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公开(公告)号：US10967506B2
公开(公告)日：2021-04-06
申请号：US15827321
申请日：2017-11-30
Applicant: X Development LLC
Inventor： Gary Bradski , Kurt Konolige , Ethan Rublee
IPC: B25J9/16 , G06T7/529 , G06T7/593 , G06T7/13 , G06T17/00 , G06K9/00 , H04N13/239 , G06T7/55 , H04N5/33 , B25J5/00 , B65G41/00 , G06T19/00 , B25J19/00 , G06K9/32 , G06K9/62 , B65G61/00 , B65H67/06 , B25J19/02 , B65G47/46 , B65G47/50 , G01B11/25 , G06K9/46 , G06K9/52 , G06T7/60 , B25J9/00 , H04N13/00
Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.
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公开(公告)号：US10773387B2
公开(公告)日：2020-09-15
申请号：US16133414
申请日：2018-09-17
Applicant: X Development LLC
Inventor： Ethan Rublee , John Zevenbergen
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.
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公开(公告)号：US20180120465A1
公开(公告)日：2018-05-03
申请号：US15338798
申请日：2016-10-31
Applicant: X Development LLC
Inventor： Robert Rose , Ethan Rublee
Abstract: Example implementations may relate to accurate pallet insertion. An example system may include a forklifted configured with a base and a tine coupled to the base. The tine may include a first proximity sensor positioned on a first side of the tine and a second proximity sensor positioned on a second side of the tine. The system may also include a computing system configured to receive, from the first sensor and the second sensor, sensor data indicative of proximity of the tine relative to opposing surfaces of a pocket of a pallet and navigate the forklift relative to the pallet based on the sensor data.
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公开(公告)号：US20210187736A1
公开(公告)日：2021-06-24
申请号：US17196660
申请日：2021-03-09
Applicant: X Development LLC
Inventor： Gary Bradski , Kurt Konolige , Ethan Rublee
IPC: B25J9/16 , G06T7/529 , G06T7/593 , G06T7/13 , G06T17/00 , G06K9/00 , H04N13/239 , G06T7/55 , B25J19/02 , B65G47/46 , B65G47/50 , G01B11/25 , G06K9/46 , G06K9/52 , G06T7/60 , H04N5/33 , B25J9/00 , B25J5/00 , B65G41/00 , G06T19/00 , B25J19/00 , G06K9/32 , G06K9/62
Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.
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公开(公告)号：US10455212B1
公开(公告)日：2019-10-22
申请号：US14583903
申请日：2014-12-29
Applicant: X Development LLC
Inventor： Kurt Konolige , Ethan Rublee
IPC: H04N13/00 , G06T7/00 , B25J9/00 , G01B11/25 , H04N13/122 , H04N13/167 , H04N13/282
Abstract: Example implementations relate to determining depth information using stereo sensor data. An example system may include at least one projector coupled to a robotic manipulator and configured to project a texture pattern onto an environment. The system may further include a displacer coupled to the at least one texture projector and configured to repeatedly change a position of the texture pattern within the environment. The system may also include at least two optical sensors configured to capture stereo sensor data for the environment. And the system may include a computing device configured to determine, using the stereo sensor data, an output including a virtual representation of the environment.
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Patent Agency Ranking
公开(公告)号：US10122995B2
公开(公告)日：2018-11-06
申请号：US15273465
申请日：2016-09-22
Applicant: X Development LLC
Inventor： Ethan Rublee , John Zevenbergen
IPC: H04N13/279 , G06K9/00 , G06K9/62 , G06T17/00 , G06T19/00
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.
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公开(公告)号：US20170308096A1
公开(公告)日：2017-10-26
申请号：US15649080
申请日：2017-07-13
Applicant: X Development LLC
Inventor： Stefan Nusser , Troy Straszheim , John Zevenbergen , Ethan Rublee
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.
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公开(公告)号：US09682481B2
公开(公告)日：2017-06-20
申请号：US14922738
申请日：2015-10-26
Applicant: X Development LLC
Inventor： Kyle Lutz , Ethan Rublee
CPC classification number: G05D1/0291 , B25J5/007 , B25J9/0084 , B25J9/1682 , B25J9/1697 , G05B2219/32266 , G05B2219/39118 , G05B2219/40298 , G05D2201/0216 , Y02P90/60 , Y10S901/01 , Y10S901/47
Abstract: A control system may perform functions including (i) storing data indicating an association between an optical identifier and a first robot, (ii) sending, to the first robot, data encoding the optical identifier for display by the first robot, and (iii) after sending the data encoding the optical identifier, sending, to a second robot, the data indicating the association between the optical identifier and the first robot. In some examples, the first robot may receive, from the control system, data encoding a second optical identifier of the first robot so that the first robot may display the second optical identifier instead of the first optical identifier. In some examples, a first robot may capture an image of an indication of a priority status of a second robot and perform an action based on comparing a first priority status of the first robot to the second priority status of the second robot.
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公开(公告)号：US20170113352A1
公开(公告)日：2017-04-27
申请号：US14922738
申请日：2015-10-26
Applicant: X Development LLC
Inventor： Kyle Lutz , Ethan Rublee
CPC classification number: G05D1/0291 , B25J5/007 , B25J9/0084 , B25J9/1682 , B25J9/1697 , G05B2219/32266 , G05B2219/39118 , G05B2219/40298 , G05D2201/0216 , Y02P90/60 , Y10S901/01 , Y10S901/47
Abstract: A control system may perform functions including (i) storing data indicating an association between an optical identifier and a first robot, (ii) sending, to the first robot, data encoding the optical identifier for display by the first robot, and (iii) after sending the data encoding the optical identifier, sending, to a second robot, the data indicating the association between the optical identifier and the first robot. In some examples, the first robot may receive, from the control system, data encoding a second optical identifier of the first robot so that the first robot may display the second optical identifier instead of the first optical identifier. In some examples, a first robot may capture an image of an indication of a priority status of a second robot and perform an action based on comparing a first priority status of the first robot to the second priority status of the second robot.
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公开(公告)号：US09630316B2
公开(公告)日：2017-04-25
申请号：US15006264
申请日：2016-01-26
Applicant: X Development LLC
Inventor： Kurt Konolige , Ethan Rublee , Mrinal Kalakrishnan
CPC classification number: B25J9/1612 , B25J5/007 , B25J9/1633 , B25J9/1664 , B25J15/0616 , G05B2219/37345 , G05B2219/40006 , G05B2219/40512 , G05B2219/40513 , G05B2219/45056 , Y10S901/09 , Y10S901/27 , Y10S901/30 , Y10S901/46
Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.
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