Apparatus and methods for controlling attention of a robot

• US 9,446,515 B1
• Filed: 02/18/2015
• Issued: 09/20/2016
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: GoPro, Inc.
• Original Assignee: Brain Corporation
• Inventors: Meier, Philip
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US14/625,464
• Time in Patent Office: 580 Days
• Field of Search: 745/245, 745/246, 745/250, 745/251, 745/253, 745/257, 745/258, 745/259, 745/264, 318/568.11, 318/568.12, 318/568.13, 318/568.14, 318/568.16, 318/568.2
• US Class Current: 1/1
• 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 or temperature
• CPC Class Codes: G01N 33/0047 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

Apparatus and methods for controlling attention and training of autonomous robotic devices. In one approach, 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. Responsive to receiving the additional signal, 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. The light guided attention system may influence the robot learning for subsequent actions.

Claims

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

a transmitter component configured to project a signal using a carrier of first variety, the signal being configured to irradiate a portion of the environment; and

a tagging component configured to send a tag associated with the portion of the environment, where the tag is associated with a task that was previously trained over a plurality of different contexts; and

a receiver component configured to receive an indication from the robot, the indication being based on a receipt of the tag;

wherein one or more of the tag, the irradiation of the portion of the environment, or an internal state of the robot are configured to provide a specific robotic context, the specific robotic context being configured to cause the robot to perform the task that was previously trained over the plurality of different contexts.

2. The apparatus of claim 1, wherein:

the task comprises an inspection task configured to identify a feature of an object; and

the indication is provided by the robot based on commencement of the inspection.

3. The apparatus of claim 2, wherein:

the indication and the signal are configured to form a context of the plurality of different contexts, the context being associated with the object; and

the robot is configured to store the plurality of different contexts to enable the robot to commence the inspection upon encountering the object, the encounter of the object being subsequent to the storage of the plurality of different contexts.

4. The apparatus of claim 1, wherein:

the portion of the environment comprises an object; and

the projection of the signal using the carrier of the first variety comprises projecting a beam, the beam being configured to form a footprint on at least a portion of the object.

5. The apparatus of claim 4, wherein the receiver component is configured to receive from the robotic apparatus a confirmation associated with commencement of the task.

6. The apparatus of claim 4, wherein:

the beam comprises a laser beam having a width that is smaller than a dimension of the footprint;

the footprint is characterized by a perimeter; and

the transmitter is configured to trace the perimeter with the beam.

7. The apparatus of claim 4, wherein:

the carrier of the first variety is characterized by a bandwidth;

the bandwidth is configured to overlap another bandwidth associated with another signal comprising the carrier of the first variety; and

the other signal and another indication are configured to provide the context to another robotic apparatus thereby causing the other robotic apparatus to commence the task.

8. The apparatus of claim 7, wherein:

the overlap is based on a design criterion associated with the carrier of the first variety; and

the design criterion is configured to enable the robotic apparatus and the other robotic apparatus to engage in a competition for accomplishing the task.

9. The apparatus of claim 4, wherein:

the sending of the tag is effectuated based on a carrier of second variety, the second variety being distinct from the first variety.

10. The apparatus of claim 9, wherein:

the indication is configured to convey to the robotic apparatus as to whether to effectuate a receipt of the carrier of the first variety.

11. The apparatus of claim 9, wherein:

the beam comprises a light beam having a beamwidth and a frequency associated therewith; and

the interface apparatus is configured to facilitate beam adjustment to modify at least one of the beamwidth and the frequency.

12. The apparatus of claim 11, wherein the carrier of the second variety is selected from the group comprising a radio wave carrier and a pressure wave carrier.

13. The apparatus of claim 12, wherein:

the carrier of the first variety comprises a visible light waveform; and

the carrier of the second variety comprise an ultrasonic wave.

14. The apparatus of claim 9, wherein the indication is associated with the robot, the indication being further based on the robot detecting at least a portion of the footprint.

15. The apparatus of claim 9, wherein:

the carrier of the first variety includes one or more of a visible spectrum wave, an infrared spectrum wave, or an ultrasound wave; and

the carrier of the second variety includes one or both of an audible sound wave or an electromagnetic wave.

16. The apparatus of claim 9, wherein:

the carrier of the first variety includes one or both of (i) a visible spectrum carrier having a bandwidth associated therewith or (ii) a radio spectrum carrier having a multiple access sub-channel associated therewith;

the bandwidth is different from another bandwidth associated with another signal comprising the carrier of the first variety;

the other signal and another indication provide another context configured to cause another robotic apparatus to perform another task associated with the other context; and

the indication is configured to be provided to the other robotic apparatus.

17. The apparatus of claim 16, wherein the task and the other task are each configured to accomplish an outcome.

18. The apparatus of claim 16, wherein the carrier of the first variety is undetectable by a human.

19. The apparatus of claim 16, wherein the task is configured to accomplish a different outcome compared to another outcome accomplished by the other task.

20. The apparatus of claim 19, wherein the multiple access sub-channel is configured to be distinct from another multiple access sub-channel associated with the other indication.

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

a transmitter component configured to project a laser beam, the laser beam being configured to irradiate an object and configured to form a footprint on at least a portion of the object; and

a tagging component configured to send a tag associated with the portion of the environment; and

a receiver component configured to receive an indication from the robot, the indication being based on a receipt of the tag;

wherein;

one or more of the tag, the irradiation of the object, or an internal state of the robot provide a robotic context, the context being configured to cause the robot to perform a task associated with the context;

the laser beam comprises a width that is smaller than a dimension of the footprint;

the footprint is characterized by a perimeter; and

the transmitter is configured to trace the perimeter with the laser beam.

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

a transmitter component configured to project a signal using a carrier of first variety, the signal being configured to irradiate a portion of the environment; and

a tagging component configured to send a tag associated with the portion of the environment; and

a receiver component configured to receive an indication from the robot, the indication being based on a receipt of the tag;

wherein;

one or more of the tag, the irradiation of the object, or an internal state of the robot provide a robotic context, the context being configured to cause the robot to perform a task associated with the context;

the portion of the environment comprises an object;

the projection of the signal using the carrier of first variety comprises projecting a beam, the beam being configured to form a footprint on at least a portion of the object;

the carrier of the first variety is characterized by a bandwidth;

the bandwidth is configured to overlap another bandwidth associated with another signal comprising the carrier of the first variety; and

the other signal and another indication are configured to provide the context to another robotic apparatus, thereby causing the other robotic apparatus to commence the task.