公开(公告)号：US20220134566A1

公开(公告)日：2022-05-05

申请号：US17089332

申请日：2020-11-04

Applicant: X Development LLC

Inventor： Dirk Holz

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for calibrating a robotic workcell. One of the methods includes obtaining an initial model of a workcell having a plurality of calibration entities including a plurality of robots and a plurality of sensors configured to observe movements by one or more calibration entities. executing a calibration program that generates movement data representing movements by the plurality of robots. A plurality of different constraint pairs are generated from sensor data, the constraint pairs specifying a relationship between poses of calibration entities that are observed in different coordinate frames each defined by a calibration entity and is represented in the sensor data. One or more optimization processes are performed on the plurality of different constraint pairs to generate a plurality of calibration values.

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

IPC: G01S17/89 ,  G01B11/00 ,  G05D1/02 ,  G01S17/02 ,  G01S17/06

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.

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

IPC: G01S17/89 ,  G01S17/02 ,  G01S17/06 ,  G01B11/00 ,  G05D1/02

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.

公开(公告)号：US20220390922A1

公开(公告)日：2022-12-08

申请号：US17338486

申请日：2021-06-03

Applicant: X Development LLC

Inventor： Timothy Robert Kelch ,  Dirk Holz

IPC: G05B19/414 ,  G05B19/21 ,  G05B19/4063 ,  G05B19/4093 ,  G06N20/00 ,  G06N5/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for measuring and reporting calibration accuracy of robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining sensor data of one or more physical robots performing a process in an operating environment; generating, from the sensor data for a first robot of the one or more physical robots, a motion profile representing how the first robot moves while performing the process; obtaining data representing a plurality of candidate virtual robot components, each having a respective virtual motion profile and is a candidate to be included in a virtual representation of the operating environment; performing a motion profile matching process to determine a first virtual robot component from the plurality of candidate virtual robot components that matches the first robot; and adding the first virtual robot component to the virtual representation.

公开(公告)号：US10824160B2

公开(公告)日：2020-11-03

申请号：US16150482

申请日：2018-10-03

Applicant: X Development LLC

Inventor： Dirk Holz ,  Elizabeth Murphy

IPC: G05D1/02 ,  G01C21/32 ,  G05D1/00

Abstract: One method disclosed includes identifying, in a map of markers fixed in an environment, two co-located markers within a threshold distance of each other, where each of the two co-located markers has a non-overlapping visibility region. The method further includes determining a set of detected markers based on sensor data from a robotic device. The method additionally includes identifying, from the set of detected markers, a detected marker proximate to a first marker of the two co-located markers. The method also includes enforcing a visibility constraint based on the non-overlapping visibility region of each of the two co-located markers to determine an association between the detected marker and a second marker of the two co-located markers. The method further includes determining a location of the robotic device in the environment relative to the map based on the determined association.

公开(公告)号：US20200233088A1

公开(公告)日：2020-07-23

申请号：US16838436

申请日：2020-04-02

Applicant: X Development LLC

Inventor： Daniel Shaffer ,  Dirk Holz

IPC: G01S17/89 ,  G01S17/04 ,  G05D1/02 ,  G01B11/00 ,  G01S17/06

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.

公开(公告)号：US20200103917A1

公开(公告)日：2020-04-02

申请号：US16147082

申请日：2018-09-28

Applicant: X Development LLC

Inventor： Elizabeth Murphy ,  Dirk Holz

IPC: G05D1/02 ,  G01C21/36

Abstract: One method disclosed includes determining a map of markers fixed in an environment, where the map of markers includes a location and an orientation of each marker. The method further includes determining locations of a set of detected markers relative to the map based on a location of a robotic device relative to the map and based on sensor data from the robotic device. The method also includes associating a detected marker from the set of detected markers with a mapped marker based on the determined location of the detected marker relative to the map and based on a visibility constraint related to the orientation of the mapped marker. The method additionally includes adjusting, in the map, the orientation of the mapped marker based on the determined location of the detected marker relative to the map.

公开(公告)号：US20180307241A1

公开(公告)日：2018-10-25

申请号：US15494159

申请日：2017-04-21

Applicant: X Development LLC

Inventor： Dirk Holz

IPC: G05D1/02 ,  G01C21/00 ,  G01S17/89

Abstract: Example embodiments include determining a map of an environment of a robotic vehicle. The map includes locations of a plurality of mapped landmarks within the environment and a false detection source region within the environment. The embodiments further include detecting a plurality of candidate landmarks, and determining which of the detected candidate landmarks correspond to one of the plurality of mapped landmarks and which correspond to false detections. The embodiments additionally include estimating a pose of the robotic vehicle within the environment. The embodiments further include determining which of the detected candidate landmarks determined to correspond to false detections fall within the false detection source region. The embodiments still further include determining a confidence level of the pose estimate based on which of the detected candidate landmarks determined to correspond to false detections fall within the false detection source region.

公开(公告)号：US20220395980A1

公开(公告)日：2022-12-15

申请号：US17343312

申请日：2021-06-09

Applicant: X Development LLC

Inventor： Dirk Holz ,  Timothy Robert Kelch

IPC: B25J9/16 ,  G05B19/4155

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that automatically calibrates robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining a representation of a robotic operating environment. A user selection of a plurality of components to be configured to operate in the robotic operating environment is received. A mapping is obtained between pairs of components to be calibrated and one or more respective calibration processes to perform to calibrate each pair of components. From the mapping, one or more calibration processes to be performed on pairs of components based on the user selection of the plurality of components is computed. Calibration instruction data describing how to perform the one or more calibration processes to be performed on the pairs of components of the user selection is determined and presented.

公开(公告)号：US20220297301A1

公开(公告)日：2022-09-22

申请号：US17203147

申请日：2021-03-16

Applicant: X Development LLC

Inventor： Timothy Robert Kelch ,  Dirk Holz

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for measuring and reporting calibration accuracy of robots and sensors assigned to perform a task in an operating environment. One of the methods includes receiving a request to perform a calibration process for one or more robots in an operating environment; in response, performing the calibration process including executing a calibration program that generates movement data representing movements by the one or more robots within the operating environment; computing a measure of calibration accuracy from the movement data; receiving an input program to be executed in the operating environment; determining that the measure of calibration accuracy does not satisfy an accuracy tolerance of the input program; and in response, generating a notification representing that the measure of calibration accuracy generated from performing the calibration process does not satisfy the accuracy tolerance of the input program.