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公开(公告)号：US20180321675A1
公开(公告)日：2018-11-08
申请号：US16025231
申请日：2018-07-02
Applicant: X Development LLC
Inventor： Jared Russell , Geoffrey Lalonde
CPC classification number: G05D1/0027 , B65G1/0492 , G01C21/26 , G05D1/0212 , G05D1/0289 , G05D2201/0216 , G08G1/166 , G08G1/207
Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can determine a roadmap that includes a first intersection associated with first and second edges. The computing device can determine an edge interaction region (EIR) surrounding the first intersection that includes portions of the first and second edges, where a traversal region on the first edge portion can overlap a traversal region on the second edge portion. The computing device can determine first and second sub-edges of the first edge; the first sub-edge within the EIR and the second sub-edge outside the EIR. The computing device can receive a request to determine a route, determine the route specifying travel along the first sub-edge with a first rule set and along the second sub-edge with a second rule set, and provide the route.
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公开(公告)号：US10369696B1
公开(公告)日：2019-08-06
申请号：US15641882
申请日：2017-07-05
Applicant: X Development LLC
Inventor： Jared Russell , Julian Mac Neille Mason , Kurt Mauro Dresner
IPC: B25J9/16
Abstract: Methods, apparatus, systems, and computer-readable media are provided for spatiotemporal reservations for robots. In various implementations, a sequence of spatial regions of an environment, and a sequence of respective time intervals that are reserved for a robot to operate within the sequence of spatial regions, may be reserved for the robot. A default path through the sequence of spatial regions may be identified. During traversal of the default path, it may be determined that the default path will be unpassable by the robot through a given spatial region during a given time interval reserved for the robot to operate within the given spatial region. Thus, an alternative path through the given spatial region that is traversable by the robot during the given time interval may be identified. The robot may then be traversed along the alternative path through the given spatial region within the given time interval.
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公开(公告)号：US09870002B1
公开(公告)日：2018-01-16
申请号：US15257066
申请日：2016-09-06
Applicant: X Development LLC
Inventor： Robert Holmberg , Jared Russell , Ethan Rublee
CPC classification number: G05D1/0088 , B25J9/162 , B25J9/1651 , G05B6/02 , G05B19/00 , G05B19/18 , G05B19/416 , G05B2219/42175 , G05D1/0223 , G05D2201/0216 , Y10S901/01
Abstract: An example system may include a motor, a position-controlled motor controller configured to drive the motor to a commanded position with a characteristic acceleration profile, and a control system. The control system may be configured to determine a target velocity for the motor. The control system may be additionally configured to determine a target position that, when commanded to the motor controller, is predicted to cause the motor controller to drive the motor with the target velocity at a target time point by driving the motor with the characteristic acceleration profile. Further, the control system may be configured to provide an instruction for execution by the position-controlled motor controller, the instruction may be configured to cause the motor controller to drive the motor to the target position.
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公开(公告)号：US10754350B2
公开(公告)日：2020-08-25
申请号：US15838437
申请日：2017-12-12
Applicant: X Development LLC
Inventor： Jared Russell
Abstract: An example system includes a vehicle and a sensor connected to the vehicle. The system may receive a predetermined path for the vehicle to follow. The system may also receive a plurality of objectives, associated with a corresponding set of sensor data, for which to collect sensor data. The system may determine, for each of the plurality of objectives, a portion of the environment for the sensor to scan to acquire the corresponding set of sensor data. The system may determine, based on the portion of the environment determined for each of the plurality of objectives, a sensor trajectory through which to move the sensor. The system may cause the sensor to move through the determined sensor trajectory and scan portions of the environment corresponding to the determined sensor trajectory as the vehicle moves along the predetermined path.
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公开(公告)号：US10037029B1
公开(公告)日：2018-07-31
申请号：US15231719
申请日：2016-08-08
Applicant: X Development LLC
Inventor： Jared Russell , Geoffrey Lalonde
CPC classification number: G08G1/166 , B60W30/00 , G01C21/206 , G01C21/32 , G05D1/0212 , G05D1/0274 , G05D1/0289 , G05D2201/0216 , G08G1/207
Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can determine a roadmap that includes a first intersection associated with first and second edges. The computing device can determine an edge interaction region (EIR) surrounding the first intersection that includes portions of the first and second edges, where a traversal region on the first edge portion can overlap a traversal region on the second edge portion. The computing device can determine first and second sub-edges of the first edge; the first sub-edge within the EIR and the second sub-edge outside the EIR. The computing device can receive a request to determine a route, determine the route specifying travel along the first sub-edge with a first rule set and along the second sub-edge with a second rule set, and provide the route.
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Patent Agency Ranking
公开(公告)号：US09744668B1
公开(公告)日：2017-08-29
申请号：US14832656
申请日：2015-08-21
Applicant: X Development LLC
Inventor： Jared Russell , Julian Mac Neille Mason , Kurt Mauro Dresner
CPC classification number: G05D1/0289 , Y10S901/01 , Y10S901/09
Abstract: Methods, apparatus, systems, and computer-readable media are provided for spatiotemporal reservations for robots. In various implementations, a sequence of spatial regions of an environment, and a sequence of respective time intervals that are reserved for a robot to operate within the sequence of spatial regions, may be reserved for the robot. A default path through the sequence of spatial regions may be identified. During traversal of the default path, it may be determined that the default path will be unpassable by the robot through a given spatial region during a given time interval reserved for the robot to operate within the given spatial region. Thus, an alternative path through the given spatial region that is traversable by the robot during the given time interval may be identified. The robot may then be traversed along the alternative path through the given spatial region within the given time interval.
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公开(公告)号：US09826213B1
公开(公告)日：2017-11-21
申请号：US14861825
申请日：2015-09-22
Applicant: X Development LLC
Inventor： Jared Russell , Julian MacNeille Mason
IPC: G06K9/00 , H04N13/02 , H04N7/18 , G06T17/20 , G06T7/00 , G06K9/62 , H04N5/372 , B65G69/00 , B65D19/38
CPC classification number: H04N13/204 , B65D19/38 , B65D2201/00 , B65G1/1371 , G06K9/00664 , G06K2209/19 , G06T7/0075 , G06T7/0085 , G06T17/20 , G06T2207/10021 , H04N5/372 , H04N7/183 , H04N13/257
Abstract: Methods, apparatus, systems, and computer-readable media are provided that relate to using one or more vision sensors to capture images of a loaded pallet in association with application of stretch wrap to the loaded pallet by an automated pallet wrapping machine. The images are used to generate an image-based identifier for the loaded pallet that is then used for pallet identification by mobile robots and/or other automated agents in a warehouse or other environment. In some implementations, the images are captured by the vision sensor when the pallet is in the wrapping area of the automated pallet wrapping machine and while the vision sensor and/or the pallet are rotating. In some implementations, the image-based identifier may be assigned to pallet attributes and/or a de-palletizing scheme of the loaded pallet.
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公开(公告)号：US10108194B1
公开(公告)日：2018-10-23
申请号：US15255390
申请日：2016-09-02
Applicant: X Development LLC
Inventor： Jared Russell
IPC: G05D1/02
Abstract: An example system may include a vehicle, a sensor, and a control system that may determine a target location for an object carried by the vehicle. The control system may also determine a plurality of points defining a boundary of a volume to be occupied by the object at the target location. The plurality of points may be scannable in a sequence by the sensor to scan the volume. The control system may additionally determine a respective field of visibility to each respective point. Further, the control system may determine a path for the vehicle to follow to the target location. The respective field of visibility may intersect with at least a respective portion of the determined path such that each respective point is observable by the sensor along at least the respective portion of the determined path as the vehicle moves along the determined path to the target location.
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公开(公告)号：US20180113468A1
公开(公告)日：2018-04-26
申请号：US15838437
申请日：2017-12-12
Applicant: X Development LLC
Inventor： Jared Russell
Abstract: An example system includes a vehicle and a sensor connected to the vehicle. The system may receive a predetermined path for the vehicle to follow. The system may also receive a plurality of objectives, associated with a corresponding set of sensor data, for which to collect sensor data. The system may determine, for each of the plurality of objectives, a portion of the environment for the sensor to scan to acquire the corresponding set of sensor data. The system may determine, based on the portion of the environment determined for each of the plurality of objectives, a sensor trajectory through which to move the sensor. The system may cause the sensor to move through the determined sensor trajectory and scan portions of the environment corresponding to the determined sensor trajectory as the vehicle moves along the predetermined path.
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公开(公告)号：US09880561B2
公开(公告)日：2018-01-30
申请号：US15178120
申请日：2016-06-09
Applicant: X Development LLC
Inventor： Jared Russell
CPC classification number: G05D1/0251 , G05D1/0094 , G05D1/0242 , G05D1/0257 , G06K9/00805 , G06K9/209 , G06Q50/28
Abstract: An example system includes a vehicle and a sensor connected to the vehicle. The system may receive a predetermined path for the vehicle to follow. The system may also receive a plurality of objectives, associated with a corresponding set of sensor data, for which to collect sensor data. The system may determine, for each of the plurality of objectives, a portion of the environment for the sensor to scan to acquire the corresponding set of sensor data. The system may determine, based on the portion of the environment determined for each of the plurality of objectives, a sensor trajectory through which to move the sensor. The system may cause the sensor to move through the determined sensor trajectory and scan portions of the environment corresponding to the determined sensor trajectory as the vehicle moves along the predetermined path.
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