公开(公告)号：US20180307941A1

公开(公告)日：2018-10-25

申请号：US15727726

申请日：2017-10-09

Applicant: X Development LLC

Inventor： Dirk Holz ,  Troy Straszheim

IPC: G06K9/62 ,  G01C21/20

CPC classification number: G06K9/6214 ,  B66F9/00 ,  B66F9/0755 ,  G01C21/20 ,  G01C21/206 ,  G05D1/024 ,  G05D1/0244 ,  G05D1/0274 ,  G05D2201/0216 ,  G06T2207/30244 ,  G06T2207/30248 ,  G06T2207/30252

Abstract: Examples relate to simultaneous localization and calibration. An example implementation may involve receiving sensor data indicative of markers detected by a sensor on a vehicle located at vehicle poses within an environment, and determining a pose graph representing the vehicle poses and the markers. For instance, the pose graph may include edges associated with a cost function representing a distance measurement between matching marker detections at different vehicle poses. The distance measurement may incorporate the different vehicle poses and a sensor pose on the vehicle. The implementation may further involve determining a sensor pose transform representing the sensor pose on the vehicle that optimizes the cost function associated with the edges in the pose graph, and providing the sensor pose transform. In further examples, motion model parameters of the vehicle may be optimized as part of a graph-based system as well or instead of sensor calibration.

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.

公开(公告)号：US09498887B1

公开(公告)日：2016-11-22

申请号：US14340398

申请日：2014-07-24

Applicant: X Development LLC

Inventor： John Zevenbergen ,  Ethan Rublee ,  Kurt Konolige ,  Troy Straszheim

IPC: B25J15/06 ,  B65G59/04

CPC classification number: B25J15/0616 ,  B25J15/0052 ,  B65G47/918 ,  B65G59/04 ,  B65G2203/042

Abstract: An example two-faced linearly actuated suction gripper includes a first gripping surface having one or more first suction cups arranged to provide suction in a first direction. The suction gripper also includes a second gripping surface comprising one or more second suction cups arranged to provide suction in a second direction which is perpendicular to the first direction. The suction gripper further includes a linear actuator configured to provide movement of the second gripping surface parallel to the second direction towards a face of an object. The suction gripper includes a sensor configured to generate data indicating that the face of the object is adjacent to the second gripping surface; and an engageable brake that, when engaged, stops the movement of the linear actuator in response to the data from the sensor indicating that the second gripping surface is adjacent to the face of the object.

Abstract translation: 一个示例性的双面线性致动吸力夹持器包括具有一个或多个第一吸盘的第一夹紧表面，该第一吸盘布置成在第一方向上提供吸力。 抽吸夹持器还包括第二抓握表面，其包括一个或多个第二吸盘，其布置成在垂直于第一方向的第二方向上提供吸力。 抽吸夹持器还包括线性致动器，该线性致动器被配置为提供平行于第二方向的第二夹持表面朝向物体的表面的运动。 抽吸夹持器包括：传感器，被配置为产生指示物体的表面与第二夹持表面相邻的数据; 以及可接合的制动器，当接合时，响应于来自传感器的指示第二夹持表面与物体的表面相邻的数据，停止线性致动器的运动。