readable storage medium of claim 2, wherein:

the indication comprises another waveform; and

the record comprises second data associated with the other waveform, the second data comprising one or more of duration, frequency, code, modulation parameter, amplitude, or phase.

5. The non-transitory computer-readable storage medium of claim 1, wherein the record comprises information associated with a plurality of pixels.

6. The non-transitory computer-readable storage medium of claim 1, wherein the record comprises information associated with one or more locations of the portion of the object, size of the portion of the object, detection time, or a waveform parameter.

7. The non-transitory computer-readable storage medium of claim 6, wherein the waveform parameter includes one or more of amplitude, duration, or frequency band.