公开(公告)号：US20180029235A1

公开(公告)日：2018-02-01

申请号：US15222568

申请日：2016-07-28

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans ,  Matthew Bitterman ,  Michael Scott Beardsworth

IPC: B25J9/16 ,  G05B17/02 ,  G05B19/4063

CPC classification number: B25J9/1692 ,  B25J9/1669 ,  B25J9/1687 ,  E04G21/22 ,  G05B17/02 ,  G05B19/4063 ,  G05B2219/39024 ,  G05B2219/45086

Abstract: A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

公开(公告)号：US20180004187A1

公开(公告)日：2018-01-04

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

CPC classification number: G05B19/409 ,  G05B19/42 ,  G05B2219/36056 ,  G05B2219/39432 ,  G05B2219/39443

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：US10967501B1

公开(公告)日：2021-04-06

申请号：US16182733

申请日：2018-11-07

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Marek Michalowski ,  Kendra Byrne ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/00 ,  B25J9/16 ,  B25J15/00

Abstract: Example implementations may relate to providing a dynamic jig in a three-dimensional (3D) coordinate system. Specifically, a control system may (i) receive task data specifying a manipulation of one or more parts at a specified location; (ii) determine: (a) one or more work surfaces and (b) a first position of each of the one or more work surfaces, such that the one or more work surfaces collectively provide a jig to facilitate the specified manipulation of the parts; (iii) a plurality of guide end effectors that are positionable by one or more robotic devices such that the end effectors provide the work surfaces at the respectively determined first positions; and (iv) operate the one or more robotic devices to position the guide end effectors to provide the one or more work surfaces at the respectively determined first positions, thereby forming the jig from the one or more work surfaces.

公开(公告)号：US10155273B1

公开(公告)日：2018-12-18

申请号：US15159549

申请日：2016-05-19

Applicant: X Development LLC

Inventor： Johan Jessen ,  Jeff Linnell ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman

IPC: B23D59/00 ,  G05B15/02 ,  B29C64/141 ,  B29C64/40 ,  B29C64/386 ,  B33Y10/00 ,  B33Y50/02

Abstract: Example implementations may relate to interactive object fabrication. In particular, a control system may receive model data defining a 3D shape of a physical object that is fabricable out of a substrate at a work site. The system may then direct a projection system to emit onto the substrate a projection illustrative of the 3D shape defined by the model data. Also, the system may transmit, to a robotic system, fabrication instructions that direct the robotic system to fabricate the physical object in accordance with the model data. subsequently, during fabrication of the physical object, the system may (i) receive progress data indicative of a portion of the physical object that has been fabricated from the substrate, and (ii) direct the projection system to update the projection of the 3D shape to remove a portion of the projection corresponding to the portion of the physical object that has been fabricated.

公开(公告)号：US11103997B2

公开(公告)日：2021-08-31

申请号：US16598655

申请日：2019-10-10

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC: G06F19/00 ,  B25J9/16

Abstract: Example systems and methods allow for use of a graphical interface to cause one or more robotic devices to construct an output product. One example method includes causing a graphical interface to be displayed on a display device, receiving input data corresponding to one or more interactions with the graphical interface indicating at least one motion path and at least one sequence of tool actions to execute at one or more points within the at least one motion path for use in construction of an output product, generating a plurality of digital nodes including at least one robot node, at least one motion command node, and at least one tool command node, and providing instructions for the at least one robot actor to move according to the sequence of robot motion commands determined by the at least one motion command node and execute the sequence of tool commands determined by the at least one tool command node to construct the output product.

公开(公告)号：US10987812B1

公开(公告)日：2021-04-27

申请号：US16154923

申请日：2018-10-09

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans ,  Matthew Bitterman ,  Michael Beardsworth

IPC: B25J9/16 ,  E04G21/22 ,  G05B19/4063 ,  G05B17/02

Abstract: A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

公开(公告)号：US20200174460A1

公开(公告)日：2020-06-04

申请号：US16705445

申请日：2019-12-06

Applicant: X Development LLC

Inventor： Kendra Byrne ,  Eli Reekmans ,  Stoyan Gaydarov ,  Marek Michalowski ,  Michael Beardsworth ,  Ryan Butterfoss ,  Ytai Ben-Tsvi

IPC: G05B19/418

Abstract: Disclosed herein is a worksite automation process that involves: generating a first sequence of tasks to build the product according to a model. The process further involves causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks. Further, during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks. Based on the analysis, determining that it is not feasible to complete the product by executing the first sequence of tasks, and in response, generating a second sequence of tasks to complete the product according to the model. Then, causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.

公开(公告)号：US20190184555A1

公开(公告)日：2019-06-20

申请号：US16251175

申请日：2019-01-18

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/16 ,  G05B17/02 ,  E04G21/22 ,  B25J13/08

CPC classification number: B25J9/163 ,  B25J9/1669 ,  B25J9/1671 ,  B25J9/1674 ,  B25J13/089 ,  E04G21/22 ,  G05B17/02 ,  G05B2219/45086

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

公开(公告)号：US09915937B2

公开(公告)日：2018-03-13

申请号：US15384273

申请日：2016-12-19

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Kendra Byrne

IPC: G05B19/418 ,  B25J9/16 ,  B25J18/00

CPC classification number: G05B19/41815 ,  B25J9/1656 ,  B25J9/1666 ,  B25J9/1682 ,  G05B2219/39083 ,  G05B2219/39135 ,  G05B2219/40475 ,  G05B2219/40477 ,  Y10S901/02

Abstract: Example systems and methods may allow for parallel operation of robotic devices within a workcell, such as industrial robots controlled to manufacture an output product. One example method includes receiving ordered sequences of operations for a plurality of corresponding robotic devices, determining time-based sequences of operations for each of the robotic devices, where a time-based sequence of operations indicates positions within the workcell at corresponding timesteps of a global timeline, determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell, modifying the time-based sequences of operations in order to prevent the one or more potential collisions, and providing instructions for parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.