Methods and systems for selecting a velocity profile for controlling a robotic device

• US 9,561,589 B2
• Filed: 01/22/2015
• Issued: 02/07/2017
• Est. Priority Date: 08/19/2011
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Desai, Munjal, Hickman, Ryan Michael, Lewis, Thor, Kohler, Damon
• Primary Examiner(s): PATTON, SPENCER D
• Application Number:
  US14/602,700
• Publication Number:
  US 20150165626A1
• Time in Patent Office: 747 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 9/1651 acceleration, rate control
• CPC Class Codes: G05B 19/416 characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/42175 Velocity, speed points, profile and corresponding acceleration, delta v
• CPC Class Codes: G05B 2219/43034 Form of profile, ramp, trapezoid, S-curve, exponential
• CPC Class Codes: G05B 2219/43036 Velocity profile with given starting and stopping speed vector
• CPC Class Codes: G05B 2219/43074 Control speed, acceleration so as to follow desired speed profile

Abstract

Methods and systems for selecting a velocity profile for controlling a robotic device are provided. An example method includes receiving via an interface a selection of a robotic device to control, and receiving via the interface a request to modify a velocity profile of the robotic device. The velocity profile may include information associated with changes in velocity of the robotic device over time. The method may further include receiving a selected velocity profile, receiving an input via the interface, and determining a velocity command based on the selected velocity profile and the input. In this manner, changes in velocity of the robotic device may be filtered according to a velocity profile selected via the interface.

Claims

1. A method comprising:

storing a plurality of velocity profiles, wherein each of the plurality of velocity profiles comprises a respective acceleration rate limit;

receiving, by a device, information associated with an environment in which a robotic device is operating;

receiving, by the device, an indication of a current payload of the robotic device;

based at least in part on the information associated with the environment in which the robotic device is operating and the current payload of the robotic device, selecting, by the device from among the plurality of velocity profiles, a velocity profile for the robotic device, the selecting being based on the acceleration rate limit of the velocity profile;

receiving, by the device, an input indicating a command for controlling the robotic device, wherein the command includes a change in velocity;

determining by the device, a velocity command for the robotic device based on the selected velocity profile and the received input, wherein the determined velocity command includes information for implementing the change in velocity over time; and

controlling the robotic device based on the determined velocity command.

2. The method of claim 1, wherein controlling the robotic device based on the determined velocity command comprises:

generating a control signal indicating the determined velocity command; and

providing the control signal to the robotic device.

3. The method of claim 1, wherein the information associated with the environment in which the robotic device is operating comprises a distance to an object in the environment.

4. The method of claim 1, wherein the information associated with the environment in which the robotic device is operating comprises an indication of a presence of a user in the environment.

5. The method of claim 1, wherein the information associated with the environment comprises an elevation profile, and wherein the device selects the velocity profile based at least in part on the elevation profile.

6. The method of claim 1, wherein the information associated with the environment comprises a floor plan.

7. The method of claim 1, wherein the information associated with the environment comprises an identification of a type of surface over which the robotic device is traversing, and wherein the device selects the velocity profile based at least in part on the type of surface.

8. The method of claim 1, wherein the information associated with the environment is received from the robotic device.

9. The method of claim 1, wherein the velocity profile comprises a velocity profile selected from the group consisting of a linear profile, a 7-segment S-curve profile, an asymmetric profile, an exponential profile, and a logarithmic profile.

10. A device comprising:

at least one processor; and

memory including instructions executable by the at least one processor to cause the device to perform functions comprising;

storing a plurality of velocity profiles, wherein each of the plurality of velocity profiles comprises a respective acceleration rate limit,

receiving information associated with an environment in which a robotic device is operating,

receiving an indication of a current payload of the robotic device;

based at least in part on the information associated with the environment in which the robotic device is operating and the current payload of the robotic device, selecting a velocity profile for the robotic device from among the plurality of velocity profiles, the selecting being based on the acceleration rate limit of the velocity profile, and

controlling changes in velocity over time for the robotic device using the selected velocity profile.

11. The device of claim 10, wherein the information associated with the environment in which the robotic device is operating comprises a distance to an object in the environment.

12. The device of claim 10, wherein the information associated with the environment in which the robotic device is operating comprises an indication of a presence of a user in the environment.

13. The device of claim 10, wherein the information associated with the environment comprises a map of the environment.

14. The device of claim 10, wherein the information associated with the environment comprises an identification of a type of surface over which the robotic device is traversing, and wherein the velocity profile is selected based at least in part on the type of surface.

15. A robotic device comprising:

at least one processor; and

memory including instructions executable by the at least one processor to cause the robotic device to perform functions comprising;

storing a plurality of velocity profiles, wherein each of the plurality of velocity profiles comprises a respective acceleration rate limit;

determining information associated with an environment in which the robotic device is operating;

determining a current payload of the robotic device;

based at least in part on the information associated with the environment in which the robotic device is operating and the current payload of the robotic device, selecting a velocity profile for the robotic device from among the plurality of velocity profiles, the selecting being based on the acceleration rate limit of the velocity profile; and

controlling changes in velocity over time for the robotic device using the selected velocity profile.

16. The robotic device of claim 15, wherein the functions further comprise sending an indication of the selected velocity profile to a device that is located remotely from the robotic device.