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公开(公告)号：US09561794B2
公开(公告)日：2017-02-07
申请号：US15148055
申请日：2016-05-06
Applicant: X Development LLC
Inventor： Kevin William Watts
CPC classification number: G05D1/0223 , B60K31/00 , B60P3/00 , B60W30/04 , B60W2300/12 , B60W2300/121 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2530/10 , B60W2550/404 , B60W2720/10 , B60W2720/14 , B60Y2200/80 , B66F9/063 , B66F17/003 , G05D1/0011 , G05D1/0027 , G05D1/0038 , G05D1/0044 , G05D1/0214 , G05D2201/0216
Abstract: Example systems and methods are disclosed for implementing vehicle operation limits to prevent vehicle load failure during vehicle teleoperation. The method may include receiving sensor data from sensors on a vehicle that carries a load. The vehicle may be controlled by a remote control system. The load weight and dimensions may be determined based on the sensor data. In order to prevent a vehicle load failure, a forward velocity limit and an angular velocity limit may be calculated. Vehicle load failures may include the vehicle tipping over, the load tipping over, the load sliding off of the vehicle, or collisions. The vehicle carrying the load may be restricted from exceeding the forward velocity limit and/or the angular velocity limit during vehicle operation. The remote control system may display a user interface indicating to a remote operator the forward velocity limit and the angular velocity limit.
Abstract translation: 公开了用于实现车辆操作限制的示例系统和方法，以防止车辆远程操作期间的车辆负载故障。 该方法可以包括从携带负载的车辆上的传感器接收传感器数据。 车辆可以由遥控系统控制。 负载重量和尺寸可以根据传感器数据确定。 为了防止车辆负载故障，可以计算向前速度极限和角速度极限。 车辆负载故障可能包括车辆翻转，负载翻转，车辆滑落的负载或碰撞。 承载负载的车辆可以限制在车辆操作期间超过前进速度极限和/或角速度极限。 遥控系统可以显示向远程操作员指示前进速度限制和角速度限制的用户界面。
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公开(公告)号：US20200012290A1
公开(公告)日：2020-01-09
申请号：US16576068
申请日：2019-09-19
Applicant: X Development LLC
Inventor： Kevin William Watts
Abstract: Example systems and methods are disclosed for implementing vehicle operation limits to prevent vehicle load failure during vehicle teleoperation. The method may include receiving sensor data from sensors on a vehicle that carries a load. The vehicle may be controlled by a remote control system. The load weight and dimensions may be determined based on the sensor data. In order to prevent a vehicle load failure, a forward velocity limit and an angular velocity limit may be calculated. Vehicle load failures may include the vehicle tipping over, the load tipping over, the load sliding off of the vehicle, or collisions. The vehicle carrying the load may be restricted from exceeding the forward velocity limit and/or the angular velocity limit during vehicle operation. The remote control system may display a user interface indicating to a remote operator the forward velocity limit and the angular velocity limit.
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公开(公告)号：US10160114B2
公开(公告)日：2018-12-25
申请号：US15788391
申请日：2017-10-19
Applicant: X Development LLC
Inventor： Kevin William Watts
Abstract: Example implementations may relate to methods and systems for determining a safe trajectory for movement of an object by a robotic system. According to these various implementations, the robotic system may determine at least first and second candidate trajectories for moving the object. For at least a first point along the first candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the first point along the first candidate trajectory. And for at least a second point along the second candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the second point along the second candidate trajectory. Then, based on these various determined predicted costs, the robotic system may select between the first and second candidates trajectories and may then move the object along the selected trajectory.
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公开(公告)号：US20180329425A1
公开(公告)日：2018-11-15
申请号：US16045145
申请日：2018-07-25
Applicant: X Development LLC
Inventor： Kevin William Watts
CPC classification number: G05D1/0268 , B66F9/063 , B66F9/0755 , G05D1/0212 , G05D1/0225 , G05D1/0231 , G05D1/0297 , G05D2201/0216
Abstract: An example method includes receiving instructions to pick up an object with one or more lift elements of an autonomous vehicle. Based on a current positioning of the vehicle, the method further includes identifying the object to be picked up and a particular side of the object under which to place the one or more lift elements of the vehicle. The method additionally includes determining an approach path toward the object for the vehicle to follow to place the lift elements of the vehicle under the particular side of the object. The method further includes causing the vehicle to move along the determined approach path toward the object. The method additionally includes determining that the lift elements of the vehicle are placed under the particular side of the object. The method also includes causing the vehicle to lift the object with the lift elements.
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公开(公告)号：US20180056512A1
公开(公告)日：2018-03-01
申请号：US15788391
申请日：2017-10-19
Applicant: X Development LLC
Inventor： Kevin William Watts
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/1612 , B25J9/1664 , G05B2219/39266 , G05B2219/39289 , G05B2219/40465
Abstract: Example implementations may relate to methods and systems for determining a safe trajectory for movement of an object by a robotic system. According to these various implementations, the robotic system may determine at least first and second candidate trajectories for moving the object. For at least a first point along the first candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the first point along the first candidate trajectory. And for at least a second point along the second candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the second point along the second candidate trajectory. Then, based on these various determined predicted costs, the robotic system may select between the first and second candidates trajectories and may then move the object along the selected trajectory.
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Patent Agency Ranking
16.发明授权公开(公告)号：US09802317B1
公开(公告)日：2017-10-31
申请号：US14695166
申请日：2015-04-24
Applicant: X Development LLC
Inventor： Kevin William Watts , Ethan Rublee , Kyle Lutz , Hauke Malte Strasdat
IPC: G05B19/04 , B25J9/16 , G05B19/402
CPC classification number: B25J9/1687 , B25J9/1676 , B25J9/1679 , B25J9/1697 , G05B19/402 , G05B2219/40006 , G05B2219/40067
Abstract: Methods and systems for remote perception assistance to facilitate robotic object manipulation are provided herein. From a model of objects in an environment of a robotic manipulator, a virtual boundary line separating two adjacent identified virtual objects may be identified. The robotic manipulator may be configured to perform a task involving a manipulation of at least one object in the environment represented by the identified virtual objects. Based on the identifying, a request for remote assistance with verifying the virtual boundary line may be sent to a remote assistor device. A response to the request, including a modification to the virtual boundary line, may then be received from the remote assistor device. The robotic manipulator may then be caused to perform the task based on the modification to the virtual boundary line.
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公开(公告)号：US09561941B1
公开(公告)日：2017-02-07
申请号：US14673438
申请日：2015-03-30
Applicant: X Development LLC
Inventor： Kevin William Watts
CPC classification number: G05D1/0268 , B66F9/063 , B66F9/0755 , G05D1/0212 , G05D1/0225 , G05D1/0231 , G05D1/0297 , G05D2201/0216
Abstract: An example method includes receiving instructions to pick up an object with one or more lift elements of an autonomous vehicle. Based on a current positioning of the vehicle, the method further includes identifying the object to be picked up and a particular side of the object under which to place the one or more lift elements of the vehicle. The method additionally includes determining an approach path toward the object for the vehicle to follow to place the lift elements of the vehicle under the particular side of the object. The method further includes causing the vehicle to move along the determined approach path toward the object. The method additionally includes determining that the lift elements of the vehicle are placed under the particular side of the object. The method also includes causing the vehicle to lift the object with the lift elements.
Abstract translation: 示例性方法包括接收用自动车辆的一个或多个升降元件拾取对象的指令。 基于车辆的当前定位，该方法还包括识别要拾起的物体和放置车辆的一个或多个升降元件的物体的特定侧。 该方法还包括确定朝向物体的进近路径，以使车辆跟随以将车辆的升降元件放置在物体的特定侧面下方。 该方法还包括使车辆沿所确定的接近路径向着物体移动。 该方法还包括确定车辆的提升元件被放置在物体的特定侧面之下。 该方法还包括使车辆用提升元件抬起物体。
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公开(公告)号：US10061325B2
公开(公告)日：2018-08-28
申请号：US15389648
申请日：2016-12-23
Applicant: X Development LLC
Inventor： Kevin William Watts
CPC classification number: G05D1/0268 , B66F9/063 , B66F9/0755 , G05D1/0212 , G05D1/0225 , G05D1/0231 , G05D1/0297 , G05D2201/0216
Abstract: An example method includes receiving instructions to pick up an object with one or more lift elements of an autonomous vehicle. Based on a current positioning of the vehicle, the method further includes identifying the object to be picked up and a particular side of the object under which to place the one or more lift elements of the vehicle. The method additionally includes determining an approach path toward the object for the vehicle to follow to place the lift elements of the vehicle under the particular side of the object. The method further includes causing the vehicle to move along the determined approach path toward the object. The method additionally includes determining that the lift elements of the vehicle are placed under the particular side of the object. The method also includes causing the vehicle to lift the object with the lift elements.
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公开(公告)号：US20180107218A1
公开(公告)日：2018-04-19
申请号：US15841605
申请日：2017-12-14
Applicant: X Development LLC
Inventor： Kevin William Watts , Kurt Konolige
CPC classification number: G05D1/0088 , G01S17/88 , G05D1/0251 , G05D1/0276 , G05D2201/0216 , G06K9/00805
Abstract: An example method includes determining a target area of a ground plane in an environment of a mobile robotic device, where the target area of the ground plane is in front of the mobile robotic device in a direction of travel of the mobile robotic device. The method further includes receiving depth data from a depth sensor on the mobile robotic device. The method also includes identifying a portion of the depth data representative of the target area. The method additionally includes determining that the portion of the depth data lacks information representing at least one section of the target area. The method further includes providing an output signal identifying at least one zone of non-traversable space for the mobile robotic device in the environment, where the at least one zone of non-traversable space corresponds to the at least one section of the target area.
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公开(公告)号：US09945677B1
公开(公告)日：2018-04-17
申请号：US14807797
申请日：2015-07-23
Applicant: X Development LLC
Inventor： Kevin William Watts
CPC classification number: G01C21/34 , B25J9/1664 , G05D1/0276 , Y10S901/01
Abstract: Systems and methods are provided for automated route discovery. A computing device can receive location data for designated actor(s) of a plurality of actors operating within an environment. The plurality of actors can also include a robotic device. The computing device can determine a route network of paths taken by the designated actor(s) within the environment, where the route network includes information about frequencies of paths taken by the designated actor(s) based on the location data. The computing device can receive a starting location and a destination location for the robotic device. The computing device can select a selected path from the starting location to the destination location based on the route network taken by the designated actor(s). The computing device can provide an instruction to the robotic device to use the selected path to travel from the starting location to the destination location.
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