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公开(公告)号：US10265871B2
公开(公告)日：2019-04-23
申请号：US16121899
申请日：2018-09-05
Applicant: X Development LLC
Inventor： Christopher Hance , Daniel Shaffer
IPC: G06K7/10 , B65G1/06 , B25J19/02 , G06Q10/08 , G05B19/12 , G06K19/06 , B65G1/137 , B25J9/16 , G06Q10/06 , G05B19/418
Abstract: An example method is carried out in a warehouse environment having a plurality of inventory items located therein, each having a corresponding on-item identifier. The method involves determining a target inventory item having a target on-item identifier. The method also involves determining that a first inventory item having a first on-item identifier is loaded onto a first robotic device. The method further involves transmitting a request to verify the first on-item identifier. The method still further involves receiving data captured by a sensor of the second robotic device. The method yet further involves (i) analyzing the received data to determine the first on-item identifier, (ii) comparing the first on-item identifier and the target on-item identifier, and (iii) responsive to comparing the first on-item identifier and the target on-item identifier, performing an action.
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公开(公告)号：US20190086547A1
公开(公告)日：2019-03-21
申请号：US16193601
申请日：2018-11-16
Applicant: X Development LLC
Inventor： Daniel Shaffer , Dirk Holz
Abstract: Methods and systems for detecting sensor orientation characteristics using marker-based localization are disclosed herein. In one aspect, a robotic device can: receive a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receive, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers based on the sensor data and a current position of the sensor; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; and determine, based on the difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane.
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公开(公告)号：US20180180740A1
公开(公告)日：2018-06-28
申请号：US15389888
申请日：2016-12-23
Applicant: X Development LLC
Inventor： Daniel Shaffer , Dirk Holz
CPC classification number: G01S17/89 , G01B11/002 , G01S17/026 , G01S17/06 , G05D1/0236 , G05D1/0244 , G05D2201/0216
Abstract: Methods and systems for detecting sensor orientation characteristics using marker-based localization are disclosed herein. In one aspect, a robotic device can: receive a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receive, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers based on the sensor data and a current position of the sensor; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; and determine, based on the difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane.
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公开(公告)号：US09827683B1
公开(公告)日：2017-11-28
申请号：US15222638
申请日：2016-07-28
Applicant: X Development LLC
Inventor： Christopher Hance , Daniel Shaffer
CPC classification number: B25J19/021 , B25J9/162 , B65G1/065 , B65G1/1375 , G05B19/124 , G05B19/4183 , G05B19/41895 , G05B2219/45056 , G06K7/10861 , G06K19/06028 , G06K19/06037 , G06Q10/063 , G06Q10/087
Abstract: An example method is carried out in a warehouse environment having a plurality of inventory items located therein, each having a corresponding on-item identifier. The method involves determining a target inventory item having a target on-item identifier. The method also involves determining that a first inventory item having a first on-item identifier is loaded onto a first robotic device. The method further involves transmitting a request to verify the first on-item identifier. The method still further involves receiving data captured by a sensor of the second robotic device. The method yet further involves (i) analyzing the received data to determine the first on-item identifier, (ii) comparing the first on-item identifier and the target on-item identifier, and (iii) responsive to comparing the first on-item identifier and the target on-item identifier, performing an action.
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公开(公告)号：US20200087068A1
公开(公告)日：2020-03-19
申请号：US16688541
申请日：2019-11-19
Applicant: X Development LLC
Inventor： Christopher Hance , Daniel Shaffer
Abstract: An example system includes a robotic device deployed in a warehouse environment including a plurality of inventory items. The system also includes a camera coupled to the robotic device, configured to capture image data. The system also includes a computing system configured to receive the captured image data. The computing system is configured to, based on the received image data, generate a navigation instruction for navigation of the robotic device. The computing system is also configured to analyze the received image data to detect one or more on-item visual identifiers corresponding to one or more inventory items. The computing system is further configured to, for each detected visual identifier, (i) determine a warehouse location of the corresponding inventory item, (ii) compare the determined warehouse location to an expected location, and (iii) initiate an action based on the comparison.
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Patent Agency Ranking
公开(公告)号：US10260890B2
公开(公告)日：2019-04-16
申请号：US15494316
申请日：2017-04-21
Applicant: X Development LLC
Inventor： Alex Jose , Daniel Shaffer
Abstract: Apparatus and methods related to generating roadmaps are provided. A layout of an environment can be displayed on a display. Input data indicative of a plurality of shapes placed on the layout can be received, where each shape corresponds to an aisle of a plurality of aisles. For each aisle, lanes can be generated based on a width of the aisle, and the lanes extend along the aisle such that a robotic device can traverse each lane. An intersection between a first shape and second shape can be identified, where the first and second shape correspond to a first and second aisle. Responsive to identifying the intersection and based on a swept space of the robotic device, a curve that connects a first lane of the first aisle to a second lane of the second aisle can be generated. Then, a roadmap that comprises the aisles and curve can be generated.
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公开(公告)号：US10133990B2
公开(公告)日：2018-11-20
申请号：US15947011
申请日：2018-04-06
Applicant: X Development LLC
Inventor： Christopher Hance , Daniel Shaffer
Abstract: Examples described may enable rearrangement of pallets of items in a warehouse to an optimal layout. An example method includes receiving real-time item information including pallet locations in a warehouse and real-time inventory of items arranged on the pallets; determining a likelihood of demand for future access to the pallets based on a pallet relocation history and item receiving/shipment expectations; based on the real-time item information and the likelihood of demand, determining an optimal controlled-access dense grid layout in which distances of the pallets from a center of the layout are related to the likelihood of demand; receiving real-time robotics information and using the real-time robotics information to determine an amount of time to rearrange the pallets to the optimal layout; and, based on the amount of time to rearrange the pallets being less than a threshold, causing the robotic devices to rearrange the pallets to the optimal layout.
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公开(公告)号：US10071856B2
公开(公告)日：2018-09-11
申请号：US15222606
申请日：2016-07-28
Applicant: X Development LLC
Inventor： Christopher Hance , Daniel Shaffer
CPC classification number: B65G1/0492 , B25J5/007 , B25J19/023 , B65G1/1373 , B65G2201/0267 , B65G2203/0216 , B65G2203/041 , G06Q10/087 , Y10S901/01
Abstract: An example system includes a robotic device deployed in a warehouse environment including a plurality of inventory items. The system also includes a camera coupled to the robotic device, configured to capture image data. The system also includes a computing system configured to receive the captured image data. The computing system is configured to, based on the received image data, generate a navigation instruction for navigation of the robotic device. The computing system is also configured to analyze the received image data to detect one or more on-item visual identifiers corresponding to one or more inventory items. The computing system is further configured to, for each detected visual identifier, (i) determine a warehouse location of the corresponding inventory item, (ii) compare the determined warehouse location to an expected location, and (iii) initiate an action based on the comparison.
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公开(公告)号：US20190034839A1
公开(公告)日：2019-01-31
申请号：US16149545
申请日：2018-10-02
Applicant: X Development LLC
Inventor： Christopher Hance , Daniel Shaffer
Abstract: Examples described may enable rearrangement of pallets of items in a warehouse to an optimal layout. An example method includes receiving real-time item information including pallet locations in a warehouse and real-time inventory of items arranged on the pallets; determining a likelihood of demand for future access to the pallets based on a pallet relocation history and item receiving/shipment expectations; based on the real-time item information and the likelihood of demand, determining an optimal controlled-access dense grid layout in which distances of the pallets from a center of the layout are related to the likelihood of demand; receiving real-time robotics information and using the real-time robotics information to determine an amount of time to rearrange the pallets to the optimal layout; and, based on the amount of time to rearrange the pallets being less than a threshold, causing the robotic devices to rearrange the pallets to the optimal layout.
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公开(公告)号：US20180370727A1
公开(公告)日：2018-12-27
申请号：US16056919
申请日：2018-08-07
Applicant: X Development LLC
Inventor： Christopher Hance , Daniel Shaffer
Abstract: An example system includes a robotic device deployed in a warehouse environment including a plurality of inventory items. The system also includes a camera coupled to the robotic device, configured to capture image data. The system also includes a computing system configured to receive the captured image data. The computing system is configured to, based on the received image data, generate a navigation instruction for navigation of the robotic device. The computing system is also configured to analyze the received image data to detect one or more on-item visual identifiers corresponding to one or more inventory items. The computing system is further configured to, for each detected visual identifier, (i) determine a warehouse location of the corresponding inventory item, (ii) compare the determined warehouse location to an expected location, and (iii) initiate an action based on the comparison.
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