Virtual safety cages for robotic devices
First Claim
1. A method performed by a computing system, the method comprising:
- receiving, by one or more processors of the computing system, an instruction requesting that a robotic device perform, in an environment, a physical action involving a component of the robotic device;
in response to receiving the instruction, the one or more processors determining multiple estimated trajectories of the component of the robotic device, wherein the multiple estimated trajectories are multiple trajectories along which the component is estimated to move in the environment as the robotic device performs the physical action;
the one or more processors associating respective confidence scores to the robotic device moving along the multiple estimated trajectories;
the one or more processors selecting, from the multiple estimated trajectories, a set of estimated trajectories having confidence scores that exceed a predetermined threshold;
based on the selected set of estimated trajectories, the one or more processors determining a virtual safety cage representing a space that the robotic device is estimated to occupy in the environment while performing the physical action; and
the one or more processors providing, into the environment, an indication of a location of the virtual safety cage.
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Accused Products
Abstract
Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.
54 Citations
20 Claims
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1. A method performed by a computing system, the method comprising:
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receiving, by one or more processors of the computing system, an instruction requesting that a robotic device perform, in an environment, a physical action involving a component of the robotic device; in response to receiving the instruction, the one or more processors determining multiple estimated trajectories of the component of the robotic device, wherein the multiple estimated trajectories are multiple trajectories along which the component is estimated to move in the environment as the robotic device performs the physical action; the one or more processors associating respective confidence scores to the robotic device moving along the multiple estimated trajectories; the one or more processors selecting, from the multiple estimated trajectories, a set of estimated trajectories having confidence scores that exceed a predetermined threshold; based on the selected set of estimated trajectories, the one or more processors determining a virtual safety cage representing a space that the robotic device is estimated to occupy in the environment while performing the physical action; and the one or more processors providing, into the environment, an indication of a location of the virtual safety cage. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method performed by a computing system, the method comprising:
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receiving, by one or more processors of the computing system, an instruction requesting that a robotic device perform, in an environment, a physical action involving a component of the robotic device; based on the instruction, the one or more processors determining an estimated trajectory of the component, wherein the estimated trajectory is a trajectory along which the component is estimated to move in the environment as the robotic device performs the physical action; based on the estimated trajectory of the component, the one or more processors determining a virtual safety cage representing a space that the robotic device is estimated to occupy in the environment while performing the physical action; and the one or more processors causing a projecting device communicatively linked to the computing system to project, into the environment, an indication of a location of a boundary of the virtual safety cage. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A system comprising:
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a robotic device; one or more optical devices; a wireless communication interface; at least one processor; and data storage comprising instructions executable by the at least one processor to cause the system to perform operations comprising; receiving an instruction requesting that the robotic device perform, in an environment, a physical action involving a component of the robotic device; in response to receiving the instruction, determining multiple estimated trajectories of the component of the robotic device, wherein the multiple estimated trajectories are multiple trajectories along which the component is estimated to move in the environment as the robotic device performs the physical action; associating respective confidence scores to the robotic device moving along the multiple estimated trajectories; selecting, from the multiple estimated trajectories, a set of estimated trajectories having confidence scores that exceed a predetermined threshold; based on the selected set of estimated trajectories, determining a virtual safety cage representing a space that the robotic device is estimated to occupy in the environment while performing the physical action; and providing, into the environment, by one or more of the wireless communication interface and the one or more optical devices, an indication of a location of the virtual safety cage. - View Dependent Claims (17, 18, 19, 20)
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Specification