公开(公告)号：US10245731B2

公开(公告)日：2019-04-02

申请号：US15892008

申请日：2018-02-08

Applicant: X Development LLC

Inventor： Jeffrey Linnell

IPC: G06F19/00 ,  B25J9/16 ,  G05B19/427

Abstract: An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

公开(公告)号：US09925669B2

公开(公告)日：2018-03-27

申请号：US15242875

申请日：2016-08-22

Applicant: X Development LLC

Inventor： Jeffrey Linnell

IPC: G06F19/00 ,  B25J9/16 ,  G05B19/427

CPC classification number: B25J9/1697 ,  B25J9/1664 ,  G05B19/427 ,  G05B2219/36442 ,  G05B2219/37563 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47

Abstract: An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

公开(公告)号：US20180050454A1

公开(公告)日：2018-02-22

申请号：US15798719

申请日：2017-10-31

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: B25J13/06

CPC classification number: B25J13/065 ,  B25J13/025 ,  B25J19/06 ,  G05B2219/35438

Abstract: Example implementations may relate to a computing device configured to operate a robotic system. In particular, the device receives input data that is generated by a hand-holdable controller including a knob, where the knob includes touch sensors arranged to detect touch on surfaces of the knob. Based on the input data, the device detects that the controller is within a first threshold distance from a first component of the robotic system and responsively operates the first component of the robotic system based on the input data. The device then receives subsequent input data that is generated by the controller. Based on the subsequent input data, the device subsequently detects that the controller is within a second threshold distance from a second component of the robotic system and responsively operates the second component of the robotic system based on the subsequent input data.

公开(公告)号：US09862099B1

公开(公告)日：2018-01-09

申请号：US14746076

申请日：2015-06-22

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: B25J13/02 ,  G06F3/01 ,  G06F3/041 ,  G06F3/0362 ,  B25J13/08 ,  B25J13/06

CPC classification number: B25J13/025 ,  B25J13/065 ,  B25J13/081 ,  B25J13/084 ,  G05B2219/35438 ,  G05B2219/35449 ,  G06F3/016 ,  G06F3/0362 ,  G06F3/041 ,  G06F2203/04104

Abstract: Example implementations may relate to a haptic hand-holdable controller. In particular, an example device may take the form of a haptic controller, which senses tactile information and provides force feedback for a more intuitive user experience. The force feedback may indicate a state of the device that is being controlled. An example haptic handheld controller may be utilized to manipulate data input to a robot, a tablet computer, and/or any other type of computing device. In an example embodiment, the haptic handheld controller may be such that the controller indicates to the user what manipulation of different types of data feels like, for example, by using operating modes for the haptic handheld controller where a motor varies feedback to the handheld controller.

公开(公告)号：US10509392B2

公开(公告)日：2019-12-17

申请号：US15708864

申请日：2017-09-19

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC: G05B19/409 ,  G05B19/42

Abstract: Example systems and methods allow for runtime control of robotic devices during a construction process. One example method includes determining at least one sequence of robot operations corresponding to at least one robot actor, causing the at least one robot actor to execute a portion of the at least one sequence of robot operations during a first time period, receiving an interrupt signal from a mobile computing device indicating a modification to the at least one sequence of robot operations, where the mobile computing device is configured to display a digital interface including one or more robot parameters describing the at least one robot actor and one or more tool parameters describing operating characteristics of at least one physical tool, and causing the at least one robot actor to execute a portion of the at least one modified sequence of robot operations during a second time period.

公开(公告)号：US10063818B1

公开(公告)日：2018-08-28

申请号：US15416468

申请日：2017-01-26

Applicant: X Development LLC

Inventor： Jeffrey Linnell

IPC: H04N9/31

CPC classification number: H04N9/3147 ,  G03B21/14 ,  H04N9/3155 ,  H04N9/3185 ,  H04N9/3188 ,  H04N9/3194

Abstract: Example embodiments may relate to methods and systems for providing a higher-resolution segment within a larger lower-resolution projection onto a projection surface. For example, the system may receive pose data corresponding to a viewing location relative to the projection surface. The system may then determine, based on the pose data, a target portion of an image frame of image data. As a result, the system may cause a first projector to project at least the target portion onto the projection surface and cause a second projector to project at least a remaining portion of the image frame of the image data onto the projection surface. The projections of the target portion and the remaining portion may collectively provide a complete projection of the image data on the projection surface and a projection-surface resolution of the target portion may be higher than a projection-surface resolution of the remaining portion.

公开(公告)号：US20180111273A1

公开(公告)日：2018-04-26

申请号：US15842883

申请日：2017-12-15

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: B25J13/02 ,  B25J13/08 ,  G06F3/0362 ,  G06F3/01 ,  G06F3/041 ,  B25J13/06

CPC classification number: B25J13/025 ,  B25J13/065 ,  B25J13/081 ,  B25J13/084 ,  G05B2219/35438 ,  G05B2219/35449 ,  G06F3/016 ,  G06F3/0362 ,  G06F3/041 ,  G06F2203/04104

Abstract: Example implementations may relate to a haptic hand-holdable controller. In particular, an example device may take the form of a haptic controller, which senses tactile information and provides force feedback for a more intuitive user experience. The force feedback may indicate a state of the device that is being controlled. An example haptic handheld controller may be utilized to manipulate data input to a robot, a tablet computer, and/or any other type of computing device. In an example embodiment, the haptic handheld controller may be such that the controller indicates to the user what manipulation of different types of data feels like, for example, by using operating modes for the haptic handheld controller where a motor varies feedback to the handheld controller.

公开(公告)号：US09873223B2

公开(公告)日：2018-01-23

申请号：US14523214

申请日：2014-10-24

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Brandon Kruysman ,  Jonathan Proto

IPC: B29C67/00 ,  B29C64/124 ,  B33Y10/00 ,  B33Y30/00 ,  B29C64/106 ,  B29C64/386 ,  B29K83/00 ,  B29K105/00

CPC classification number: B29C64/124 ,  B29C64/106 ,  B29C64/241 ,  B29C64/386 ,  B29K2083/00 ,  B29K2105/0058 ,  B33Y10/00 ,  B33Y30/00

Abstract: Example implementations may relate to shifting a curing location during a three-dimensional (3D) printing procedure. A system may control components of a 3D printer to form a first layer of the 3D structure from resin in a first area of a resin container. The components may include: (i) a base plate and (ii) light source(s) operable to emit radiation that cures resin. After formation of the first layer, the system may move the resin container with respect to the base plate such that a second layer of the 3D structure can be formed in a second area of the resin container. The second area and the first area may be at least partially non-overlapping. The system may then control the components of the 3D printer to form the second layer of the 3D structure from resin in the second area of the resin container.

公开(公告)号：US09808992B1

公开(公告)日：2017-11-07

申请号：US14463530

申请日：2014-08-19

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Jonathan Proto ,  Brandon Kruysman

IPC: B29C67/00

CPC classification number: B33Y30/00 ,  B29C64/135 ,  B29C64/176 ,  B29C64/245 ,  B33Y10/00 ,  Y10S901/02

Abstract: An example three-dimensional printer system includes (a) a resin container, (b) a base plate, (c) a light source arranged below the resin container, where the light source is operable to emit electromagnetic radiation that causes resin in the resin container to cure, (d) a robotic device having the base plate attached thereto, wherein the robotic device positions the base plate above the resin container and is operable to move the base plate with at least two degrees of freedom, such that a build volume of the three-dimensional printer system extends beyond the edges of the resin container, and (e) a control system that is operable to (i) receive data specifying a three-dimensional structure and (ii) generate control signals that coordinate movement of the base plate by the robotic device and operation of the light source to form the three-dimensional structure from layers of resin.

公开(公告)号：US09744665B1

公开(公告)日：2017-08-29

申请号：US15007558

申请日：2016-01-27

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: B25J9/10 ,  B25J9/16

CPC classification number: B25J5/007 ,  B25J9/0084 ,  B25J13/089 ,  G05D1/028 ,  G05D1/0291 ,  G05D2201/0207 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/46

Abstract: Example implementations may relate to optimization of observer robot locations. In particular, a control system may detect an event that indicates desired relocation of observer robots within a worksite. Each such observer robot may have respective sensor(s) configured to provide information related to respective positions of a plurality of target objects within the worksite. Responsively, the control system may (i) determine observer robot locations within the worksite at which one or more of the respective sensors are each capable of providing information related to respective positions of one or more of the plurality of target objects and (ii) determine a respectively intended level of positional accuracy for at least two respective target objects. Based on the respectively intended levels of positional accuracy, the control system may select one or more of the observer robot locations and may direct one or more observer robots to relocate to the selected locations.