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公开(公告)号：US10773387B2
公开(公告)日：2020-09-15
申请号：US16133414
申请日：2018-09-17
Applicant: X Development LLC
Inventor： Ethan Rublee , John Zevenbergen
Abstract: Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.
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公开(公告)号：US10087000B2
公开(公告)日：2018-10-02
申请号：US15854545
申请日：2017-12-26
Applicant: X Development LLC
Inventor： John Zevenbergen
Abstract: Example pallet-conveyor systems may include a conveyor system configured with a delivery track arranged to move pallets to a delivery area, a recirculation loop, and a diverter mechanism. The system may include a computing system that selects an item for the recirculation loop based on future demand and causes a robotic device to maintain pallets of the selected item in the recirculation loop. The computing system may further receive an item request and determine that a requested item is available from the recirculation loop and responsively cause the diverter mechanism to divert the requested item from the recirculation loop to the delivery track. The computing system may also cause robotic devices to obtain and load pallets of remaining requested items onto the conveyer system for the delivery area, and cause pickers to remove one or more items from pallets at the delivery area in order to fulfill the item request.
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公开(公告)号：US20180081369A1
公开(公告)日：2018-03-22
申请号：US15629343
申请日：2017-06-21
Applicant: X Development LLC
Inventor： Mark Fischer , John Zevenbergen
CPC classification number: G05D1/0231 , B66F9/063 , B66F9/0755 , G01S7/4802 , G01S17/08 , G01S17/42 , G05D1/024 , G05D2201/0216 , Y10S901/01
Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.
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公开(公告)号：US09688489B1
公开(公告)日：2017-06-27
申请号：US14672302
申请日：2015-03-30
Applicant: X Development LLC
Inventor： John Zevenbergen , Stefan Nusser , Troy Straszheim
IPC: B65G67/02 , B65G67/24 , B65G69/24 , B65G67/20 , B25J11/00 , B25J19/06 , B25J13/06 , B25J19/02 , B65G67/08
CPC classification number: B65G67/02 , B25J11/00 , B65G61/00 , B65G67/08 , B65G67/20 , B65G69/24 , Y10S901/02
Abstract: An example apparatus includes an enclosed rectangular container, including an openable first end and an openable second end. The apparatus further includes at least one first supporting base positioned proximate to the first end of the container that has an adjustable height in order to align a floor of the container with a trailer. The apparatus also includes at least one second supporting base positioned proximate to the second end of the container that has an adjustable height in order to align the floor of the container with a loading dock. The apparatus additionally includes a robotic manipulator connected to the floor of the container that is configured to move one or more objects between the trailer and the loading dock by moving the one or more objects through the container when the first end and the second end of the container are opened.
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公开(公告)号：US20200078938A1
公开(公告)日：2020-03-12
申请号：US16687106
申请日：2019-11-18
Applicant: X Development LLC
Inventor： Gary Bradski , Steve Croft , Kurt Konolige , Ethan Rublee , Troy Straszheim , John Zevenbergen , Stefan Hinterstoisser , Hauke Strasdat
IPC: B25J9/16 , G06T7/55 , G06K9/62 , G06K9/32 , G06K9/00 , B25J19/00 , G06T19/00 , B65G41/00 , B25J5/00 , B25J9/00 , H04N5/33 , G06T7/60 , G06K9/52 , G06K9/46 , G01B11/25 , B65G47/50 , B65G47/46 , B25J19/02 , H04N13/239 , G06T17/00 , G06T7/13 , G06T7/593 , G06T7/529
Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.
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Patent Agency Ranking
公开(公告)号：US10518410B2
公开(公告)日：2019-12-31
申请号：US15968323
申请日：2018-05-01
Applicant: X Development LLC
Inventor： Gary Bradski , Steve Croft , Kurt Konolige , Ethan Rublee , Troy Straszheim , John Zevenbergen , Stefan Hinterstoisser , Hauke Strasdat
IPC: G05B19/18 , G05B19/04 , B25J9/16 , G06T7/529 , G06T7/593 , G06T7/13 , G06T17/00 , G06K9/00 , H04N13/239 , B25J19/02 , B65G47/46 , B65G47/50 , G01B11/25 , G06K9/46 , G06K9/52 , G06T7/60 , H04N5/33 , B25J9/00 , B25J5/00 , B65G41/00 , G06T19/00 , B25J19/00 , G06K9/32 , G06K9/62 , B65G61/00 , B65H67/06 , H04N13/00
Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.
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公开(公告)号：US20180243904A1
公开(公告)日：2018-08-30
申请号：US15968323
申请日：2018-05-01
Applicant: X Development LLC
Inventor： Gary Bradski , Steve Croft , Kurt Konolige , Ethan Rublee , Troy Straszheim , John Zevenbergen , Stefan Hinterstoisser , Hauke Strasdat
Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.
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公开(公告)号：US10007266B2
公开(公告)日：2018-06-26
申请号：US15629343
申请日：2017-06-21
Applicant: X Development LLC
Inventor： Mark Fischer , John Zevenbergen
CPC classification number: G05D1/0231 , B66F9/063 , B66F9/0755 , G01S7/4802 , G01S17/08 , G01S17/42 , G05D1/024 , G05D2201/0216 , Y10S901/01
Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.
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公开(公告)号：US09908696B1
公开(公告)日：2018-03-06
申请号：US15259783
申请日：2016-09-08
Applicant: X Development LLC
Inventor： John Zevenbergen
CPC classification number: B65G1/0492 , B65G1/1373 , G06Q10/087 , Y10S901/01
Abstract: Example pallet-conveyor systems may include a conveyor system configured with a delivery track arranged to move pallets to a delivery area, a recirculation loop, and a diverter mechanism. The system may include a computing system that selects an item for the recirculation loop based on future demand and causes a robotic device to maintain pallets of the selected item in the recirculation loop. The computing system may further receive an item request and determine that a requested item is available from the recirculation loop and responsively cause the diverter mechanism to divert the requested item from the recirculation loop to the delivery track. The computing system may also cause robotic devices to obtain and load pallets of remaining requested items onto the conveyer system for the delivery area, and cause pickers to remove one or more items from pallets at the delivery area in order to fulfill the item request.
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公开(公告)号：US20210197382A1
公开(公告)日：2021-07-01
申请号：US17182796
申请日：2021-02-23
Applicant: X Development LLC
Inventor： Ethan Rublee , John Zevenbergen
Abstract: Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.
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