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    Virtual safety cages for robotic devices
    361.
    发明授权
    Virtual safety cages for robotic devices 有权

    公开(公告)号：US09821463B2

    公开(公告)日：2017-11-21

    申请号：US15340656

    申请日：2016-11-01

    Applicant: X Development LLC

    Inventor： James J. Kuffner, Jr. ,  Peter Elving Anderson-Sprecher

    IPC: B25J9/00 ,  B25J9/16 ,  B25J19/06

    CPC classification number: B25J9/1676 ,  B25J19/06 ,  G05B2219/40196 ,  G05B2219/40202 ,  G05B2219/40203 ,  Y10S901/47 ,  Y10S901/49

    Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

    Determining a trajectory for a walking robot to prevent motor overheating
    362.
    发明授权
    Determining a trajectory for a walking robot to prevent motor overheating 有权

    公开(公告)号：US09821461B1

    公开(公告)日：2017-11-21

    申请号：US14879794

    申请日：2015-10-09

    Applicant: X Development LLC

    Inventor： Junichi Urata ,  Yoshito Ito

    IPC: B25J9/16 ,  B25J5/00

    CPC classification number: B25J9/1674 ,  B25J5/00 ,  B25J9/1664 ,  B62D57/032 ,  G05B2219/42281 ,  Y10S901/01

    Abstract: An example method includes determining one or more first movements that begin with a robot at a first position, determining one or more second movements that begin with the robot at the first position and end with the robot standing at a second position, making a first prediction of whether one or more motors of the robot executing the one or more first movements would cause a future temperature of any of the one or more motors to exceed a threshold temperature, making a second prediction of whether the one or more motors executing the one or more second movements would cause a future temperature of any of the one or more motors to exceed the threshold temperature, and causing the one or more motors to execute either (i) the one or more first movements or (ii) the one or more second movements.

    Assisted roadmap generation
    365.
    发明授权
    Assisted roadmap generation 有权

    公开(公告)号：US09816822B1

    公开(公告)日：2017-11-14

    申请号：US15282657

    申请日：2016-09-30

    Applicant: X Development LLC

    Inventor： Geoffrey Lalonde ,  Peter Anderson-Sprecher

    IPC: G01C21/00 ,  G01C21/30 ,  G06F17/30

    CPC classification number: G01C21/30 ,  B62D15/02 ,  G05D1/0274 ,  G05D2201/0216 ,  G06F17/30241 ,  G06T11/60 ,  Y10S901/01

    Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can receive a roadmap. The roadmap can include an intersection between first and second edges. The computing device can determine a transition curve between the first and second edges and includes first, second, and third curve segments. The first and second curve segments can connect at a first curve junction point. The second and third curve segments can connect at a second curve junction point. The first and third curve segments each include a segment of an Euler spiral and the second curve segment can be a circular curve segment having a fixed radius. The computing device can update the roadmap by replacing the intersection between the first and second edges with the transition curve. The computing device can provide the updated roadmap.

    Battery and hard drive exchange station for robots
    368.
    发明授权
    Battery and hard drive exchange station for robots 有权

    公开(公告)号：US09776326B2

    公开(公告)日：2017-10-03

    申请号：US14876947

    申请日：2015-10-07

    Applicant: X Development LLC

    Inventor： John William Zevenbergen ,  Ethan Rublee

    IPC: G05B19/18 ,  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.

    Horizontal tail surface
    369.
    发明授权
    Horizontal tail surface 有权

    公开(公告)号：US09764820B2

    公开(公告)日：2017-09-19

    申请号：US14587683

    申请日：2014-12-31

    Applicant: X Development LLC

    Inventor： Peter Kinne ,  Damon Vander Lind ,  Gregor Cadman

    IPC: B64C5/16 ,  B64C39/02 ,  F03D5/00

    CPC classification number: B64C5/16 ,  B64C39/022 ,  F03D5/00 ,  F05B2240/40 ,  F05B2240/917 ,  F05B2240/921 ,  Y02E10/70 ,  Y02E10/728

    Abstract: An aerial vehicle including a fuselage, a main wing attached to the fuselage, a support structure extending upwardly from the fuselage and having a front surface facing the main wing, an overhang positioned on a top of the support structure and extending towards the main wing, one or more rotating actuators positioned on the overhang, a rear elevator attached to the one or more rotating actuators that are configured to move the rear elevator from a flying mode position where a leading edge of the rear elevator faces the main wing to a hover mode position where the major surfaces of the rear elevator faces the main wing, and wherein the major surfaces of the rear elevator remain in front of the front surface of the support structure when the rear elevator is moved from the flying mode position to the hover mode position.

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