公开(公告)号：US09987746B2

公开(公告)日：2018-06-05

申请号：US15093118

申请日：2016-04-07

Applicant: X Development LLC

Inventor： Gary Bradski ,  Kurt Konolige ,  Ethan Rublee ,  Troy Straszheim ,  Hauke Strasdat ,  Stefan Hinterstoisser ,  Steve Croft ,  John Zevenbergen

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G06T17/00 ,  B25J19/02 ,  B65G47/46 ,  B65G47/50 ,  G06K9/00 ,  G01B11/25 ,  G06K9/46 ,  G06K9/52 ,  G06T7/60 ,  H04N5/33 ,  H04N13/02 ,  B25J9/00 ,  B25J5/00 ,  B65G41/00 ,  G06T7/529 ,  G06T7/593 ,  G06T7/13 ,  B65G61/00 ,  B65H67/06 ,  H04N13/00

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: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

公开(公告)号：US20180084242A1

公开(公告)日：2018-03-22

申请号：US15273465

申请日：2016-09-22

Applicant: X Development LLC

Inventor： Ethan Rublee ,  John Zevenbergen

IPC: H04N13/02 ,  G06T19/00 ,  G06K9/62 ,  G06T17/00 ,  G06K9/00

CPC classification number: H04N13/279 ,  G06K9/00671 ,  G06K9/6215 ,  G06T17/00 ,  G06T19/003 ,  G06T2200/08 ,  G06T2215/16 ,  H04N5/23238 ,  Y10S901/01 ,  Y10S901/47

Abstract: An example method involves receiving, from at least one camera located in an environment, a plurality of images captured during a first time interval. The method also involves selecting one or more of the plurality of images having a movable platform supporting one or more objects. The method further involves generating a three-dimensional model of the movable platform supporting the one or more objects. The method yet further involves updating the three-dimensional model based on one or more images captured during a second time interval. The method still further involves presenting the three-dimensional model via a display of a user interface, and providing an option to view a history of the three-dimensional model such that the three-dimensional model remains in a fixed position on the display during a viewing of the history.

公开(公告)号：US20170368684A1

公开(公告)日：2017-12-28

申请号：US15685500

申请日：2017-08-24

Applicant: X Development LLC

Inventor： John William Zevenbergen ,  Ethan Rublee

IPC: 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.

公开(公告)号：US20170144307A1

公开(公告)日：2017-05-25

申请号：US14951479

申请日：2015-11-24

Applicant: X Development LLC

Inventor： Ethan Rublee ,  John Zevenbergen

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1676 ,  B25J9/1694 ,  B25J19/02 ,  B25J19/021 ,  G05B2219/40202 ,  G05D1/0289 ,  G05D2201/0216 ,  Y10S901/09

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.