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    Pallet-Conveyor System
    13.
    发明申请
    Pallet-Conveyor System 审中-公开

    公开(公告)号：US20180118462A1

    公开(公告)日：2018-05-03

    申请号：US15854545

    申请日：2017-12-26

    Applicant: X Development LLC

    Inventor： John Zevenbergen

    IPC: B65G1/04 ,  B65G1/137 ,  G06Q10/08

    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.

    Safety System for Integrated Human/Robotic Environments
    15.
    发明申请
    Safety System for Integrated Human/Robotic Environments 审中-公开

    公开(公告)号：US20170144307A1

    公开(公告)日：2017-05-25

    申请号：US14951479

    申请日：2015-11-24

    Applicant: X Development LLC

    Inventor： Ethan Rublee ,  John Zevenbergen

    IPC: B25J9/16 ,  B25J19/02

    CPC classification number: B25J9/1676 ,  B25J9/1694 ,  B25J19/02 ,  B25J19/021 ,  G05B2219/40202 ,  G05D1/0289 ,  G05D2201/0216 ,  Y10S901/09

    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.

    Visually Indicating Vehicle Caution Regions
    16.
    发明申请
    Visually Indicating Vehicle Caution Regions 审中-公开

    公开(公告)号：US20200254925A1

    公开(公告)日：2020-08-13

    申请号：US16862070

    申请日：2020-04-29

    Applicant: X Development LLC

    Inventor： John Zevenbergen ,  Robert Holmberg ,  Mark Fischer

    IPC: B60Q1/50 ,  G01C21/20 ,  G01C21/34 ,  G05D1/02

    Abstract: An example system includes a vehicle, a light projector connected to the vehicle, and a control system. The control system is configured to determine a planned operating region for the vehicle within an environment. The control system is also configured to determine that the planned operating region is within a threshold distance of an object within the environment and, in response, determine a caution region to illuminate with the light projector near the object. The control system is further configured to cause the light projector to project an indication of the caution region near the object. The projected indication remains fixed in relation to the object as the vehicle moves toward the planned operating region.

    Visually Indicating Vehicle Caution Regions
    17.
    发明申请
    Visually Indicating Vehicle Caution Regions 审中-公开

    公开(公告)号：US20190193629A1

    公开(公告)日：2019-06-27

    申请号：US15854850

    申请日：2017-12-27

    Applicant: X Development LLC

    Inventor： John Zevenbergen ,  Robert Holmberg ,  Mark Fischer

    IPC: B60Q1/50 ,  G01C21/20 ,  G01C21/34 ,  G05D1/02

    Abstract: An example system includes a vehicle, a light projector connected to the vehicle, and a control system. The control system is configured to determine a planned operating region for the vehicle within an environment. The control system is also configured to determine that the planned operating region is within a threshold distance of an object within the environment and, in response, determine a caution region to illuminate with the light projector near the object. The control system is further configured to cause the light projector to project an indication of the caution region near the object. The projected indication remains fixed in relation to the object as the vehicle moves toward the planned operating region.

    Systems and methods for generating and displaying a 3D model of items in a warehouse
    18.
    发明授权
    Systems and methods for generating and displaying a 3D model of items in a warehouse 有权

    公开(公告)号：US10122995B2

    公开(公告)日：2018-11-06

    申请号：US15273465

    申请日：2016-09-22

    Applicant: X Development LLC

    Inventor： Ethan Rublee ,  John Zevenbergen

    IPC: H04N13/279 ,  G06K9/00 ,  G06K9/62 ,  G06T17/00 ,  G06T19/00

    Abstract: An example method involves receiving, from at least one camera located in an environment, a plurality of images captured during a first time interval. The method also involves selecting one or more of the plurality of images having a movable platform supporting one or more objects. The method further involves generating a three-dimensional model of the movable platform supporting the one or more objects. The method yet further involves updating the three-dimensional model based on one or more images captured during a second time interval. The method still further involves presenting the three-dimensional model via a display of a user interface, and providing an option to view a history of the three-dimensional model such that the three-dimensional model remains in a fixed position on the display during a viewing of the history.

    Localization of a Mobile System
    19.
    发明申请
    Localization of a Mobile System 有权

    公开(公告)号：US20170361465A1

    公开(公告)日：2017-12-21

    申请号：US15187582

    申请日：2016-06-20

    Applicant: X Development LLC

    Inventor： John Zevenbergen

    IPC: B25J9/16

    CPC classification number: B25J9/1676 ,  G05B2219/40202

    Abstract: Systems and methods related to localizing mobile robotic devices are provided. A control system can receive a request for a particular mobile robotic device (PMRD) to travel between a first area and a cell area. After receiving the request, the control system can disable a presence sensor detecting objects traveling between the first area and the cell area. The control system can receive, from one or more identification sensors, sensor data identifying a mobile robotic device that has moved into the cell area based on identifiers of the mobile robotic device. The control system can verify that sensor data indicates the PMRD is in the cell area. After verifying that the PMRD is in the cell area, the control system can: disable the PMRD, enable the presence sensor, and indicate that the PMRD is disabled in the cell area.

    Heterogeneous Fleet of Robots for Collaborative Object Processing
    20.
    发明申请
    Heterogeneous Fleet of Robots for Collaborative Object Processing 有权

    公开(公告)号：US20170308096A1

    公开(公告)日：2017-10-26

    申请号：US15649080

    申请日：2017-07-13

    Applicant: X Development LLC

    Inventor： Stefan Nusser ,  Troy Straszheim ,  John Zevenbergen ,  Ethan Rublee

    IPC: G05D1/02 ,  B65G1/137 ,  B65G57/03

    CPC classification number: G05D1/0287 ,  B65G1/137 ,  B65G57/03 ,  G05B19/00 ,  G05D1/0297 ,  G05D2201/0216 ,  Y10S901/01

    Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.

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