公开(公告)号：US20200078938A1

公开(公告)日：2020-03-12

申请号：US16687106

申请日：2019-11-18

Applicant: X Development LLC

Inventor： Gary Bradski ,  Steve Croft ,  Kurt Konolige ,  Ethan Rublee ,  Troy Straszheim ,  John Zevenbergen ,  Stefan Hinterstoisser ,  Hauke Strasdat

IPC: B25J9/16 ,  G06T7/55 ,  G06K9/62 ,  G06K9/32 ,  G06K9/00 ,  B25J19/00 ,  G06T19/00 ,  B65G41/00 ,  B25J5/00 ,  B25J9/00 ,  H04N5/33 ,  G06T7/60 ,  G06K9/52 ,  G06K9/46 ,  G01B11/25 ,  B65G47/50 ,  B65G47/46 ,  B25J19/02 ,  H04N13/239 ,  G06T17/00 ,  G06T7/13 ,  G06T7/593 ,  G06T7/529

Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

公开(公告)号：US10518410B2

公开(公告)日：2019-12-31

申请号：US15968323

申请日：2018-05-01

Applicant: X Development LLC

Inventor： Gary Bradski ,  Steve Croft ,  Kurt Konolige ,  Ethan Rublee ,  Troy Straszheim ,  John Zevenbergen ,  Stefan Hinterstoisser ,  Hauke Strasdat

IPC: G05B19/18 ,  G05B19/04 ,  B25J9/16 ,  G06T7/529 ,  G06T7/593 ,  G06T7/13 ,  G06T17/00 ,  G06K9/00 ,  H04N13/239 ,  B25J19/02 ,  B65G47/46 ,  B65G47/50 ,  G01B11/25 ,  G06K9/46 ,  G06K9/52 ,  G06T7/60 ,  H04N5/33 ,  B25J9/00 ,  B25J5/00 ,  B65G41/00 ,  G06T19/00 ,  B25J19/00 ,  G06K9/32 ,  G06K9/62 ,  B65G61/00 ,  B65H67/06 ,  H04N13/00

Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

公开(公告)号：US20180243904A1

公开(公告)日：2018-08-30

申请号：US15968323

申请日：2018-05-01

Applicant: X Development LLC

Inventor： Gary Bradski ,  Steve Croft ,  Kurt Konolige ,  Ethan Rublee ,  Troy Straszheim ,  John Zevenbergen ,  Stefan Hinterstoisser ,  Hauke Strasdat

IPC: B25J9/16 ,  H04N13/239 ,  G06T7/529 ,  G06T7/13 ,  B25J9/00 ,  G06K9/52 ,  G01B11/25 ,  G06K9/46

Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

公开(公告)号：US10059006B2

公开(公告)日：2018-08-28

申请号：US15226353

申请日：2016-08-02

Applicant: X Development LLC

Inventor： Ethan Rublee

IPC: G05D1/02 ,  B25J9/16 ,  B25J19/02 ,  B65G59/02 ,  B05B13/04 ,  B25J13/08 ,  B25J11/00 ,  B05B12/12 ,  B65G61/00

CPC classification number: B25J9/1697 ,  B05B12/122 ,  B05B13/0431 ,  B25J11/0075 ,  B25J13/089 ,  B25J19/021 ,  B65G59/02 ,  B65G61/00 ,  B65G2203/041 ,  G05B2219/40298 ,  G05B2219/40543 ,  Y10S901/01 ,  Y10S901/43 ,  Y10S901/47

Abstract: Methods and systems for providing landmarks to facilitate robot localization and visual odometry are provided herein. At least one area of a physical environment in which a robotic device resides may be determined to include surfaces that lack sufficient discernable features to determine a location of the at least one area. Instructions may responsively be provided to the robotic device for the robotic device to provide a material in respective patterns onto one or more surfaces of the at least one area. Instructions can responsively be provided for the robotic device to provide the material in respective textures as well. The respective patterns or textures may include sufficient discernable features to determine a location of the at least one area, and the material may remain on the one or more surfaces for a predetermined period of time.

公开(公告)号：US09937621B2

公开(公告)日：2018-04-10

申请号：US15685500

申请日：2017-08-24

Applicant: X Development LLC

Inventor： John William Zevenbergen ,  Ethan Rublee

IPC: G06F19/00 ,  B25J9/16 ,  B25J5/00 ,  B25J19/00

CPC classification number: B25J9/1674 ,  B25J5/00 ,  B25J9/1664 ,  B25J19/005 ,  G05D1/0225 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/50

Abstract: An example method includes receiving, by a mobile robotic device, power from a battery of a first battery pack in order to operate within an environment. The method further includes establishing a first data channel between the mobile robotic device and the first battery pack. The method also includes using the first data channel to transfer sensor data acquired by the mobile robotic device during operation to a local data storage component of the first battery pack. The method additionally includes navigating, by the mobile robotic device, to a battery exchange station to transfer the first battery pack containing the battery and the local data storage component with the sensor data to the battery exchange station. The method further includes after transferring the first battery pack to the battery exchange station, receiving a second battery pack from the battery exchange station to continue operation within the environment.

公开(公告)号：US09870002B1

公开(公告)日：2018-01-16

申请号：US15257066

申请日：2016-09-06

Applicant: X Development LLC

Inventor： Robert Holmberg ,  Jared Russell ,  Ethan Rublee

IPC: G05D1/00 ,  G05B6/00 ,  B25J9/00 ,  G05B19/00 ,  G05B6/02 ,  B25J9/16 ,  G05B19/18

CPC classification number: G05D1/0088 ,  B25J9/162 ,  B25J9/1651 ,  G05B6/02 ,  G05B19/00 ,  G05B19/18 ,  G05B19/416 ,  G05B2219/42175 ,  G05D1/0223 ,  G05D2201/0216 ,  Y10S901/01

Abstract: An example system may include a motor, a position-controlled motor controller configured to drive the motor to a commanded position with a characteristic acceleration profile, and a control system. The control system may be configured to determine a target velocity for the motor. The control system may be additionally configured to determine a target position that, when commanded to the motor controller, is predicted to cause the motor controller to drive the motor with the target velocity at a target time point by driving the motor with the characteristic acceleration profile. Further, the control system may be configured to provide an instruction for execution by the position-controlled motor controller, the instruction may be configured to cause the motor controller to drive the motor to the target position.

公开(公告)号：US20210197382A1

公开(公告)日：2021-07-01

申请号：US17182796

申请日：2021-02-23

Applicant: X Development LLC

Inventor： Ethan Rublee ,  John Zevenbergen

IPC: B25J9/16 ,  G05D1/02 ,  G06Q10/06 ,  G06Q10/08 ,  B25J19/02

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.

公开(公告)号：US10671088B2

公开(公告)日：2020-06-02

申请号：US15595145

申请日：2017-05-15

Applicant: X Development LLC

Inventor： Kyle Lutz ,  Ethan Rublee

IPC: G05D1/02 ,  B25J9/16 ,  B25J9/00 ,  B25J19/02 ,  B25J5/00

Abstract: A control system may perform functions including (i) storing data indicating an association between an optical identifier and a first robot, (ii) sending, to the first robot, data encoding the optical identifier for display by the first robot, and (iii) after sending the data encoding the optical identifier, sending, to a second robot, the data indicating the association between the optical identifier and the first robot. In some examples, the first robot may receive, from the control system, data encoding a second optical identifier of the first robot so that the first robot may display the second optical identifier instead of the first optical identifier. In some examples, a first robot may capture an image of an indication of a priority status of a second robot and perform an action based on comparing a first priority status of the first robot to the second priority status of the second robot.

公开(公告)号：US10081106B2

公开(公告)日：2018-09-25

申请号：US14951479

申请日：2015-11-24

Applicant: X Development LLC

Inventor： Ethan Rublee ,  John Zevenbergen

IPC: B25J9/16 ,  B25J19/02 ,  G05D1/02

CPC classification number: B25J9/1676 ,  B25J9/1694 ,  B25J19/02 ,  B25J19/021 ,  G05B2219/39085 ,  G05B2219/40202 ,  G05B2219/40219 ,  G05B2219/43202 ,  G05B2219/49137 ,  G05B2219/49141 ,  G05D1/0289 ,  G05D2201/0216 ,  G06Q10/06 ,  G06Q10/08 ,  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.

公开(公告)号：US10048398B2

公开(公告)日：2018-08-14

申请号：US15338798

申请日：2016-10-31

Applicant: X Development LLC

Inventor： Robert Rose ,  Ethan Rublee

IPC: G01V3/02 ,  G05D1/02 ,  B66F9/06 ,  G01C22/00

Abstract: Example implementations may relate to accurate pallet insertion. An example system may include a forklifted configured with a base and a tine coupled to the base. The tine may include a first proximity sensor positioned on a first side of the tine and a second proximity sensor positioned on a second side of the tine. The system may also include a computing system configured to receive, from the first sensor and the second sensor, sensor data indicative of proximity of the tine relative to opposing surfaces of a pocket of a pallet and navigate the forklift relative to the pallet based on the sensor data.