公开(公告)号：US10507578B1

公开(公告)日：2019-12-17

申请号：US15648649

申请日：2017-07-13

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: G01C21/00 ,  B25J9/10 ,  B25J9/16

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.

公开(公告)号：US09965042B2

公开(公告)日：2018-05-08

申请号：US14672750

申请日：2015-03-30

Applicant: X Development LLC

Inventor： Anthony Sean Jules ,  Aaron Edsinger

IPC: G06F3/01 ,  G06F21/31 ,  G06F3/0488 ,  G06F3/041

CPC classification number: G06F3/017 ,  G06F3/041 ,  G06F3/04883 ,  G06F3/04886 ,  G06F21/31 ,  G06F2221/2133

Abstract: Examples described may relate to methods and systems for gesture based switch for machine control. Some machines may be operated by computing devices that include touchscreens, and a graphical user interface (GUI) is provided for enabling control of the machines. Within examples, a disconnect switch can be incorporated into the GUI. As one example, to initiate operation of a machine, such as a robotic device, a user may be required to contact the touchscreen at a location and then trace out a pattern. To enable continued operation of the machine, the GUI may require the user to maintain contact with the touchscreen at a “goal” position. If contact with the touchscreen is broken (e.g., for more than a threshold amount of time), the machine operation may be halted, and the process to initiate operation can be performed again on the touchscreen to cause the machine to resume operation.

公开(公告)号：US09844877B1

公开(公告)日：2017-12-19

申请号：US14799511

申请日：2015-07-14

Applicant: X Development LLC

Inventor： Anthony Sean Jules ,  Johan Ulrich Lewin Jessen

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/40448 ,  G05B2219/40519

Abstract: Methods, apparatus, systems, and computer-readable media are provided for training a path of a robot within a graphical user interface (GUI) and/or by physically moving the robot. In particular, the technology generates a trained path for the robot based on waypoints defined by a user and generates one or more parameters for one or more movement characteristics of the robot along the trained path. The parameters for the movement characteristics are generated based on spatial proximity of a plurality of the waypoints that are defined by the user.

公开(公告)号：US09925662B1

公开(公告)日：2018-03-27

申请号：US14752966

申请日：2015-06-28

Applicant: X Development LLC

Inventor： Anthony Sean Jules ,  Johan Ulrich Lewin Jessen

IPC: B25J9/00

CPC classification number: B25J9/0081 ,  Y10S901/04

Abstract: Methods, apparatus, systems, and computer-readable media are provided for training a path of a robot by physically moving the robot, wherein the particular trained path and/or particular robot component movements to achieve the trained path are dependent on which of a plurality of available user interface inputs are selected for the training. The trained path defines a path to be traversed by a reference point of the robot, such as a path to be traversed by a reference point of an end effector of the robot. The particular robot component movements to achieve the trained path include, for example, the orientations of various robot components at each of a plurality of positions along the path, the velocity of various components at each of a plurality of positions along the path, etc.

公开(公告)号：US09910761B1

公开(公告)日：2018-03-06

申请号：US14752998

申请日：2015-06-28

Applicant: X Development LLC

Inventor： Anthony Sean Jules ,  Johan Ulrich Lewin Jessen

IPC: G06F9/44 ,  G06F11/36

CPC classification number: G06F11/3664 ,  G06F8/34 ,  G06F9/451

Abstract: Methods, apparatus, systems, and computer-readable media are provided for visually debugging robotic processes. In various implementations, a graphical user interface may be rendered that includes a flowchart representing a robotic process. A plurality of different logical paths through the robotic process may be represented by a plurality of different visible paths through the flowchart. In various implementations, robot operation data indicative of one or more implementations of the robotic process may be determined. Based on the robot operation data, a first logical path through the robotic process that satisfies a criterion may be identified. In various implementations, a first visual path through the flowchart may be selected that corresponds to the identified first logical path. In various implementations, the first visible path through the flowchart may be visually distinguished from a second visible path through the flowchart.

公开(公告)号：US10166674B1

公开(公告)日：2019-01-01

申请号：US15599221

申请日：2017-05-18

Applicant: X Development LLC

Inventor： Anthony Sean Jules ,  Johan Ulrich Lewin Jessen ,  Benjamin M. Davis

IPC: B25J9/16

Abstract: Methods and apparatus that adapt programming and/or control of a robot. The robot has at least one attachment area that can removably couple with any one of a plurality of end effectors. The programming and/or control is adapted based on received parameters of an end effector attached (or to be attached) to the attachment area of the robot. Some implementations are directed to adapting graphical user interface output of a robot programming application based on one or more parameters of an end effector for a robot being programmed via the robot programming application. Some implementations are directed to adapting control of a robot based on one or more parameters of an end effector attached (or to be attached) to the robot.

公开(公告)号：US09833907B1

公开(公告)日：2017-12-05

申请号：US14746392

申请日：2015-06-22

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: B25J13/00 ,  B25J13/06

CPC classification number: B25J13/065 ,  B25J13/025 ,  B25J19/06 ,  G05B2219/35438

Abstract: Example implementations may relate to a computing device configured to operate a robotic system. In particular, the device receives input data that is generated by a hand-holdable controller including a knob, where the knob includes touch sensors arranged to detect touch on surfaces of the knob. Based on the input data, the device detects that the controller is within a first threshold distance from a first component of the robotic system and responsively operates the first component of the robotic system based on the input data. The device then receives subsequent input data that is generated by the controller. Based on the subsequent input data, the device subsequently detects that the controller is within a second threshold distance from a second component of the robotic system and responsively operates the second component of the robotic system based on the subsequent input data.

公开(公告)号：US09804593B1

公开(公告)日：2017-10-31

申请号：US14569121

申请日：2014-12-12

Applicant: X Development LLC

Inventor： Benjamin Davis ,  Anthony Sean Jules

IPC: B25J9/22 ,  G05B19/42

CPC classification number: G05B19/423

Abstract: Methods and systems for teaching positions to components of devices are described. An example method includes providing instructions to a robotic device or robotic manipulator to place the robotic manipulator into a fine-tuning teach mode, in which the robotic manipulator is in a given position and is configured to move based on application of a manual contact in one or more step movements having a preset amount of distance. The method also includes determining that a given manual contact is applied to the robotic manipulator, and causing the robotic manipulator to incrementally move in the one or more step movements having the preset amount of distance.

公开(公告)号：US10800036B1

公开(公告)日：2020-10-13

申请号：US16798938

申请日：2020-02-24

Applicant: X Development LLC

Inventor： Michael Kolb ,  Jeff Linnell ,  Anthony Sean Jules

IPC: B25J9/16 ,  B25J9/00

Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

公开(公告)号：US10144128B1

公开(公告)日：2018-12-04

申请号：US15673182

申请日：2017-08-09

Applicant: X Development LLC

Inventor： Michael Kolb ,  Jeff Linnell ,  Anthony Sean Jules

IPC: B25J9/00 ,  B25J9/16

Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.