公开(公告)号：US09749984B2

公开(公告)日：2017-08-29

申请号：US15008274

申请日：2016-01-27

Applicant: X Development LLC

Inventor： Eric Teller ,  Richard Wayne DeVaul ,  Clifford L. Biffle ,  Josh Weaver

IPC: H04W4/02 ,  H04W64/00 ,  H04W4/04 ,  H04W40/20 ,  H04W28/02 ,  H04W84/22 ,  H04L29/08

CPC classification number: H04W64/003 ,  H04B7/18504 ,  H04B7/18506 ,  H04L67/12 ,  H04L67/18 ,  H04L67/2852 ,  H04L67/288 ,  H04L67/306 ,  H04W4/021 ,  H04W4/025 ,  H04W4/04 ,  H04W28/021 ,  H04W40/20 ,  H04W84/22

Abstract: Methods and systems are disclosed herein that may help to provide location-aware caching and/or location-specific service profiles in an aerial-vehicle network. An exemplary method may be carried out by an aerial vehicle that is at a location associated with the first geographic area in an aerial-vehicle network that includes a plurality of defined geographic areas, and may involve: (a) determining that a location-aware cache of an aerial vehicle should be updated with user-data associated with the first geographic area; and (b) in response to determining that the location-aware cache should be updated: (i) sending a location-aware cache-update request; (ii) receiving, as a response to the location-aware cache-update request, user-data that corresponds to the first geographic area; and (iii) storing the user-data that corresponds to the first geographic area in a location-aware cache of the aerial vehicle.

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

IPC: G05D1/02 ,  B65G1/137 ,  B65G57/03

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：US09727716B1

公开(公告)日：2017-08-08

申请号：US14108421

申请日：2013-12-17

Applicant: X Development LLC

Inventor： Daniel Rodriguez Magana ,  Thomas Werner Finsterbusch ,  Charles Chen ,  Jason Samuel Soll ,  Thiago Teixeira

IPC: H04L29/08 ,  G06F21/32

CPC classification number: H04L67/025 ,  G06F21/31 ,  G06F21/629 ,  H04L29/08099 ,  H04L63/08 ,  H04L63/0815 ,  H04L63/102 ,  H04L65/00

Abstract: Methods are described herein related to providing a workspace that is associated with a voice-request account workspace and that is capable of establishing a session for a user-account. An example method may involve: (a) providing, by a computing system, a workspace on a virtual machine, where the workspace is associated with a voice-request account, where the workspace is accessible to one or more guide computing systems, (b) receiving, at the computing system, authentication information for a user-account, (c) receiving, at the computing system, a request to establish a session for the user-account in the workspace associated with the voice-request account and responsively establishing the session, and (d) providing, by the computing system, the one or more guide accounts with access via the workspace to the session for the user-account.

公开(公告)号：US09724826B1

公开(公告)日：2017-08-08

申请号：US14724193

申请日：2015-05-28

Applicant: X Development LLC

Inventor： Mario Prats

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/40463 ,  G05B2219/40465 ,  G05B2219/40519

Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining one or more spatial constraints associated with an object to be acted upon by a robot; determining a plurality of candidate physical arrangements of the object that satisfy the one or more spatial constraints; calculating, for one or more of the plurality of candidate physical arrangements of the object, a candidate physical arrangement cost that would be incurred as a result of the robot acting upon the object in the candidate physical arrangement; and selecting, from the plurality of candidate physical arrangements, a candidate physical arrangement associated with a candidate physical arrangement cost that satisfies a criterion.

公开(公告)号：US09720243B1

公开(公告)日：2017-08-01

申请号：US14986036

申请日：2015-12-31

Applicant: X Development LLC

Inventor： Robert Todd Belt ,  Nam-hyong Kim ,  Baris Ibrahim Erkmen ,  Edward Allen Keyes

IPC: H04B10/00 ,  G02B27/14 ,  G02B17/04 ,  H04B10/572 ,  H04B10/508

CPC classification number: G02B27/145 ,  G02B17/04 ,  G02B27/141 ,  H04B10/508 ,  H04B10/572

Abstract: An example beam splitting apparatus is assembled from multiple prisms that are assembled together along respective mating surfaces to form a single monolithic optical device. The beam splitting apparatus includes optical features, such as dichroic and reflective surfaces, that define optical paths for light that enters the beam splitting apparatus. The optical features allow photons in the light to be directed along different optical paths based on their wavelengths. The optical features in the beam splitting apparatus are provided by coatings, films, and/or surface treatments applied to any of the faces of the prisms. In particular, coatings, films, and/or surface treatments are applied to the mating surfaces of the prisms so that the optical features are internal to the assembled monolithic optical device. The beam splitting apparatus may be implemented in a communication terminal that exchanges data modulated light according to frequency-division duplex communications.

公开(公告)号：US09718195B1

公开(公告)日：2017-08-01

申请号：US15178122

申请日：2016-06-09

Applicant: X Development LLC

Inventor： David Youmans

IPC: B25J15/10 ,  B25J15/12 ,  B25J15/02

CPC classification number: B25J15/0028 ,  B25J11/0085 ,  B25J15/0213 ,  B25J15/10 ,  B25J15/103 ,  B25J15/12 ,  Y10S901/38

Abstract: An example robotic gripping apparatus includes a robotic wrist and a motor contained within the robotic wrist. The motor includes a drive shaft that rotates about a primary axis during motor operation. The robotic gripping apparatus also includes a cylindrical worm gear, connected to the drive shaft, that encircles the motor and rotates about the primary axis during motor operation. Additionally, the robotic gripping apparatus includes two or more robotic fingers, each having a proximal end and a distal end. The robotic gripping apparatus further includes two or more spur gears corresponding to the two or more robotic fingers. Each spur gear is attached to the proximal end of the corresponding robotic finger. Each spur gear engages the cylindrical worm gear and rotates the corresponding robotic finger when the cylindrical worm gear rotates about the primary axis.

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

IPC: G06F7/00 ,  G05D1/02 ,  G01S17/08

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.

公开(公告)号：US09707682B1

公开(公告)日：2017-07-18

申请号：US14950828

申请日：2015-11-24

Applicant: Google Inc.

Inventor： Kurt Konolige ,  Ethan Rublee ,  Gary Bradski

IPC: B25J9/16 ,  B25J19/00 ,  G06K9/32 ,  G06K9/00 ,  G06K9/62

CPC classification number: B25J9/163 ,  B25J5/00 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/162 ,  B25J9/1664 ,  B25J9/1671 ,  B25J9/1687 ,  B25J9/1694 ,  B25J9/1697 ,  B25J19/00 ,  B25J19/021 ,  B65G41/008 ,  B65G47/46 ,  B65G47/50 ,  B65G61/00 ,  B65H67/065 ,  G01B11/254 ,  G05B2219/31312 ,  G05B2219/39391 ,  G05B2219/40053 ,  G05B2219/40298 ,  G05B2219/40442 ,  G05B2219/40543 ,  G06K9/00201 ,  G06K9/00664 ,  G06K9/3208 ,  G06K9/4604 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6202 ,  G06T7/0065 ,  G06T7/13 ,  G06T7/529 ,  G06T7/55 ,  G06T7/593 ,  G06T7/60 ,  G06T17/00 ,  G06T19/003 ,  G06T2200/04 ,  H04N5/33 ,  H04N13/239 ,  H04N2013/0081 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09 ,  Y10S901/47

Abstract: Methods and systems for recognizing machine-readable information on three-dimensional (3D) objects are described. A robotic manipulator may move at least one physical object through a designated area in space. As the at least one physical object is being moved through the designated area, one or more optical sensors may determine a location of a machine-readable code on the at least one physical object and, based on the determined location, scan the machine-readable code so as to determine information associated with the at least one physical object encoded in the machine-readable code. Based on the information associated with the at least one physical object, a computing device may then determine a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object. The robotic manipulator may then be directed to place the at least one physical object at the respective location.

公开(公告)号：US09690535B2

公开(公告)日：2017-06-27

申请号：US15297013

申请日：2016-10-18

Applicant: X Development LLC

Inventor： Mary Lou Jepsen ,  Adam E. Norton

IPC: G06F3/14 ,  G09G3/34 ,  G02F1/1333 ,  G02F1/1335

CPC classification number: G06F3/1446 ,  G02B6/0005 ,  G02F1/13336 ,  G02F1/133504 ,  G02F1/133603 ,  G02F1/133606 ,  G02F2001/133607 ,  G09G3/20 ,  G09G3/32 ,  G09G3/3426 ,  G09G2300/026 ,  G09G2310/0232

Abstract: A display apparatus including a screen layer for displaying a unified image to a viewer and an illumination layer having an array of light sources. Each light source emits a light beam. An array of optical elements, each coupled to a corresponding light source in the array of light sources, is disposed between the screen layer and the illumination layer. The display layer includes a matrix of pixlets and a spacing region disposed between the pixlets in the matrix, wherein the array of light sources emit their light beams through the array of optical elements, wherein each optical element is configured to shape the received light beam into a divergent projection beam having a limited angular spread to project sub-images displayed by the pixlets as magnified sub-images on the backside of the screen layer, the magnified sub-images to combine to form the unified image that is substantially seamless.

公开(公告)号：US09689696B1

公开(公告)日：2017-06-27

申请号：US14861852

申请日：2015-09-22

Applicant: X Development LLC

Inventor： Jared Stephen Russell

IPC: G01C21/34 ,  B25J5/00 ,  B25J9/16 ,  B25J13/00

CPC classification number: B25J9/1666 ,  G05B2219/40437 ,  G05B2219/40444 ,  G05D1/0287 ,  G05D1/0297 ,  G05D2201/0211 ,  Y10S901/01

Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining and assigning intermediate handoff checkpoints for low-resolution robot planning. In various implementations, a global path planner may identify a task to be performed by a robot in an environment. In various implementations, the global path planner may determine, based at least in part on one or more attributes of the environment or the task, an intermediate handoff checkpoint for the robot to reach by a scheduled time while the robot performs the task. In various implementations, the global path planner may determine that a measure of reactivity that would be attributable to the robot upon the robot being assigned the intermediate handoff checkpoint satisfies a reactivity threshold. In various implementations, the global path planner may provide, to a local path planner associated with the robot, data indicative of the intermediate handoff checkpoint.