Optimization of observer robot locations

Patent metadata

Field	Value
Publication number	US-9744665-B1
Application number	US-201615007558-A
Country	US
Kind code	B1
Filing date	Jan 27, 2016
Priority date	Jan 27, 2016
Publication date	Aug 29, 2017
Grant date	Aug 29, 2017

Abstract

Example implementations may relate to optimization of observer robot locations. In particular, a control system may detect an event that indicates desired relocation of observer robots within a worksite. Each such observer robot may have respective sensor(s) configured to provide information related to respective positions of a plurality of target objects within the worksite. Responsively, the control system may (i) determine observer robot locations within the worksite at which one or more of the respective sensors are each capable of providing information related to respective positions of one or more of the plurality of target objects and (ii) determine a respectively intended level of positional accuracy for at least two respective target objects. Based on the respectively intended levels of positional accuracy, the control system may select one or more of the observer robot locations and may direct one or more observer robots to relocate to the selected locations.

First claim

We claim:

1. A method comprising:
detecting, by a control system, an event that indicates desired relocation of one or more of a plurality of observer robots within a worksite, wherein each respective observer robot of the plurality of observer robots has one or more respective sensors configured to provide information related to respective positions of a plurality of target objects within the worksite;
in response to detecting the event, the control system: (i) determining one or more observer robot locations within the worksite at which one or more of the respective sensors are each capable of providing information related to respective positions of one or more of the plurality of target objects and (ii) determining a respectively intended level of positional accuracy for at least two respective target objects of the plurality of target objects;
based at least in part on the determined respectively intended levels of positional accuracy, the control system selecting one or more of the determined observer robot locations within the worksite; and
directing, by the control system, one or more of the plurality of observer robots to relocate to the one or more selected observer robot locations within the worksite.

2. The method of claim 1 , wherein detecting the event comprises determining that at least one of the respective sensors is no longer capable of providing information related to respective position of at least one target object of the plurality of target objects.

3. The method of claim 2 , wherein determining that at least one of the respective sensors is no longer capable of providing information related to respective position of at least one target object of the plurality of target objects comprises determining that a field of view between at least one of the respective sensors and at least one target object of the plurality of target objects is obstructed.

4. The method of claim 1 ,
wherein a first respective level of positional accuracy is provided for at least one given target object of the plurality of target objects before the event is detected, and
wherein detecting the event comprises determining an adjustment from (i) providing the first respective level of positional accuracy for the at least one given target object to (ii) providing a second respective level of positional accuracy for the at least one given target object.

5. The method of claim 4 , wherein determining the adjustment comprises receiving user-input data indicating the adjustment, and wherein the determination of the respectively intended level of positional accuracy for the at least one given target object is based at least in part on the received user-input data.

6. The method of claim 4 , wherein detecting the event comprises determining one or more changes in conditions within the worksite, and wherein the adjustment is responsive to at least the one or more changes in conditions within the worksite.

7. The method of claim 6 , wherein the one or more changes in conditions within the worksite comprise changes to one or more of the following conditions: (i) location within the worksite of one or more of the respective sensors, (ii) location within the worksite of one or more of the plurality observer robots, (iii) location within the worksite of one or more other robots, (iv) location within the worksite of one or more of the plurality of target objects, (v) location within the worksite of one or more other objects, (vi) configuration of one or more of the respective sensors, (vii) configuration of one or more of the plurality observer robots, (viii) configuration of one or more other robots, (ix) configuration of one or more of the plurality of target objects, (x) configuration of one or more other objects, and (xi) work progress within the worksite.

8. The method of claim 1 , wherein determining one or more observer robot locations comprises determining one or more observer robot locations at which a field of view between at least one of the respective sensors and at least one target object of the plurality of target objects is unobstructed.

9. The method of claim 1 , further comprising:
the control system referring to a data storage containing mapping data that maps each respective target object to the respectively intended level of positional accuracy, wherein determining the respectively intended level of positional accuracy for the at least two respective target objects of the plurality of target objects is based at least on the mapping data.

10. The method of claim 1 , wherein selecting one or more of the determined observer robot locations within the worksite comprises selecting one or more of the determined observer robot locations based on each respectively intended level of positional accuracy being met by one or more of the respective sensors.

11. The method of claim 1 , wherein selecting one or more of the determined observer robot locations within the worksite comprises selecting one or more of the determined observer robot locations at which one or more of the respective sensors are capable of providing information related to respective positions of the at least two respective target objects of the plurality of target objects.

12. The method of claim 1 , wherein determining the respectively intended level of positional accuracy for a given one of the target objects comprises determining an intended change from (i) providing a first respective level of positional accuracy for the given target object of the plurality of target objects to (ii) providing a second respective level of positional accuracy for the at least one given target object.

13. The method of claim 12 , wherein selecting one or more of the determined observer robot locations within the worksite comprises:
determining that the intended change corresponds to a distance change from (i) at least one observer robot of the plurality of observer robots being located at a first distance away from the given target object to (ii) the at least one observer robot being located at a second distance away from the given target object; and
selecting at least one observer robot location based on the at least one observer robot being located at the second distance away from the given target object.

14. The method of claim 12 , wherein selecting one or more of the determined observer robot locations within the worksite comprises:
determining that the intended change corresponds to a count change from (i) having a first number of respective sensors each provide information related to respective position of the given target object to (ii) having a second number of respective sensors each provide information related to respective position of the given target object; and
selecting one or more of the observer robot locations at which one or more of the observer robots are capable of having the second number of respective sensors each provide information related to respective position of the given target object.

15. The method of claim 12 ,
wherein selecting one or more of the determined observer robot locations within the worksite comprises selecting (i) a first observer robot location at which a first respective sensor is capable of being oriented in a first direction towards to the given target object while the first respective sensor provides information related to respective position of the given target object and (ii) a second observer robot location at which a second respective sensor is capable of being oriented in a second direction towards to the given target object while the second respective sensor provides information related to respective position of the given targe

Assignees

• X Dev Llc

Inventors

• Linnell Jeffrey
• Jules Anthony Sean

Classifications

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• B25J13/089

  Determining the position of the robot with reference to its environment · CPC title

• Y10S901/01

  Mobile robot · CPC title

• Y10S901/46

  Sensing device · CPC title

• B25J9/0084

  comprising a plurality of manipulators · CPC title