公开(公告)号：US11097414B1

公开(公告)日：2021-08-24

申请号：US17131252

申请日：2020-12-22

Applicant: X Development LLC

Inventor： Eden Rephaeli ,  Guy Satat ,  Daniel Lam ,  Benjamin Holson ,  Jiajun Xu

IPC: B25J9/04 ,  B25J9/16

Abstract: A system includes a robotic device, a sensor disposed on the robotic device, and circuitry configured to perform operations. The operations include determining a map that represents stationary features of an environment and receiving, from the sensor, sensor data representing the environment. The operations also include determining, based on the sensor data, a representation of an actor within the environment, where the representation includes keypoints representing corresponding body locations of the actor. The operations also include determining that a portion of a particular stationary feature is positioned within a threshold distance of a particular keypoint and, based on thereon, updating the map to indicate that the portion is to be cleaned. The operations further include, based on the map as updated, causing the robotic device to clean the portion of the particular stationary feature.

公开(公告)号：US20230150151A1

公开(公告)日：2023-05-18

申请号：US18053739

申请日：2022-11-08

Applicant: X Development LLC

Inventor： Eden Rephaeli ,  Marc Strauss ,  Guy Satat

IPC: B25J19/02 ,  B25J5/00 ,  B25J18/00

CPC classification number: B25J19/021 ,  B25J5/007 ,  B25J18/00

Abstract: A sensing device is described for mounting on a movable component of a robotic device. The sensing device includes a plurality of illumination sources comprising at least one ultraviolet (UV) illumination source. The sensing device further includes at least two cameras arranged in a stereo pair. The sensing device additionally includes a camera with a UV filter, wherein the UV filter is configured to allow wavelengths corresponding to UV light and to block wavelengths corresponding to visible and near infrared light, wherein the UV filter allows transmission of light within an angular range such that the UV filter allows for the transmission of light at one end of the angular range to be equivalent to the transmission of light at an opposite end of the angular range.

公开(公告)号：US20220193888A1

公开(公告)日：2022-06-23

申请号：US17382561

申请日：2021-07-22

Applicant: X Development LLC

Inventor： Eden Rephaeli ,  Guy Satat ,  Daniel Lam ,  Benjamin Holson ,  Jiajun Xu

IPC: B25J9/04 ,  B25J9/16

Abstract: A system includes a robotic device, a sensor disposed on the robotic device, and circuitry configured to perform operations. The operations include determining a map that represents stationary features of an environment and receiving, from the sensor, sensor data representing the environment. The operations also include determining, based on the sensor data, a representation of an actor within the environment, where the representation includes keypoints representing corresponding body locations of the actor. The operations also include determining that a portion of a particular stationary feature is positioned within a threshold distance of a particular keypoint and, based on thereon, updating the map to indicate that the portion is to be cleaned. The operations further include, based on the map as updated, causing the robotic device to clean the portion of the particular stationary feature.

公开(公告)号：US20220168909A1

公开(公告)日：2022-06-02

申请号：US17106906

申请日：2020-11-30

Applicant: X Development LLC

Inventor： Guy Satat ,  Eden Rephaeli

IPC: B25J19/02 ,  B25J9/16 ,  B25J5/00 ,  G06T1/00 ,  G06T7/73

Abstract: A method includes receiving, from at least two fixed cameras in a static sensor arrangement on a mobile robotic device, one or more images representative of an environment of the mobile robotic device, wherein the at least two fixed cameras have a combined 360 degree horizontal field of view around the mobile robotic device. The method further includes determining, from the one or more images, a presence of an object in the environment of the mobile robotic device. The method additionally includes controlling a moveable sensor arrangement of the mobile robotic device to move towards the object, wherein the movable sensor arrangement comprises at least one movable camera on the mobile robotic device. The method also includes receiving, from the at least one movable camera of the moveable sensor arrangement, one or more additional images representative of the object.

公开(公告)号：US11642780B2

公开(公告)日：2023-05-09

申请号：US17382561

申请日：2021-07-22

Applicant: X Development LLC

Inventor： Eden Rephaeli ,  Guy Satat ,  Daniel Lam ,  Benjamin Holson ,  Jiajun Xu

IPC: B25J9/16 ,  B25J9/04

CPC classification number: B25J9/04 ,  B25J9/163 ,  B25J9/1615

Abstract: A system includes a robotic device, a sensor disposed on the robotic device, and circuitry configured to perform operations. The operations include determining a map that represents stationary features of an environment and receiving, from the sensor, sensor data representing the environment. The operations also include determining, based on the sensor data, a representation of an actor within the environment, where the representation includes keypoints representing corresponding body locations of the actor. The operations also include determining that a portion of a particular stationary feature is positioned within a threshold distance of a particular keypoint and, based on thereon, updating the map to indicate that the portion is to be cleaned. The operations further include, based on the map as updated, causing the robotic device to clean the portion of the particular stationary feature.

公开(公告)号：US20220118133A1

公开(公告)日：2022-04-21

申请号：US17450173

申请日：2021-10-07

Applicant: X Development LLC

Inventor： Eden Rephaeli ,  Guy Satat

IPC: A61L2/10 ,  G06K9/20 ,  G06K9/00

Abstract: A system includes a robotic device, an ultraviolet (UV) illuminator disposed on the robotic device, an image sensor disposed on the robotic device and configured to sense UV light, and circuitry configured to perform operations. The operations include causing the UV illuminator to emit the UV light towards a feature of an environment, and receiving, from the image sensor, UV image data representing the feature illuminated by the UV light. The operations also include identifying, based on the UV image data, a portion of the feature to be sanitized by the robotic device, and based on the identifying the portion, adjusting a parameter of the UV illuminator from a first value associated with UV imaging to a second value associated with UV sanitization. The operations further include causing the robotic device to sanitize the portion of the feature by emitting, by the UV illuminator, the UV light towards the portion.

公开(公告)号：US20220124260A1

公开(公告)日：2022-04-21

申请号：US17354908

申请日：2021-06-22

Applicant: X Development LLC

Inventor： Eden Rephaeli ,  Guy Satat ,  Abhinav Gupta ,  Hans Peter Brondmo

IPC: H04N5/33 ,  G06N20/00 ,  G06T7/80 ,  G06T3/40

Abstract: A system includes a color camera configured to detect visible light and ultraviolet (UV) light, a UV illuminator, and a processor configured to perform operations. The operations include causing the UV illuminator to emit UV light towards a portion of an environment and receiving, from the color camera, a color image that represents the portion illuminated by the emitted UV light and by visible light incident thereon. The operations also include determining a first extent to which UV light is attenuated in connection with pixels of the color camera that have a first color and a second extent to which UV light is attenuated in connection with pixels of the color camera that have a second color. The operations further include generating a UV image based on the color image, the first extent, and the second extent, and identifying a feature of the environment by processing the UV image.