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公开(公告)号：US10144128B1
公开(公告)日：2018-12-04
申请号：US15673182
申请日：2017-08-09
Applicant: X Development LLC
Inventor： Michael Kolb , Jeff Linnell , Anthony Sean Jules
Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.
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公开(公告)号：US09840045B2
公开(公告)日：2017-12-12
申请号：US14588039
申请日：2014-12-31
Applicant: X Development LLC
Inventor： Jeff Linnell , Brandon Kruysman , Jonathan Proto
IPC: B29C67/00 , B33Y50/02 , B33Y10/00 , B33Y30/00 , B29C64/129 , B29C64/20 , B29C64/386 , B29L31/60
CPC classification number: B29C64/245 , B29C64/129 , B29C64/20 , B29C64/386 , B29L2031/608 , B33Y10/00 , B33Y30/00 , B33Y50/02
Abstract: An example system includes: (i) a resin container defining a cavity; (ii) a plurality of rods extending from an inner base surface of the resin container and into the cavity; (iii) a plurality of light sources arranged to emit radiation into the plurality of rods, such that when the cavity contains liquid resin, radiation passing through a given one of the rods cures liquid resin that surrounds the given rod; and (iv) a control system configured to: (a) receive data specifying a three-dimensional structure; (b) determine a shape for a layer of a plurality of layers that collectively form the three-dimensional structure; and (c) determine one or more of the light sources that correspond to the shape of the layer; and (d) form the layer by operating the one or more determined light sources that correspond to the shape of the layer.
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公开(公告)号：US09827713B1
公开(公告)日：2017-11-28
申请号：US14588082
申请日：2014-12-31
Applicant: X Development LLC
Inventor： Jeff Linnell , Brandon Kruysman , Jonathan Proto
IPC: B29C67/00 , B33Y10/00 , B33Y30/00 , B33Y70/00 , B29K105/00
CPC classification number: B29C64/386 , B29C64/124 , B29C64/393 , B29K2105/06 , B29K2995/0005 , B33Y10/00 , B33Y30/00 , B33Y40/00
Abstract: A 3D printing process may form a 3D object by alternatingly forming layers from a liquid resin and a solid. For instance, when printing a 3D object, the 3D printer may at least partially cure a layer of liquid resin, and before the curing of the resin is complete, dip the semi-cured resin into a vat containing graphene powder so as to create a super strong 3D object. As another example, each semi-cured resin layer could be pressed into a vat of fiberglass such that the fiberglass is coupled to the semi-cured resin. The resin may then be allowed to finish curing before the next layer of resin is formed. In other embodiments, this process could be used to embed sensors in 3D printed objects.
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公开(公告)号：US10987869B2
公开(公告)日：2021-04-27
申请号：US16458628
申请日：2019-07-01
Applicant: X Development LLC
Inventor： Jeff Linnell , Jonathan Proto , Brandon Kruysman , Steven Moody
IPC: B29C33/60 , B29C64/379 , B29C67/24 , B33Y10/00 , B33Y30/00 , B29C64/124 , B33Y50/02 , B29C64/245 , B29C64/393 , B29C64/286 , B29C64/129 , B29C33/00
Abstract: Described herein are three-dimensional (3D) printer systems and methods, which may provide for “continuous pull” 3D printing. An illustrative 3D printer includes: a resin container, a base plate, a light source arranged below the resin container and operable to cure resin in the resin container; and a control system operable to: (a) receive model data specifying a 3D structure; (b) determine 2D images corresponding to layers of the 3D object; and (c) generate control signals to operate the light source and the base plate to sequentially form the layers of the 3D object onto the base plate, wherein the base plate moves a formed portion of the 3D object upward after formation of each layer, and wherein at least a surface of a formed portion of the 3D object remains in contact with the resin in the resin container throughout the formation of the layers of the 3D object.
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公开(公告)号：US10882181B2
公开(公告)日：2021-01-05
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
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.
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Patent Agency Ranking
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.
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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
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).
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公开(公告)号：US20180297266A1
公开(公告)日：2018-10-18
申请号：US14574333
申请日：2014-12-17
Applicant: X Development LLC
Inventor： Jeff Linnell , Matthew Bitterman
Abstract: Example methods and systems are disclosed for on-demand packaging of one or more items. According to one example, a system includes a actuatable mold having a plurality of movable segments and at least one actuator coupled to the movable segments. The actuator(s) individually and independently move each of the movable segments between a plurality of positions, which determine a shape of a molding surface. At least one controller receives an input indicating a desired configuration of a protective structure and cause the actuator(s) to move one or more of the movable segments such that the shape of the molding surface corresponds to the desired configuration. While the moveable segments are positioned to provide the molding surface corresponding to the desired configuration of the protective structure, the controller(s) cause the packaging material to engage the molding surface to reshape the packaging material according to the molding surface.
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公开(公告)号：US20180029227A1
公开(公告)日：2018-02-01
申请号：US15222583
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
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.
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公开(公告)号：US09840347B1
公开(公告)日：2017-12-12
申请号：US14574201
申请日：2014-12-17
Applicant: X Development LLC
Inventor： Jeff Linnell , Matthew Bitterman
CPC classification number: B65B55/20 , B65B5/105 , B65B23/00 , B65B57/10 , B65B57/12 , B65B2210/04 , B65D81/051 , B65D81/09 , B65D81/113
Abstract: In response to a request to package item(s), embodiments determine characteristic data for the item(s), which include an indication of a volume of each item. Container(s) for packaging the item(s) is determined based at least on the volume of each item. An arrangement of the item(s) in the container(s) is determined. One or more protective structures including one or more features are configured to position the item(s) in the container(s) according to the arrangement. Relative positions are determined for a plurality of modular elements to form the one or more protective structures. Subsets of the plurality of modular elements are deposited to corresponding relative positions to form at least one of the protective structures. The item(s) are packaged in the container(s) with the one or more protective structures to position the item(s) in the container(s) in the arrangement.
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