公开(公告)号：US20200061821A1

公开(公告)日：2020-02-27

申请号：US16598655

申请日：2019-10-10

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC: B25J9/16

Abstract: Example systems and methods allow for use of a graphical interface to cause one or more robotic devices to construct an output product. One example method includes causing a graphical interface to be displayed on a display device, receiving input data corresponding to one or more interactions with the graphical interface indicating at least one motion path and at least one sequence of tool actions to execute at one or more points within the at least one motion path for use in construction of an output product, generating a plurality of digital nodes including at least one robot node, at least one motion command node, and at least one tool command node, and providing instructions for the at least one robot actor to move according to the sequence of robot motion commands determined by the at least one motion command node and execute the sequence of tool commands determined by the at least one tool command node to construct the output product.

公开(公告)号：US10286602B1

公开(公告)日：2019-05-14

申请号：US16139216

申请日：2018-09-24

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Brandon Kruysman ,  Jonathan Proto

IPC: B29C64/20 ,  B29C64/245 ,  B33Y10/00 ,  B33Y30/00 ,  B29L31/00

Abstract: An example fabrication system includes a light source, a resin container, and a base plate on which resin is cured using the light source so as to build up an object one layer at a time. The disclosed base plate includes a build surface and an anchor channel that extends into the base plate from the build surface. The anchor channel is a recess in the base plate configured to have a narrow width that is closer to an opening to the build surface than a broad width. The base plate can also have a light source that emits light into the anchor channel to cure resin within the anchor channel. Resin anchors cured within the anchor channel to conform to the anchor channel resist being extracted, and an object formed on the build surface remains anchored during fabrication via adhesion to the resin anchors.

公开(公告)号：US20180024516A1

公开(公告)日：2018-01-25

申请号：US15722937

申请日：2017-10-02

Applicant: X Development LLC

Inventor： Jeffrey Linnell

IPC: G05B15/02 ,  G06F3/01 ,  G06F3/02

CPC classification number: G06F3/02 ,  G06F3/016 ,  G06F3/03547 ,  G06F3/0362 ,  G06F3/0488 ,  Y10S901/02

Abstract: Example implementations may relate to a haptic hand-holdable controller configured with throttle functionality. An example device may take the form of a haptic controller, which senses tactile information and provides force feedback. The haptic hand-holdable controller may implement a throttle where a motor varies feedback to the hand-holdable controller to simulate a throttle.

公开(公告)号：US20220009100A1

公开(公告)日：2022-01-13

申请号：US17379920

申请日：2021-07-19

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC: B25J9/16

Abstract: Example systems and methods allow for use of a graphical interface to cause one or more robotic devices to construct an output product. One example method includes causing a graphical interface to be displayed on a display device, receiving input data corresponding to one or more interactions with the graphical interface indicating at least one motion path and at least one sequence of tool actions to execute at one or more points within the at least one motion path for use in construction of an output product, generating a plurality of digital nodes including at least one robot node, at least one motion command node, and at least one tool command node, and providing instructions for the at least one robot actor to move according to the sequence of robot motion commands determined by the at least one motion command node and execute the sequence of tool commands determined by the at least one tool command node to construct the output product.

公开(公告)号：US11045956B2

公开(公告)日：2021-06-29

申请号：US16273361

申请日：2019-02-12

Applicant: X Development LLC

Inventor： Jeffrey Linnell

IPC: G06F17/00 ,  B25J9/16 ,  G05B19/427

Abstract: An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

公开(公告)号：US10507578B1

公开(公告)日：2019-12-17

申请号：US15648649

申请日：2017-07-13

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: G01C21/00 ,  B25J9/10 ,  B25J9/16

Abstract: Example implementations may relate to optimization of observer robot locations. In particular, a control system may detect an event that indicates desired relocation of observer robots within a worksite. Each such observer robot may have respective sensor(s) configured to provide information related to respective positions of a plurality of target objects within the worksite. Responsively, the control system may (i) determine observer robot locations within the worksite at which one or more of the respective sensors are each capable of providing information related to respective positions of one or more of the plurality of target objects and (ii) determine a respectively intended level of positional accuracy for at least two respective target objects. Based on the respectively intended levels of positional accuracy, the control system may select one or more of the observer robot locations and may direct one or more observer robots to relocate to the selected locations.

公开(公告)号：US20190168390A1

公开(公告)日：2019-06-06

申请号：US16273361

申请日：2019-02-12

Applicant: X Development LLC

Inventor： Jeffrey Linnell

IPC: B25J9/16 ,  G05B19/427

Abstract: An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

公开(公告)号：US10118343B1

公开(公告)日：2018-11-06

申请号：US14577572

申请日：2014-12-19

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Brandon Kruysman ,  Jonathan Proto

IPC: B29C64/245 ,  B29C67/00 ,  B33Y30/00 ,  B29L31/00 ,  B33Y10/00

Abstract: An example fabrication system includes a light source, a resin container, and a base plate on which resin is cured using the light source so as to build up an object one layer at a time. The disclosed base plate includes a build surface and an anchor channel that extends into the base plate from the build surface. The anchor channel is a recess in the base plate configured to have a narrow width that is closer to an opening to the build surface than a broad width. The base plate can also have a light source that emits light into the anchor channel to cure resin within the anchor channel. Resin anchors cured within the anchor channel to conform to the anchor channel resist being extracted, and an object formed on the build surface remains anchored during fabrication via adhesion to the resin anchors.

公开(公告)号：US20180004187A1

公开(公告)日：2018-01-04

申请号：US15708864

申请日：2017-09-19

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC: G05B19/409 ,  G05B19/42

CPC classification number: G05B19/409 ,  G05B19/42 ,  G05B2219/36056 ,  G05B2219/39432 ,  G05B2219/39443

Abstract: Example systems and methods allow for runtime control of robotic devices during a construction process. One example method includes determining at least one sequence of robot operations corresponding to at least one robot actor, causing the at least one robot actor to execute a portion of the at least one sequence of robot operations during a first time period, receiving an interrupt signal from a mobile computing device indicating a modification to the at least one sequence of robot operations, where the mobile computing device is configured to display a digital interface including one or more robot parameters describing the at least one robot actor and one or more tool parameters describing operating characteristics of at least one physical tool, and causing the at least one robot actor to execute a portion of the at least one modified sequence of robot operations during a second time period.

公开(公告)号：US09811066B1

公开(公告)日：2017-11-07

申请号：US14968535

申请日：2015-12-14

Applicant: X Development LLC

Inventor： Jeffrey Linnell

IPC: G05B15/02 ,  G06F3/01 ,  G06F3/02

CPC classification number: G06F3/02 ,  G06F3/016 ,  G06F3/03547 ,  G06F3/0362 ,  G06F3/0488 ,  Y10S901/02

Abstract: Example implementations may relate to a haptic hand-holdable controller configured with throttle functionality. An example device may take the form of a haptic controller, which senses tactile information and provides force feedback. The haptic hand-holdable controller may implement a throttle where a motor varies feedback to the hand-holdable controller to simulate a throttle.