公开(公告)号：US11153501B1

公开(公告)日：2021-10-19

申请号：US16804052

申请日：2020-02-28

Applicant: X Development LLC

Inventor： Emily Cooper ,  Chad Talbott

IPC: H04N5/235 ,  H04N5/243

Abstract: An example method includes determining, by a controller of an image capture system, a plurality of sets of exposure parameter values for one or more exposure parameters. The plurality of sets of exposure parameter values are determined at an exposure determination rate. The method further includes capturing, by an image capture device of the image capture system, a plurality of images. Each image of the plurality of images is captured according to a set of exposure parameter values of the plurality of sets of exposure parameter values. The method also includes sending, by the controller of the image capture system to an image processing unit, a subset of the plurality of images. Each subset of images is sent at a sampling rate, and the sampling rate is less than the exposure determination rate.

公开(公告)号：US10609294B2

公开(公告)日：2020-03-31

申请号：US15851901

申请日：2017-12-22

Applicant: X Development LLC

Inventor： Emily Cooper ,  Chad Talbott

IPC: H04N5/235 ,  H04N5/243

Abstract: An example method includes determining, by a controller of an image capture system, a plurality of sets of exposure parameter values for one or more exposure parameters. The plurality of sets of exposure parameter values are determined at an exposure determination rate. The method further includes capturing, by an image capture device of the image capture system, a plurality of images. Each image of the plurality of images is captured according to a set of exposure parameter values of the plurality of sets of exposure parameter values. The method also includes sending, by the controller of the image capture system to an image processing unit, a subset of the plurality of images. Each subset of images is sent at a sampling rate, and the sampling rate is less than the exposure determination rate.

公开(公告)号：US20190234819A1

公开(公告)日：2019-08-01

申请号：US16382661

申请日：2019-04-12

Applicant: X Development LLC

Inventor： Alex Shafer ,  Adam Reich ,  Emily Cooper

IPC: G01L5/16 ,  G01J1/04 ,  G01B11/14 ,  G01J1/42

CPC classification number: G01L5/16 ,  B25J13/085 ,  G01B11/026 ,  G01B11/14 ,  G01B11/26 ,  G01D5/30 ,  G01J1/04 ,  G01J1/4228 ,  G01L1/24 ,  G01L3/08 ,  G01L5/0038 ,  G01L5/0042 ,  G01L5/009 ,  G01L5/166

Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.

公开(公告)号：US10277842B1

公开(公告)日：2019-04-30

申请号：US15362861

申请日：2016-11-29

Applicant: X Development LLC

Inventor： Emily Cooper ,  Fengqiang Li

IPC: H04N5/335 ,  H04N5/355 ,  H04N5/235 ,  H04N13/243

Abstract: An example system includes a patterned light projector operable to direct first and second portions of patterned light toward first and second surfaces, respectively, in an environment. The first and second surfaces may be at first and second distances, respectively, from the structured light projector. A graduated optical filter may be situated along an optical path of the patterned light. The graduated optical filter includes first and second regions to attenuate an intensity of the first and second portions of the patterned light, respectively, by first and second amounts, respectively. The first amount is greater than the second amount. The system additionally includes an image sensor operable to generate image data based on at least the first and second portions of the patterned light and a processor configured to determine first and second values indicative of an estimate of the first and second distances, respectively, based on the image data.

公开(公告)号：US20230007157A1

公开(公告)日：2023-01-05

申请号：US17930928

申请日：2022-09-09

Applicant: X Development LLC

Inventor： Emily Cooper ,  Chad Talbott

IPC: H04N5/235

Abstract: An example method includes determining, by a controller of an image capture system, a plurality of sets of exposure parameter values for one or more exposure parameters. The plurality of sets of exposure parameter values are determined at an exposure determination rate. The method further includes capturing, by an image capture device of the image capture system, a plurality of images. Each image of the plurality of images is captured according to a set of exposure parameter values of the plurality of sets of exposure parameter values. The method also includes sending, by the controller of the image capture system to an image processing unit, a subset of the plurality of images. Each subset of images is sent at a sampling rate, and the sampling rate is less than the exposure determination rate.

公开(公告)号：US20220014662A1

公开(公告)日：2022-01-13

申请号：US17448481

申请日：2021-09-22

Applicant: X Development LLC

Inventor： Emily Cooper ,  Chad Talbott

IPC: H04N5/235

Abstract: An example method includes determining, by a controller of an image capture system, a plurality of sets of exposure parameter values for one or more exposure parameters. The plurality of sets of exposure parameter values are determined at an exposure determination rate. The method further includes capturing, by an image capture device of the image capture system, a plurality of images. Each image of the plurality of images is captured according to a set of exposure parameter values of the plurality of sets of exposure parameter values. The method also includes sending, by the controller of the image capture system to an image processing unit, a subset of the plurality of images. Each subset of images is sent at a sampling rate, and the sampling rate is less than the exposure determination rate.

公开(公告)号：US10274386B2

公开(公告)日：2019-04-30

申请号：US15187445

申请日：2016-06-20

Applicant: X Development LLC

Inventor： Alex Shafer ,  Adam Reich ,  Emily Cooper

IPC: G01L5/16 ,  G01J1/42 ,  G01J1/04 ,  G01B11/14

Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.

公开(公告)号：US20220003620A1

公开(公告)日：2022-01-06

申请号：US17475619

申请日：2021-09-15

Applicant: X Development LLC

Inventor： Alex Shafer ,  Adam Reich ,  Emily Cooper

IPC: G01L5/16 ,  G01J1/42 ,  G01J1/04 ,  G01B11/14 ,  G01L5/166 ,  G01B11/02 ,  G01L3/08 ,  G01L5/00 ,  G01B11/26 ,  G01L1/24 ,  B25J13/08 ,  G01D5/30

Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.

公开(公告)号：US11150152B2

公开(公告)日：2021-10-19

申请号：US16382661

申请日：2019-04-12

Applicant: X Development LLC

Inventor： Alex Shafer ,  Adam Reich ,  Emily Cooper

IPC: G01L5/16 ,  G01J1/42 ,  G01J1/04 ,  G01B11/14 ,  G01L5/166 ,  G01B11/02 ,  G01L3/08 ,  G01L5/00 ,  G01B11/26 ,  G01L1/24 ,  B25J13/08 ,  G01D5/30

Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.