-
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
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。
-
公开(公告)号：US10946524B2
公开(公告)日：2021-03-16
申请号：US16986653
申请日：2020-08-06
Applicant: X Development LLC
Inventor： Ethan Rublee , John Zevenbergen
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：US10676022B2
公开(公告)日：2020-06-09
申请号：US15854850
申请日：2017-12-27
Applicant: X Development LLC
Inventor： John Zevenbergen , Robert Holmberg , Mark Fischer
Abstract: An example system includes a vehicle, a light projector connected to the vehicle, and a control system. The control system is configured to determine a planned operating region for the vehicle within an environment. The control system is also configured to determine that the planned operating region is within a threshold distance of an object within the environment and, in response, determine a caution region to illuminate with the light projector near the object. The control system is further configured to cause the light projector to project an indication of the caution region near the object. The projected indication remains fixed in relation to the object as the vehicle moves toward the planned operating region.
-
公开(公告)号：US20190030717A1
公开(公告)日：2019-01-31
申请号：US16133414
申请日：2018-09-17
Applicant: X Development LLC
Inventor： Ethan Rublee , John Zevenbergen
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：US09927815B2
公开(公告)日：2018-03-27
申请号：US15649080
申请日：2017-07-13
Applicant: X Development LLC
Inventor： Stefan Nusser , Troy Straszheim , John Zevenbergen , Ethan Rublee
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.
-
Patent Agency Ranking
公开(公告)号：US20180065805A1
公开(公告)日：2018-03-08
申请号：US15259783
申请日：2016-09-08
Applicant: X Development LLC
Inventor： John Zevenbergen
CPC classification number: B65G1/0492 , B65G1/1373 , G06Q10/087 , Y10S901/01
Abstract: Example pallet-conveyor systems may include a conveyor system configured with a delivery track arranged to move pallets to a delivery area, a recirculation loop, and a diverter mechanism. The system may include a computing system that selects an item for the recirculation loop based on future demand and causes a robotic device to maintain pallets of the selected item in the recirculation loop. The computing system may further receive an item request and determine that a requested item is available from the recirculation loop and responsively cause the diverter mechanism to divert the requested item from the recirculation loop to the delivery track. The computing system may also cause robotic devices to obtain and load pallets of remaining requested items onto the conveyer system for the delivery area, and cause pickers to remove one or more items from pallets at the delivery area in order to fulfill the item request.
-
公开(公告)号：US09878587B1
公开(公告)日：2018-01-30
申请号：US15338834
申请日：2016-10-31
Applicant: X Development LLC
Inventor： John Zevenbergen
CPC classification number: B60D7/00 , B25J5/007 , B62D53/02 , F16C19/364
Abstract: A robotic body includes a first section and a second section. The first section includes a first wheel, and the second section includes a second wheel. A coupling assembly couples the first section and the second section. The coupled first section and second section are movable together via operation of the wheels. The coupling assembly includes a housing defining an interior chamber, a spindle disposed in the interior chamber of the housing, and a bearing device disposed in the interior chamber and between the housing and the spindle. The bearing device allows the spindle to rotate inside the interior chamber and relative to the housing. The first section is coupled to the housing and the second section is coupled to the spindle. The first section rotates relative to the second section according to a rotation between the spindle and the housing.
-
公开(公告)号：US09868214B2
公开(公告)日：2018-01-16
申请号：US15187582
申请日：2016-06-20
Applicant: X Development LLC
Inventor： John Zevenbergen
CPC classification number: B25J9/1676 , G05B2219/40202
Abstract: Systems and methods related to localizing mobile robotic devices are provided. A control system can receive a request for a particular mobile robotic device (PMRD) to travel between a first area and a cell area. After receiving the request, the control system can disable a presence sensor detecting objects traveling between the first area and the cell area. The control system can receive, from one or more identification sensors, sensor data identifying a mobile robotic device that has moved into the cell area based on identifiers of the mobile robotic device. The control system can verify that sensor data indicates the PMRD is in the cell area. After verifying that the PMRD is in the cell area, the control system can: disable the PMRD, enable the presence sensor, and indicate that the PMRD is disabled in the cell area.
-
公开(公告)号：US09733646B1
公开(公告)日：2017-08-15
申请号：US14537145
申请日：2014-11-10
Applicant: X Development LLC
Inventor： Stefan Nusser , Troy Straszheim , John Zevenbergen , Ethan Rublee
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：US09715232B1
公开(公告)日：2017-07-25
申请号：US15268984
申请日：2016-09-19
Applicant: X Development LLC
Inventor： Mark Fischer , John Zevenbergen
CPC classification number: G05D1/0231 , B66F9/063 , B66F9/0755 , G01S7/4802 , G01S17/08 , G01S17/42 , G05D1/024 , G05D2201/0216 , Y10S901/01
Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.
-
-
-
-
-
-
-
-
-
Search Results
30
records
(took 0.029 seconds)
