Safe path planning for collaborative robots

• US 9,789,610 B1
• Filed: 09/02/2015
• Issued: 10/17/2017
• Est. Priority Date: 09/02/2015
• Status: Active Grant

• Current Assignee: Intrinsic Innovation LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Watts, Kevin William
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US14/843,288
• Time in Patent Office: 776 Days
• Field of Search: 700245, 700253
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

Disclosed herein are methods and systems for determining a safe path for movement of an object by a robotic system. According to these implementations, the robotic system may determine a safety level for each of a plurality of relative orientations of an object. Each such relative orientation may define a spatial orientation of the object relative to direction of movement of the object. Based on the determined safety levels, the robotic system may then determine, for each of the plurality of relative orientations, a velocity limit for movement of the object with a particular relative orientation. Based at least in part on the determined velocity limits, the robotic system may then determine a path for moving the object from a first location to a second location. As such, the robotic system may move the object from the first location to the second location based on the determined path.

Claims

1. A method comprising:

a robotic system determining a safety level for each of a plurality of relative orientations of an object, wherein each relative orientation of the plurality of relative orientations defines a spatial orientation of the object relative to a direction of movement of the object;

based on the determined safety levels, the robotic system determining, for each of the plurality of relative orientations, a velocity limit for movement of the object with a particular relative orientation;

based at least in part on the determined velocity limits, the robotic system determining a path for moving the object from a first location to a second location; and

the robotic system moving the object from the first location to the second location based on the determined path.

2. The method of claim 1, wherein determining a safety level for each of a plurality of relative orientations of an object comprises determining, for each of a plurality of portions of the object, a safety level when a respective portion of the plurality of portions is oriented toward the direction of movement of the object.

3. The method of claim 1, wherein the robotic system comprises an image capture device, and wherein determining a safety level for each of a plurality of relative orientations of an object comprises:

receiving image data from the image capture device;

based on the received image data, determining a surface profile of the object, wherein the surface profile comprises properties of each of a plurality of portions of the object; and

based on the surface profile, determining a safety level for each of the plurality of portions of the object, wherein each respective portion of the plurality of portions corresponds to at least one respective relative orientation from among the plurality of relative orientations.

4. The method of claim 3, wherein the properties comprise one or more of:

(i) a shape of each of the plurality of portions, (ii) a size of each of the plurality of portions, (iii) a thickness of each of the plurality of portions, (iv) an outline of each of the plurality of portions, (v) a curvature of each of the plurality of portions, and (vi) a smoothness of each of the plurality of portions.

5. The method of claim 1, wherein the robotic system comprises an image capture device, and wherein determining a safety level for each of a plurality of relative orientations of an object comprises:

receiving image data from the image capture device;

identifying the object based on the received image data;

based on the identified object, obtaining information related to properties of each of a plurality of portions of the identified object; and

based at least in part on the properties of each of the plurality of portions of the identified object, determining a safety level for each of the plurality of portions of the object, wherein each respective portion of the plurality of portions corresponds to at least one respective relative orientation from among the plurality of relative orientations.

6. The method of claim 1,

wherein determining the velocity limit is further based on a representation of a maximum safe impact pressure defining a highest allowable pressure exerted by the object.

7. The method of claim 6,

wherein determining a safety level for each of a plurality of relative orientations of an object comprises at least (i) determining properties of each of a plurality of portions of the object and (ii) determining, for each of the plurality of portions, a safety level based on respective properties of a respective portion of the plurality of portions of the object, and

wherein determining the velocity limit based on the representation of the maximum safe impact pressure comprises determining the velocity limit to maintain an impact pressure below the maximum safe impact pressure given respective properties of the respective portion of the plurality of portions of the object.

8. The method of claim 7, wherein the properties comprise one or more of:

(i) material type of each of the plurality of portions, (ii) hardness of each of the plurality of portions, (iii) surface roughness of each of the plurality of portions, (iv) surface area of each of the plurality of portions, and (v) a configuration of each of the plurality of portions.

9. The method of claim 1, wherein determining the path comprises:

based on the determined velocity limits, determining a specific relative orientation of the object for each of one or more segments of the path.

10. The method of claim 9, wherein determining a specific relative orientation of the object for each of one or more segments of the path comprises:

for each respective segment of the one or more segments of the path, selecting, from among one or more relative orientations that the robotic system is capable of orienting the object at the respective segment, a respective relative orientation having a highest corresponding velocity limit.

11. A non-transitory computer readable medium having stored therein instructions executable by one or more processors to cause a robotic system to perform functions comprising:

determining a safety level for each of a plurality of relative orientations of an object, wherein each relative orientation of the plurality of relative orientations defines a spatial orientation of the object relative to a direction of movement of the object;

based on the determined safety levels, determining, for each of the plurality of relative orientations, a velocity limit for movement of the object with a particular relative orientation;

based at least in part on the determined velocity limits, determining a path for moving the object from a first location to a second location; and

moving the object from the first location to the second location based on the determined path.

12. The non-transitory computer readable medium of claim 11, wherein determining a safety level for each of a plurality of relative orientations of an object comprises:

determining properties of each of a plurality of portions of the object, wherein each respective portion of the plurality of portions corresponds to at least one respective relative orientation from among the plurality of relative orientations;

based on the determined properties, making a determination of whether a respective portion of the plurality of portions comprises at least one acute angle;

if the determination is that the respective portion of the plurality of portions comprises at least one acute angle, then, responsive to the determination, making a selection of a first safety level; and

if the determination is that the respective portion of the plurality of portions does not comprise at least one acute angle, then, responsive to the determination, making a selection of a second safety level that is higher than the first safety level.

13. The non-transitory computer readable medium of claim 12, wherein determining, for each of the plurality of relative orientations, a velocity limit for movement of the object with a particular relative orientation comprises:

if the selection is of the first safety level, then, responsive to the selection, determining a first velocity limit that corresponds to the first safety level; and

if the selection is of the second safety level, then, responsive to the selection, determining a second velocity limit that corresponds to the second safety level, wherein the second velocity limit is higher than the first velocity limit.

14. The non-transitory computer readable medium of claim 11, wherein the robotic system comprises an image capture device, and wherein determining a safety level for each of a plurality of relative orientations of an object comprises:

receiving image data from the image capture device;

based on the received image data, determining a type associated with the object;

based on the determined type, obtaining information related to properties of each of a plurality of portions of the identified object; and

based at least in part on the properties of each of the plurality of portions of the identified object, determining a safety level for each of the plurality of portions of the object, wherein each respective portion of the plurality of portions corresponds to at least one respective relative orientation from among the plurality of relative orientations.

15. The non-transitory computer readable medium of claim 11, the functions further comprising:

based on the determined velocity limits, determining specific velocities to use for movement of the object along each of one or more segments of the path.

16. The non-transitory computer readable medium of claim 15, wherein determining the specific velocities to use for movement of the object along each of one or more segments of the path comprises determining the specific velocities with which to move the object from the first location to the second location over a shortest time period.

17. A robotic system comprising:

one or more processors;

a non-transitory computer readable medium; and

program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to;

determine a safety level for each of a plurality of relative orientations of an object, wherein each relative orientation of the plurality of relative orientations defines a spatial orientation of the object relative to a direction of movement of the object;

based on the determined safety levels, determine, for each of the plurality of relative orientations, a velocity limit for movement of the object with a particular relative orientation;

based at least in part on the determined velocity limits, determine a path for moving the object from a first location to a second location; and

move the object from the first location to the second location based on the determined path.

18. The robotic system of claim 17, wherein determining a safety level for each of a plurality of relative orientations of an object comprises determining, for each of a plurality of portions of the object, a safety level when a respective portion of the plurality of portions is oriented toward the direction of movement of the object.

19. The robotic system of claim 17, wherein determining a safety level for each of a plurality of relative orientations of an object comprises:

determining properties of each of a plurality of portions of the object, wherein each respective portion of the plurality of portions corresponds to at least one respective relative orientation from among the plurality of relative orientations; and

based on the determined properties, making a determination that (i) a first portion of the plurality of portions comprises a first angle and (ii) a second portion of the plurality of portions comprises a second angle, wherein the second angle is larger than the first angle;

in response to the determination, making a selection of (i) a first safety level for the first portion and (ii) a second safety level for the second portion, wherein the second safety level is higher than then first safety level.

20. The robotic system of claim 19, wherein determining, for each of the plurality of relative orientations, a velocity limit for movement of the object with a particular relative orientation comprises:

in response to making the selection, determining (i) a first velocity limit that corresponds to the first safety level and (ii) a second velocity limit that corresponds to the second safety level, wherein the second velocity limit is higher than the first velocity limit.