公开(公告)号：US10466707B2

公开(公告)日：2019-11-05

申请号：US15851998

申请日：2017-12-22

Applicant: X Development LLC

Inventor： Kevin Taylor

IPC: G05D1/00 ,  G01S15/42 ,  G01S17/42 ,  G05D1/02

Abstract: An example method includes determining a path to be followed by a vehicle through an environment. The path includes an ordered sequence of positions. The method also includes determining an intersection between a first object in the environment and a first area planned to be occupied by the vehicle while moving along the path and, in response, sequentially testing the ordered sequence of positions to identify a first ordinal position in the ordered sequence of positions, where the first ordinal position corresponds to a second area planned to be occupied by the vehicle while moving along the path, and where the second area is within a threshold distance of the first object. The method further additionally includes trimming the path to remove (i) the first ordinal position and (ii) any positions subsequent thereto and causing the vehicle to stop at an end of the trimmed path.

公开(公告)号：US10466043B2

公开(公告)日：2019-11-05

申请号：US15608002

申请日：2017-05-30

Applicant: X Development LLC

Inventor： Kurt Konolige

IPC: G06K9/28 ,  G06T15/00 ,  G01B11/25 ,  H04N13/254 ,  H04N13/271 ,  B25J9/16 ,  G05D1/02 ,  G06K9/00 ,  G06T1/00 ,  G01B11/02 ,  G06T7/593 ,  G06T7/521 ,  H04N13/239 ,  G01B11/24 ,  H04N13/00

Abstract: Methods and systems for depth sensing are provided. A system includes a first and second optical sensor each including a first plurality of photodetectors configured to capture visible light interspersed with a second plurality of photodetectors configured to capture infrared light within a particular infrared band. The system also includes a computing device configured to (i) identify first corresponding features of the environment between a first visible light image captured by the first optical sensor and a second visible light image captured by the second optical sensor; (ii) identify second corresponding features of the environment between a first infrared light image captured by the first optical sensor and a second infrared light image captured by the second optical sensor; and (iii) determine a depth estimate for at least one surface in the environment based on the first corresponding features and the second corresponding features.

公开(公告)号：US10461854B2

公开(公告)日：2019-10-29

申请号：US16055801

申请日：2018-08-06

Applicant: X Development LLC

Inventor： Chiachi Wang

IPC: H04B10/11 ,  H04B10/2581 ,  H04J14/02 ,  H04B10/25 ,  H04B10/112 ,  H04B10/60 ,  H04B10/40 ,  H04B10/50

Abstract: A free space optical communication system transmits and receives optical signals in a colorless manner using an optical circulator. The system installs the optical circulator with a single mode (SM) fiber at port 1, a double clad (DC) fiber at port 2, and a multimode (MM) fiber at port 3. The system injects a first optical signal into a core of the SM fiber. The system then routes the first optical signal at port 1, using the optical circulator, into a SM core of the DC fiber via Port 2. Further, the system injects a second optical signal into a first cladding of the DC fiber. The system then routes the second optical signal at port 2, using the optical circulator, into the MM fiber via Port 3.

公开(公告)号：US10447899B2

公开(公告)日：2019-10-15

申请号：US15787656

申请日：2017-10-18

Applicant: X Development LLC

Inventor： Jeff Linnell

IPC: H04N5/222 ,  G06T15/20 ,  H04N13/398 ,  B25J11/00 ,  B25J9/16 ,  H04N13/363

Abstract: A system for motion control is presented. In one embodiment, a motion control 3D projection system includes a projector; and a projection surface coupled to a robotic arm, where the robotic arm moves the projection surface through a set of spatial coordinates, and a 3D projection from the projector is projected onto a set of coordinates of the projection surface and matches the 3D projection to the set of coordinates of the projection surface as the projection surface moves through the set of spatial coordinates. In additional embodiments, a master control system may integrate additional robotic arms and other devices to create a motion control scene with a master timeline.

公开(公告)号：US10430657B2

公开(公告)日：2019-10-01

申请号：US15376254

申请日：2016-12-12

Applicant: X Development LLC

Inventor： Munaf Assaf ,  May Wing-Sze Cheng

IPC: G06K9/00 ,  B25J19/02 ,  G05D1/02 ,  B25J9/16 ,  G06F3/0482

Abstract: The subject matter of this specification generally relates to object recognition for robots. In some implementations, a method includes navigating a robot through an area to identify objects located in the area. The robot detects the presence of the objects in the area using one or more sensors. A determination is made that an object detected by the robot is not recognized by the robot. In response to determining that the object is not recognized by the robot, a user interface that includes data describing the object that is not recognized is provided. The user interface can be configured to receive user input that identifies the object. In response to interaction with the user interface, data identifying the object is received. A database for the robot is updated with the data identifying the object.

公开(公告)号：US10370136B1

公开(公告)日：2019-08-06

申请号：US15810586

申请日：2017-11-13

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Matthew Bitterman ,  Tobias Kinnebrew

IPC: G06F7/00 ,  B65B59/02 ,  B65B55/00 ,  B65B35/10

Abstract: Example methods and systems are disclosed for on-demand packaging of one or more items. According to one example, a method can include receiving an order for the item(s) and determining characteristic-information for the item(s) using a computer system. The characteristic-information includes an indication of at least a size and a shape of the item(s). The method also includes processing the characteristic-information based on design criteria to determine an arrangement of the item(s) within at least one container volume, and a configuration for a protective structure to hold the item(s) in the arrangement within the container volume(s). The method can further include, in response to the processing the characteristic-information, forming the protective structure according to the configuration, placing the item(s) into the protective structure according to the arrangement, and placing the protective structure and the item(s) in the container volume(s).

公开(公告)号：US20190228224A1

公开(公告)日：2019-07-25

申请号：US16218305

申请日：2018-12-12

Applicant: X Development LLC

Inventor： Cheng-en Guo ,  Jie Yang ,  Elliott Grant

IPC: G06K9/00 ,  G06N7/00 ,  G06N3/08 ,  G06T7/174 ,  G06N20/20

Abstract: In embodiments, obtaining a plurality of image sets associated with a geographical region and a time period, wherein each image set of the plurality of image sets comprises multi-spectral and time series images that depict a respective particular portion of the geographical region during the time period, and predicting one or more crop types growing in each of particular locations within the particular portion of the geographical region associated with an image set of the plurality of image sets. Determining a crop type classification for each of the particular locations based on the predicted one or more crop types for the respective particular locations, and generating a crop indicative image comprising at least one image of the multi-spectral and time series images of the image set overlaid with indications of the crop type classification determined for the respective particular locations.

公开(公告)号：US10353388B2

公开(公告)日：2019-07-16

申请号：US15295995

申请日：2016-10-17

Applicant: X Development LLC

Inventor： Martin Schubert ,  Michael Grundmann ,  Clifford Biffle ,  Philip Watson

IPC: G05D1/04 ,  G05D1/00 ,  G05D1/10 ,  G06N7/00 ,  B64C39/02 ,  G01C21/00 ,  G05D1/06 ,  G08G5/00 ,  G08G5/02 ,  G01C21/20

Abstract: An example method may include receiving, from a client computing device, an indication of a target drop-off spot for an object within a first virtual model of a first region of a delivery destination. A second virtual model of a second region of the delivery destination may be determined based on sensor data received from one or more sensors on a delivery vehicle. A mapping may be determined between physical features represented in the first virtual model and physical features represented in the second virtual model to determine an overlapping region between the first and second virtual models. A position of the target drop-off spot within the second virtual model may be determined based on the overlapping region. Based on the position of the target drop-off spot within the second virtual model, the delivery vehicle may be navigated to the target drop-off spot to drop off the object.

公开(公告)号：US20190193828A1

公开(公告)日：2019-06-27

申请号：US15850612

申请日：2017-12-21

Applicant: LOON LLC

Inventor： Sameera S. Ponda ,  Salvatore J. Candido ,  Jacob Roberts

IPC: B64B1/70 ,  B64B1/44 ,  B64B1/62

CPC classification number: B64B1/70 ,  B64B1/44 ,  B64B1/62

Abstract: A system for controlling an aerial vehicle includes an aerial vehicle, a ballast coupled to the aerial vehicle, a server including a processor and a memory, and a wireless communication link that communicatively couples the aerial vehicle and the server. the memory stores instructions that, when executed by the processor, cause the server to receive weather data, determine, based on the weather data, that the aerial vehicle is experiencing, or is expected to experience, weather that satisfies a predetermined criterion, and cause the aerial vehicle to decouple at least a portion of the ballast based on a result of the determination.

公开(公告)号：US10330182B2

公开(公告)日：2019-06-25

申请号：US15341475

申请日：2016-11-02

Applicant: X Development LLC

Inventor： Aaron Edsinger ,  Philip Mullins

IPC: G05G11/00 ,  F16H19/08 ,  F16H48/12 ,  F16H7/12 ,  B25J9/10 ,  F16H7/02 ,  F16H19/00

Abstract: An example robot actuator utilizing a differential pulley transmission is provided. As an example, a differential pulley actuator includes input drive gears for coupling to a motor and timing pulleys coupled together through the input drive gears. Rotation of the input drive gears causes rotation of a first timing pulley in a first direction and rotation of a second timing pulley in a second direction opposite the first direction. The actuator also includes multiple idler pulleys suspended between the timing pulleys and the output pulley, and the multiple idler pulleys are held in tension between the timing pulleys via a first tension-bearing element and the output pulley via a second tension-bearing element. The first tension-bearing element loops around the timing pulleys and the multiple idler pulleys. The output pulley couple to a load, and is configured to apply motion of the multiple idler pulleys to the load.