公开(公告)号：US09746852B1

公开(公告)日：2017-08-29

申请号：US14828437

申请日：2015-08-17

Applicant: X Development LLC

Inventor： Kevin William Watts ,  Kurt Konolige

IPC: G05D1/00 ,  G01S17/08 ,  G01S17/93 ,  G01C21/00

CPC classification number: G01S17/936 ,  G01S17/023 ,  G01S17/87 ,  G05D1/0248 ,  G05D1/0251 ,  G05D2201/0216

Abstract: An example system includes one or more laser sensors on a robotic device, where the one or more laser sensors are configured to produce laser sensor data indicative of a first area within a first distance in front of the robotic device. The system further includes one or more stereo sensors on the robotic device, where the stereo sensors on the robotic device are configured to produce stereo sensor data indicative of a second area past a second distance in front of the robotic device. The system also includes a controller configured to receive the laser sensor data, receive the stereo sensor data, detect one or more objects in front of the robotic device based on at least one of the laser sensor data and the stereo sensor data, and provide instructions for the robotic device to navigate based on the one or more detected objects.

公开(公告)号：US20170108871A1

公开(公告)日：2017-04-20

申请号：US15389840

申请日：2016-12-23

Applicant: X Development LLC

Inventor： Kevin William Watts

IPC: G05D1/02 ,  B66F9/06 ,  B66F17/00 ,  G05D1/00

CPC classification number: G05D1/0223 ,  B60K31/00 ,  B60P3/00 ,  B60W30/04 ,  B60W2300/12 ,  B60W2300/121 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2530/10 ,  B60W2550/404 ,  B60W2720/10 ,  B60W2720/14 ,  B60Y2200/80 ,  B66F9/063 ,  B66F17/003 ,  G05D1/0011 ,  G05D1/0027 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0214 ,  G05D2201/0216

Abstract: Example systems and methods are disclosed for implementing vehicle operation limits to prevent vehicle load failure during vehicle teleoperation. The method may include receiving sensor data from sensors on a vehicle that carries a load. The vehicle may be controlled by a remote control system. The load weight and dimensions may be determined based on the sensor data. In order to prevent a vehicle load failure, a forward velocity limit and an angular velocity limit may be calculated. Vehicle load failures may include the vehicle tipping over, the load tipping over, the load sliding off of the vehicle, or collisions. The vehicle carrying the load may be restricted from exceeding the forward velocity limit and/or the angular velocity limit during vehicle operation. The remote control system may display a user interface indicating to a remote operator the forward velocity limit and the angular velocity limit.

公开(公告)号：US09574883B2

公开(公告)日：2017-02-21

申请号：US14667655

申请日：2015-03-24

Applicant: X Development LLC

Inventor： Kevin William Watts ,  Julian Mac Neille Mason ,  Peter Elving Anderson-Sprecher

IPC: G06K9/62 ,  G06T3/00 ,  G01C21/20 ,  G06K9/00 ,  H04W4/04 ,  G06Q10/08 ,  G05B19/418 ,  G05D1/02

CPC classification number: G01C21/206 ,  G05B19/41895 ,  G05B2219/31007 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0216 ,  G06K9/00664 ,  G06Q10/08 ,  G09B29/004 ,  G09B29/007 ,  G09C1/00 ,  H03K19/17768 ,  H04L9/3278 ,  H04L2209/04 ,  H04L2209/12 ,  H04W4/043 ,  Y02P90/285 ,  Y02P90/60

Abstract: Systems and methods are provided for generating maps with semantic labels. A computing device can determine a first map that includes features located at first positions and semantic labels located at semantic positions, and determine a second map that includes at least some of the features located at second positions. The computing device can identify a first region with fixed features located at first positions and corresponding equivalent second positions. The computing device can identify a second region with moved features located at first positions and corresponding non-equivalent second positions. The computing device can determine one or more transformations between first positions and second positions. The computing device can assign the semantic labels to the second map at second semantic positions, where the second semantic positions are the same in the first region, and where the second semantic positions in the second region are based on the transformation(s).

Abstract translation: 提供了用于生成具有语义标签的地图的系统和方法。 计算设备可以确定包括位于位于语义位置处的第一位置和语义标签的特征的第一地图，并且确定包括位于第二位置的至少一些特征的第二地图。 计算设备可以识别具有位于第一位置和相应等效的第二位置的固定特征的第一区域。 计算设备可以识别具有位于第一位置和对应的非等效第二位置的移动特征的第二区域。 计算设备可以确定第一位置和第二位置之间的一个或多个变换。 计算设备可以在第二语义位置处将语义标签分配给第二映射，其中第二语义位置在第一区域中相同，并且第二区域中的第二语义位置基于变换。