Apparatus and methods for controlling attention of a robot

Patent metadata

Field	Value
Publication number	US-9868208-B2
Application number	US-201615269761-A
Country	US
Kind code	B2
Filing date	Sep 19, 2016
Priority date	Aug 31, 2012
Publication date	Jan 16, 2018
Grant date	Jan 16, 2018

Abstract

Apparatus and methods for controlling attention and training of autonomous robotic devices. In one approach, attention of the robot may be manipulated by use of a spot-light device illuminating a portion of the aircraft undergoing inspection in order to indicate to inspection robot target areas requiring more detailed inspection. The robot guidance may be aided by way of an additional signal transmitted by the agent to the robot indicating that the object has been illuminated and attention switch may be required. Responsive to receiving the additional signal, the robot may initiate a search for the signal reflected by the illuminated area requiring its attention. Responsive to detecting the illuminated object and receipt of the additional signal, the robot may develop an association between the two events and the inspection task. The light guided attention system may influence the robot learning for subsequent actions.

First claim

What is claimed is:

1. A method of guiding a robotic apparatus, comprising:
receiving, from an imaging device associated with the robotic apparatus, an image signal;
sending, to the robotic apparatus, a task indication representative of a task to be performed by the robotic apparatus,
wherein the task indication identifies an object of interest detectable within the image signal,
wherein the task indication is generated based on an input from a user to a remote device, and
wherein the task includes moving the robotic apparatus toward the object of interest; and

responsive to receipt of the task indication:
saving a robotic context including information associating the task to be performed with the object of interest; and
causing the robotic apparatus to perform the task.

2. The method of claim 1 , wherein the object of interest is a tagged portion of an environment of the robotic apparatus detectable within the image signal.

3. The method of claim 1 , wherein the robotic apparatus was previously trained to perform the task over a plurality of different robotic contexts.

4. A method of guiding a robotic apparatus, comprising:
receiving, from an imaging device associated with the robotic apparatus, an image signal;
sending, to the robotic apparatus, a task indication representative of a task to be performed by the robotic apparatus, wherein the task indication identifies an object of interest detectable within the image signal; and
responsive to receipt of the task indication, saving a robotic context including information associating the task to be performed with the object of interest.

5. The method of claim 4 , wherein the task indication is generated based on an input from a user to a remote device.

6. The method of claim 4 , wherein the task indication is sent from a remote device to the robotic apparatus.

7. The method of claim 4 , wherein the task includes at least one of approaching the object of interest, exploring an area of interest around the object of interest, or capturing an image of the object of interest.

8. The method of claim 4 , wherein the task includes moving the robotic apparatus to a location irradiated by the task indication within the image signal.

9. The method of claim 4 , further comprising:
receiving, at a remote device, feedback indicative of the robotic apparatus being unable to complete the task.

10. The method of claim 4 , further comprising:
responsive to receipt of the task indication, causing the robotic apparatus to complete the task.

11. The method of claim 10 , further comprising:
receiving, at a remote device, feedback indicative of the robotic apparatus completing the task.

12. A remote interface apparatus for a robot operable in an environment, comprising:
a transmitter component configured to project an attention signal to the robot; and
a tagging component configured to tag a portion of the environment,
wherein the attention signal directs attention of the robot to the portion of the environment tagged by the tagging component,
wherein the tag is detectable on a representation of an image signal captured by an imaging device disposed on the robot, and
wherein the tag is configured to provide a specific robotic context configured to cause the robot to perform a task previously trained over a plurality of different contexts.

13. The apparatus of claim 12 , wherein the tag is generated based on an input from a user to the remote interface apparatus.

14. The apparatus of claim 12 , wherein the attention signal comprises at least one of light, radio frequency, or sound.

15. The apparatus of claim 12 , wherein the portion of the environment is an object of interest.

16. The apparatus of claim 15 , wherein the task includes at least one of approaching the object of interest, exploring an area of interest around the object of interest, or capturing an image of the object of interest.

17. The apparatus of claim 12 , wherein the task includes moving the robot to the portion of the environment tagged by the tagging component.

18. The apparatus of claim 12 , further comprising:
a receiver component configured to receive an indication from the robot based on receipt of the tag.

19. The apparatus of claim 18 , further comprising:
responsive to receipt of the indication, causing the task to be performed based on the attention signal and the specific robotic context.

20. The apparatus of claim 18 , wherein the receiver component is configured to receive a confirmation from the robot based on performance of the task.

Assignees

• Gopro Inc

Inventors

• Meier Philip

Classifications

• G01N1/44

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• F01P3/20

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• G05B2219/31048

  Project on workpiece, image of finished workpiece, info or a spot · CPC title

• G01N2035/00475

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• G05B2219/40103

  Show object with laser pointer, give oral command for action on, with object · CPC title