Systems for determining location using robots with deformable sensors

Patent metadata

Field	Value
Publication number	US-11951633-B2
Application number	US-202318152277-A
Country	US
Kind code	B2
Filing date	Jan 10, 2023
Priority date	Feb 17, 2020
Publication date	Apr 9, 2024
Grant date	Apr 9, 2024

Abstract

Systems and methods for determining a location of a robot are provided. A method includes receiving, by a processor, a signal from a deformable sensor including data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object. The data associated with contact with the first object is compared, by the processor, to details associated with contact with the first object to information associated with a plurality of objects stored in a database. The first object is identified, by the processor, as a first identified object of the plurality of objects stored in the database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The location of the robot is determined, by the processor, based on a location of the first identified object.

First claim

What is claimed is:

1. A method for determining a location of a robot including a deformable sensor, the method comprising:
receiving, by a processor, a signal from the deformable sensor comprising data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object;
identifying, by the processor, the first object as a first identified object; and
determining, by the processor, a location of the robot based on a known location of the first identified object.

2. The method of claim 1 , further comprising:
determining, by the processor, a distance traveled to the first object;
identifying a clearance distance; and
comparing the distance traveled by the robot to the first object to the clearance distance.

3. The method of claim 1 , further comprising receiving, by the processor, a subsequent signal from the deformable sensor comprising data with respect to the deformation region in the deformable membrane resulting from contact with a subsequent object.

4. The method of claim 3 , further comprising comparing, by the processor, the data associated with contact of the subsequent object to information, the information including at least one of a geometry, a pose, a hardness, a flexibility, and a location.

5. The method of claim 4 , further comprising:
identifying, by the processor, the subsequent object as a subsequent identified object,
wherein the location of the robot is based on the location of the first identified object and a location of the subsequent identified object.

6. The method of claim 1 , further comprising, when the robot contacts the first object and the deformable sensor does not contact the first object, repositioning the robot, by the processor, so that the deformable sensor contacts the first object.

7. The method of claim 1 , further comprising modifying deformability of the deformable sensor by changing a pressure within an enclosure defined in part by the deformable membrane.

8. The method of claim 1 , further comprising:
utilizing an internal sensor disposed within the deformable sensor and having a field of view directed through a medium stored within an enclosure of the deformable sensor and toward a bottom surface of the deformable membrane; and
scattering an optical signal emitted by the internal sensor by a filter layer disposed on the bottom surface of the deformable membrane.

9. The method of claim 8 , further comprising analyzing, by the processor, the deformation region by measuring changes to a coating or a pattern on the bottom surface of the deformable membrane.

10. The method of claim 8 , wherein the internal sensor comprises a time-of-flight sensor.

11. A robot for determining a location within a space, the robot comprising:
a casing;
at least one deformable sensor provided on the casing, the deformable sensor comprising an internal sensor and a deformable membrane, the internal sensor configured to output a deformation region within the deformable membrane as a result of contact with a first object;
one or more processors; and
one or more memory modules comprising non-transitory computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
receive data from the internal sensor representing the deformation region of the deformable membrane when the first object is contacted;
identify the first object as a first identified object; and
determine a location of the robot based on a known location of the first identified object.

12. The robot of claim 11 , wherein the one or more memory modules includes non-transitory computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
determine a distance traveled to the first object;
identify a clearance distance; and
compare the distance traveled by the robot to the first object to the clearance distance.

13. The robot of claim 11 , wherein the one or more memory modules includes non-transitory computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
receive a subsequent signal from the deformable sensor comprising data with respect to the deformation region in the deformable membrane resulting from contact with a subsequent object.

14. The robot of claim 13 , wherein the one or more memory modules includes non-transitory computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
compare the data associated with contact of the subsequent object to information, the information including at least one of a geometry, a pose, a hardness, a flexibility, and a location.

15. The robot of claim 14 , wherein the one or more memory modules includes non-transitory computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
identify the subsequent object as a subsequent identified object,
wherein the location of the robot is based on the location of the first identified object and a location of the subsequent identified object.

16. A system for determining a location of a robot including a deformable sensor, the system comprising:
a robot;
at least one deformable sensor provided on the robot, the at least one deformable sensor comprising a housing, a deformable membrane coupled to the housing, an enclosure configured to be filled with a medium, and an internal sensor disposed within the housing and having a field of view configured to be directed through the medium and toward a surface of the deformable membrane, wherein the internal sensor is configured to output a deformation region within the deformable membrane as a result of contact with a first object;
one or more processors; and
one or more memory modules comprising non-transitory computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
receive data from the internal sensor representing the deformation region when the first object is contacted;
identify the first object as a first identified object; and
determine a location of the robot based on a known location of the first identified object.

17. The system of claim 16 , wherein the one or more memory modules includes non-transitory computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
determine a distance traveled to the first object; and
compare the distance traveled by the robot to the first object to a clearance distance.

18. The system of claim 16 , wherein the one or more memory modules includes non-transitory computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
receive a signal from the deformable sensor comprising data with respect to the deformation region in the deformable membrane resulting from contact with a subsequent object.

19. The system of claim 18 , wherein the one or more memory modules includes non-transitory computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
compare the data associated with co

Assignees

• Toyota Res Inst Inc
• Toyota Motor Co Ltd

Inventors

• Alspach Alexander
• Kuppuswamy Naveen Suresh
• Uttamchandani Avinash
• Creasey Samson F
• Tedrake Russell L
• Hashimoto Kunimatsu
• Sobel Erik C
• Ikeda Takuya

Classifications

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title