公开(公告)号：US09916506B1

公开(公告)日：2018-03-13

申请号：US14809181

申请日：2015-07-25

Applicant: X Development LLC

Inventor： Benjamin Davis

IPC: G06K9/00 ,  G02B27/01 ,  G06T7/00 ,  H04N5/33 ,  G06T19/00

CPC classification number: G06K9/00671 ,  B25J9/1664 ,  B25J9/1697 ,  G02B27/017 ,  G06T7/0002 ,  G06T7/004 ,  G06T7/73 ,  G06T19/006 ,  G06T2207/10048 ,  G06T2207/30204 ,  G06T2210/21

Abstract: An example system includes a robotic device, at least one invisible fiducial marker on the robotic device that is detectable within a particular band of invisible light, a camera that is configured to detect the particular band of invisible light, and a control system. The control system may be configured to receive an image of the robotic device within an environment, identify at least one position within the image of the at least one invisible fiducial marker on the robotic device, determine a position of the robotic device relative to the camera, determine one or more positions within the image to overlay one or more virtual annotations, and provide for display of the image of the robotic device within the environment with the one or more virtual annotations overlaid at the one or more determined positions within the image.

公开(公告)号：US09804593B1

公开(公告)日：2017-10-31

申请号：US14569121

申请日：2014-12-12

Applicant: X Development LLC

Inventor： Benjamin Davis ,  Anthony Sean Jules

IPC: B25J9/22 ,  G05B19/42

CPC classification number: G05B19/423

Abstract: Methods and systems for teaching positions to components of devices are described. An example method includes providing instructions to a robotic device or robotic manipulator to place the robotic manipulator into a fine-tuning teach mode, in which the robotic manipulator is in a given position and is configured to move based on application of a manual contact in one or more step movements having a preset amount of distance. The method also includes determining that a given manual contact is applied to the robotic manipulator, and causing the robotic manipulator to incrementally move in the one or more step movements having the preset amount of distance.