公开(公告)号：US10882181B2

公开(公告)日：2021-01-05

申请号：US16251175

申请日：2019-01-18

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/16 ,  E04G21/22 ,  B25J13/08 ,  G05B17/02

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

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：US20180029227A1

公开(公告)日：2018-02-01

申请号：US15222583

申请日：2016-07-28

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/16 ,  B25J13/08 ,  G05B17/02

CPC classification number: B25J9/163 ,  B25J9/1669 ,  B25J9/1671 ,  B25J9/1674 ,  B25J13/089 ,  E04G21/22 ,  G05B17/02 ,  G05B2219/45086

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

公开(公告)号：US10509392B2

公开(公告)日：2019-12-17

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

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：US10220511B2

公开(公告)日：2019-03-05

申请号：US15222583

申请日：2016-07-28

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/16 ,  B25J13/08 ,  G05B17/02 ,  E04G21/22

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

公开(公告)号：US09737987B1

公开(公告)日：2017-08-22

申请号：US14948112

申请日：2015-11-20

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Sean Jules ,  Matthew Bitterman ,  Eli Reekmans ,  Kendra Byrne

IPC: G06K7/14 ,  B25J9/16

CPC classification number: B25J9/161 ,  B25J9/1656 ,  B25J13/02 ,  G05B2219/35459 ,  G05B2219/40132 ,  G05G9/02 ,  Y10S901/03

Abstract: Disclosed are systems and methods for detecting a graphic card that visually describes an operational mode of a rotatable interface component via a plurality of curves for rotationally-varying parameters, determining the operational mode that is visually described on the graphic card, and loading the operational mode to the rotatable interface component, where the operational mode specifies operations for a motor such that the motor generates torque on the interface component based on the curves for the rotationally-varying parameters that are shown on the graphic card.

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：US10596703B1

公开(公告)日：2020-03-24

申请号：US15220300

申请日：2016-07-26

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman

IPC: B25J9/16 ,  G05B19/4099 ,  B25J11/00

Abstract: The present application discloses implementations relate to automated generation of interlocking joint features. An example method involves obtaining a virtual model of an object. The virtual model specifies dimensions of a first element, dimensions of a second element, and a spatial relation between the first element and the second element that defines a joint angle. The example method also involves obtaining a relationship that correlates element dimensions and joint angles with cut dimensions. The example method further involves determining cut dimensions for the first element the second element based on the relationship, the dimensions of the first element, the dimensions of the second element, and the joint angle. Modifying the first element and the second element according to the cut dimensions produces interlockable features on the first element and the second element. Additionally, the method involves providing an output signal indicative of the cut dimensions.

公开(公告)号：US10150213B1

公开(公告)日：2018-12-11

申请号：US15221555

申请日：2016-07-27

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Marek Michalowski ,  Kendra Byrne ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/00 ,  B25J9/16 ,  B25J15/00

Abstract: Example implementations may relate to providing a dynamic jig in a three-dimensional (3D) coordinate system. Specifically, a control system may (i) receive task data specifying a manipulation of one or more parts at a specified location; (ii) determine: (a) one or more work surfaces and (b) a first position of each of the one or more work surfaces, such that the one or more work surfaces collectively provide a jig to facilitate the specified manipulation of the parts; (iii) a plurality of guide end effectors that are positionable by one or more robotic devices such that the end effectors provide the work surfaces at the respectively determined first positions; and (iv) operate the one or more robotic devices to position the guide end effectors to provide the one or more work surfaces at the respectively determined first positions, thereby forming the jig from the one or more work surfaces.

公开(公告)号：US20180348742A1

公开(公告)日：2018-12-06

申请号：US15611777

申请日：2017-06-01

Applicant: X Development LLC

Inventor： Kendra Byrne ,  Eli Reekmans ,  Stoyan Gaydarov ,  Marek Michalowski ,  Michael Beardsworth ,  Ryan Butterfoss ,  Ytai Ben-Tsvi

IPC: G05B19/418

Abstract: Disclosed herein is a worksite automation process that involves: generating a first sequence of tasks to build the product according to a model. The process further involves causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks. Further, during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks. Based on the analysis, determining that it is not feasible to complete the product by executing the first sequence of tasks, and in response, generating a second sequence of tasks to complete the product according to the model. Then, causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.