公开(公告)号：US20180306591A1

公开(公告)日：2018-10-25

申请号：US15494316

申请日：2017-04-21

Applicant: X Development LLC

Inventor： Alex Jose ,  Daniel Shaffer

IPC: G01C21/32 ,  G06T11/20 ,  G06K9/00 ,  G06F17/50

CPC classification number: G01C21/32 ,  G06F17/50 ,  G06K9/00798 ,  G06K9/00805 ,  G06Q10/08 ,  G06T11/206

Abstract: Apparatus and methods related to generating roadmaps are provided. A layout of an environment can be displayed on a display. Input data indicative of a plurality of shapes placed on the layout can be received, where each shape corresponds to an aisle of a plurality of aisles. For each aisle, lanes can be generated based on a width of the aisle, and the lanes extend along the aisle such that a robotic device can traverse each lane. An intersection between a first shape and second shape can be identified, where the first and second shape correspond to a first and second aisle. Responsive to identifying the intersection and based on a swept space of the robotic device, a curve that connects a first lane of the first aisle to a second lane of the second aisle can be generated. Then, a roadmap that comprises the aisles and curve can be generated.

公开(公告)号：US10260890B2

公开(公告)日：2019-04-16

申请号：US15494316

申请日：2017-04-21

Applicant: X Development LLC

Inventor： Alex Jose ,  Daniel Shaffer

IPC: G01C21/32 ,  G06T11/20 ,  G06K9/00 ,  G06F17/50 ,  G06Q10/08

Abstract: Apparatus and methods related to generating roadmaps are provided. A layout of an environment can be displayed on a display. Input data indicative of a plurality of shapes placed on the layout can be received, where each shape corresponds to an aisle of a plurality of aisles. For each aisle, lanes can be generated based on a width of the aisle, and the lanes extend along the aisle such that a robotic device can traverse each lane. An intersection between a first shape and second shape can be identified, where the first and second shape correspond to a first and second aisle. Responsive to identifying the intersection and based on a swept space of the robotic device, a curve that connects a first lane of the first aisle to a second lane of the second aisle can be generated. Then, a roadmap that comprises the aisles and curve can be generated.