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公开(公告)号：US09815203B1
公开(公告)日：2017-11-14
申请号：US14833811
申请日：2015-08-24
Applicant: X Development LLC
Inventor： Laura Stoia , Craig Latimer , Matthieu Guilbert
CPC classification number: B25J9/1694 , B25J9/1671 , B25J9/1674 , B25J9/1689 , B25J9/1697 , G05B2219/33284 , G05B2219/37337
Abstract: An example method includes determining an expected sound profile corresponding to a given task for a robotic device. The method further includes detecting a sound profile during execution of the given task by the robotic device. The method also includes determining one or more differences in amplitude for at least one frequency range between the detected sound profile and the expected sound profile corresponding to the given task for the robotic device. In response to determining the one or more differences in amplitude for the at least one frequency range between the detected sound profile and the expected sound profile, the method additionally includes identifying at least one component of the robotic device associated with the detected sound profile during execution of the given task. The method further includes adjusting control data for the at least one component of the robotic device.
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公开(公告)号：US11656923B2
公开(公告)日：2023-05-23
申请号：US17880207
申请日：2022-08-03
Applicant: X Development LLC
Inventor： David Allison , Nathan Pooley , Craig Latimer
Abstract: A method includes creating a publisher configured to send messages over a channel having a shared memory. The method includes creating at least one subscriber configured to receive the messages over the channel by sequentially referencing memory slots of the plurality of memory slots. The method includes determining that the next sequential memory slot is currently referenced by a subscriber. The method includes delaying sending the message by the publisher based on determining that the next sequential memory slot is currently referenced by the subscriber. The method includes receiving an event trigger indicative of message reading by the subscriber. The method includes, responsive to receiving the event trigger, determining that the next sequential memory slot is not currently referenced. The method includes sending the message to the next sequential memory slot based on determining that the next sequential memory slot is not currently referenced.
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公开(公告)号：US10564031B1
公开(公告)日：2020-02-18
申请号：US14833792
申请日：2015-08-24
Applicant: X Development LLC
Inventor： Laura Stoia , Craig Latimer , Matthieu Guilbert
Abstract: An example method includes determining a plurality of frequency ranges corresponding to a plurality of types of errors, where the plurality of frequency ranges are associated with sounds occurring during operation of a robotic device. The method also includes detecting, based on sensor data from at least one audio sensor of the robotic device, a sound during a given operation of the robotic device. The method also includes determining that a frequency of the detected sound is within a particular frequency range of the plurality of frequency ranges. Based on the frequency being within the particular frequency range, the method also includes determining a type of error of the plurality of types of errors corresponding to the particular frequency range. The method also includes providing an output signal indicating an error of the determined type.
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Patent Agency Ranking
公开(公告)号：US11436063B1
公开(公告)日：2022-09-06
申请号：US17168129
申请日：2021-02-04
Applicant: X Development LLC
Inventor： David Allison , Nathan Pooley , Craig Latimer
Abstract: A method includes creating a publisher configured to send messages over a channel having a shared memory. The method includes creating at least one subscriber configured to receive the messages over the channel by sequentially referencing memory slots of the plurality of memory slots. The method includes determining that the next sequential memory slot is currently referenced by a subscriber. The method includes delaying sending the message by the publisher based on determining that the next sequential memory slot is currently referenced by the subscriber. The method includes receiving an event trigger indicative of message reading by the subscriber. The method includes, responsive to receiving the event trigger, determining that the next sequential memory slot is not currently referenced. The method includes sending the message to the next sequential memory slot based on determining that the next sequential memory slot is not currently referenced.
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公开(公告)号：US10922154B1
公开(公告)日：2021-02-16
申请号：US16890354
申请日：2020-06-02
Applicant: X Development LLC
Inventor： David Allison , Nathan Pooley , Craig Latimer
Abstract: A method includes creating a publisher configured to send messages over a channel having a shared memory. The method includes creating at least one subscriber configured to receive the messages over the channel by sequentially referencing memory slots of the plurality of memory slots. The method includes determining that the next sequential memory slot is currently referenced by a subscriber. The method includes delaying sending the message by the publisher based on determining that the next sequential memory slot is currently referenced by the subscriber. The method includes receiving an event trigger indicative of message reading by the subscriber. The method includes, responsive to receiving the event trigger, determining that the next sequential memory slot is not currently referenced. The method includes sending the message to the next sequential memory slot based on determining that the next sequential memory slot is not currently referenced.
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6.发明申请公开(公告)号：US20180029236A1
公开(公告)日：2018-02-01
申请号：US15727793
申请日：2017-10-09
Applicant: X Development LLC
Inventor： Laura Stoia , Craig Latimer , Matthieu Guilbert
IPC: B25J9/16
CPC classification number: B25J9/1694 , B25J9/1671 , B25J9/1674 , B25J9/1689 , B25J9/1697 , G05B2219/33284 , G05B2219/37337
Abstract: An example method includes determining an expected sound profile corresponding to a given task for a robotic device. The method further includes detecting a sound profile during execution of the given task by the robotic device. The method also includes determining one or more differences in amplitude for at least one frequency range between the detected sound profile and the expected sound profile corresponding to the given task for the robotic device. In response to determining the one or more differences in amplitude for the at least one frequency range between the detected sound profile and the expected sound profile, the method additionally includes identifying at least one component of the robotic device associated with the detected sound profile during execution of the given task. The method further includes adjusting control data for the at least one component of the robotic device.
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公开(公告)号：US20220374295A1
公开(公告)日：2022-11-24
申请号：US17880207
申请日：2022-08-03
Applicant: X Development LLC
Inventor： David Allison , Nathan Pooley , Craig Latimer
IPC: G06F9/54
Abstract: A method includes creating a publisher configured to send messages over a channel having a shared memory. The method includes creating at least one subscriber configured to receive the messages over the channel by sequentially referencing memory slots of the plurality of memory slots. The method includes determining that the next sequential memory slot is currently referenced by a subscriber. The method includes delaying sending the message by the publisher based on determining that the next sequential memory slot is currently referenced by the subscriber. The method includes receiving an event trigger indicative of message reading by the subscriber. The method includes, responsive to receiving the event trigger, determining that the next sequential memory slot is not currently referenced. The method includes sending the message to the next sequential memory slot based on determining that the next sequential memory slot is not currently referenced.
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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.
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