公开(公告)号：US10131053B1

公开(公告)日：2018-11-20

申请号：US15265547

申请日：2016-09-14

Applicant: X Development LLC

Inventor： Peter Pastor Sampedro ,  Umashankar Nagarajan

IPC: B25J9/00 ,  B25J9/16

Abstract: Methods and apparatus related to robot collision avoidance. One method may include: receiving robot instructions to be performed by a robot; at each of a plurality of control cycles of processor(s) of the robot: receiving trajectories to be implemented by actuators of the robot, wherein the trajectories define motion states for the actuators of the robot during the control cycle or a next control cycle, and wherein the trajectories are generated based on the robot instructions; determining, based on a current motion state of the actuators and the trajectories to be implemented, whether implementation of the trajectories by the actuators prevents any collision avoidance trajectory from being achieved; and selectively providing the trajectories or collision avoidance trajectories for operating the actuators of the robot during the control cycle or the next control cycle depending on a result of the determining.

公开(公告)号：US10128660B1

公开(公告)日：2018-11-13

申请号：US14940556

申请日：2015-11-13

Applicant: X Development LLC

Inventor： Raj B. Apte ,  Brian John Adolf ,  Kathleen Evelyn Cooper

IPC: H02J3/38 ,  H02S40/32 ,  H02S40/30 ,  H02S50/00 ,  H02M7/44 ,  H02J5/00 ,  H02J17/00 ,  H02J7/02

Abstract: Example implementations relate to a solar panel system including solar cells and an inverter configured to receive electrical energy generated by solar cells and to convert the electrical energy to an electrical signal having an oscillation frequency. The system also include a transmit resonator coupled to the inverter and configured to resonate at the oscillation frequency. Moreover, the transmit resonator may be coupled via a wireless resonant coupling link to a receive resonator that is also configured to resonate at the oscillation frequency. Further, the system may also include a controller configured to determine for the system a mode of operation from among the following modes: (i) a common mode, (ii) a differential mode, and (iii) an inductive mode. And the controller is then configured to instruct the transmit resonator to provide via the wireless resonant coupling link electrical power according to the determined mode of operation.

公开(公告)号：USD832683S1

公开(公告)日：2018-11-06

申请号：US29632126

申请日：2018-01-05

Applicant: X Development LLC

Designer： Robert Todd Belt

公开(公告)号：US10119842B1

公开(公告)日：2018-11-06

申请号：US14451993

申请日：2014-08-05

Applicant: X Development LLC

Inventor： John Henry Grossman

IPC: G01D5/26 ,  G01D5/347

Abstract: A shaft may be rotated, where the shaft includes an encoder with a first, second, and third logical track, where the first and second logical tracks include bit patterns that are readable to be 90 degrees out of phase with one another, and where the third logical track includes a sequence of n numbers, each number being represented by m bits, where n is greater than 1. While moving the shaft, a number of the sequence from the third logical track and an extent of bits from the first or second logical track may be read. An orientation of the shaft may then be determined based on the number and the extent of bits. The orientation may be a linear position of a linear encoder or an angular position of a rotary encoder.

公开(公告)号：US10108194B1

公开(公告)日：2018-10-23

申请号：US15255390

申请日：2016-09-02

Applicant: X Development LLC

Inventor： Jared Russell

IPC: G05D1/02

Abstract: An example system may include a vehicle, a sensor, and a control system that may determine a target location for an object carried by the vehicle. The control system may also determine a plurality of points defining a boundary of a volume to be occupied by the object at the target location. The plurality of points may be scannable in a sequence by the sensor to scan the volume. The control system may additionally determine a respective field of visibility to each respective point. Further, the control system may determine a path for the vehicle to follow to the target location. The respective field of visibility may intersect with at least a respective portion of the determined path such that each respective point is observable by the sensor along at least the respective portion of the determined path as the vehicle moves along the determined path to the target location.

公开(公告)号：US10105847B1

公开(公告)日：2018-10-23

申请号：US15177323

申请日：2016-06-08

Applicant: X DEVELOPMENT LLC

Inventor： Craig Latimer ,  Umashankar Nagarajan

IPC: B25J9/16

Abstract: Methods, apparatus, systems, and computer-readable media are provided for detecting a geometric change in a robot's configuration and taking responsive action in instances where the geometric change is likely to impact operation of the robot. In various implementations, a geometric model of a robot in a selected pose may be obtained. Image data of the actual robot in the selected pose may also be obtained. The image data may be compared to the geometric model to detect a geometric difference between the geometric model and the actual robot. Output may be provided that is indicative of the geometric difference between the geometric model and the actual robot.

公开(公告)号：US10099391B2

公开(公告)日：2018-10-16

申请号：US15791118

申请日：2017-10-23

Applicant: X Development LLC

Inventor： Christopher Hance ,  Daniel Shaffer

IPC: B25J9/16 ,  B25J19/02 ,  G05B19/12 ,  G06K19/06 ,  G06Q10/08 ,  G06K7/10 ,  B65G1/137 ,  B65G1/06 ,  G05B19/418 ,  G06Q10/06

Abstract: An example method is carried out in a warehouse environment having a plurality of inventory items located therein, each having a corresponding on-item identifier. The method involves determining a target inventory item having a target on-item identifier. The method also involves determining that a first inventory item having a first on-item identifier is loaded onto a first robotic device. The method further involves transmitting a request to verify the first on-item identifier. The method still further involves receiving data captured by a sensor of the second robotic device. The method yet further involves (i) analyzing the received data to determine the first on-item identifier, (ii) comparing the first on-item identifier and the target on-item identifier, and (iii) responsive to comparing the first on-item identifier and the target on-item identifier, performing an action.

公开(公告)号：US10089575B1

公开(公告)日：2018-10-02

申请号：US14723373

申请日：2015-05-27

Applicant: X Development LLC

Inventor： Joseph Redmon ,  Anelia Angelova

IPC: G06N3/08 ,  B25J9/16 ,  G06N3/04

Abstract: Methods and apparatus related to training and/or utilizing a convolutional neural network to generate grasping parameters for an object. The grasping parameters can be used by a robot control system to enable the robot control system to position a robot grasping end effector to grasp the object. The trained convolutional neural network provides a direct regression from image data to grasping parameters. For example, the convolutional neural network may be trained to enable generation of grasping parameters in a single regression through the convolutional neural network. In some implementations, the grasping parameters may define at least: a “reference point” for positioning the grasping end effector for the grasp; and an orientation of the grasping end effector for the grasp.

公开(公告)号：US10082045B2

公开(公告)日：2018-09-25

申请号：US15392571

申请日：2016-12-28

Applicant: X Development LLC

Inventor： Philippe Larochelle ,  Raj Apte

IPC: F01K3/02 ,  F25B9/00 ,  F01K25/08 ,  F01K7/16 ,  F01K3/12 ,  F01K25/10 ,  F01K25/06 ,  F01D15/10 ,  F25B13/00 ,  F25B25/00

CPC classification number: F01K3/02 ,  F01D15/10 ,  F01K3/06 ,  F01K3/12 ,  F01K3/18 ,  F01K7/165 ,  F01K7/38 ,  F01K13/02 ,  F01K25/06 ,  F01K25/103 ,  F22B1/006 ,  F25B9/00 ,  F25B9/002 ,  F25B9/06 ,  F25B13/00 ,  F25B25/005 ,  F25B30/02 ,  F25B2339/047 ,  F25B2400/14

Abstract: Closed thermodynamic cycle systems, such as closed Brayton cycle systems, with regenerative heat exchangers are disclosed. Embodiments include dual regenerators and regenerators with buffer tank systems. Regenerators may be used instead of or in addition to one or more recuperators within the systems, and may be used as a means of gas-gas heat exchange for different streams of a working fluid.

公开(公告)号：US10081102B1

公开(公告)日：2018-09-25

申请号：US15171675

申请日：2016-06-02

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Jeffrey Bingham ,  Seth Gilbertson

IPC: F16H55/18 ,  B25J9/10 ,  F16H37/06 ,  F16H57/12 ,  B25J9/12

CPC classification number: B25J9/103 ,  B25J9/126 ,  F16H37/06 ,  F16H55/18 ,  F16H57/12 ,  F16H2057/121 ,  F16H2057/123

Abstract: An example system includes a transmission having a first plurality of gears and an extent of backlash. The system also includes a first motor connected to an input shaft of the transmission and a second motor connected to an output shaft of the transmission through a second plurality of gears. A first gear ratio of a first plurality of gears is greater than a second gear ratio of the second plurality of gears. The system may receive a command to change a direction of rotation of the output shaft from a first direction to a second direction. In response to the received command, the first motor may drive the transmission through a first portion of the extent of backlash deadband. The second motor may drive the transmission through a second portion of the extent of backlash deadband. The second portion may be greater than the first portion.