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公开(公告)号：US10265856B2
公开(公告)日：2019-04-23
申请号：US15216145
申请日：2016-07-21
Applicant: X Development LLC
Inventor： Mark Fischer , Robert Holmberg
Abstract: Example implementations may relate to a mobile robotic device that is operable to reorient a distance sensor using an adjustable leveler. According to these implementations, the robotic device may determine a height map indicating surface elevation data for a ground surface on which the robotic device is travelling within an environment. Then, the robotic device may determine a current location of the robotic device relative to the height map. Based on the current location, the robotic device may determine a current spatial orientation of the distance sensor relative to the ground surface. Further, the robotic device may (i) determine an adjusted position of the leveler to which the leveler is movable to cause the distance sensor to spatially reorient from the current spatial orientation to a target spatial orientation and (ii) cause the distance sensor to reorient to the target spatial orientation by moving the leveler to the adjusted position.
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公开(公告)号：US20180081369A1
公开(公告)日：2018-03-22
申请号：US15629343
申请日：2017-06-21
Applicant: X Development LLC
Inventor： Mark Fischer , John Zevenbergen
CPC classification number: G05D1/0231 , B66F9/063 , B66F9/0755 , G01S7/4802 , G01S17/08 , G01S17/42 , G05D1/024 , G05D2201/0216 , Y10S901/01
Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.
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公开(公告)号：US09823659B2
公开(公告)日：2017-11-21
申请号：US15375381
申请日：2016-12-12
Applicant: X Development LLC
Inventor： Robert Andre Holmberg , John William Zevenbergen , Mark Fischer
CPC classification number: G05D1/0212 , B60K7/0007 , B60K17/30 , B60K2007/0038 , B60K2007/0061 , B60K2007/0092 , B60Y2200/62 , B60Y2400/602 , B62D5/0403 , B62D5/0418 , B62D5/046 , B62D6/00 , B62D6/002 , B62D7/023 , B62D63/04 , B66C13/22 , B66F9/063 , B66F9/07568 , B66F9/07572 , G05D1/0088 , G05D2201/0216
Abstract: The present disclosure provides an example motor system. The motor system includes a steering motor with a first rotor positioned within a first stator. The steering motor is configured to rotate the first rotor about a steering axis. The motor system also includes a traction motor including a second stator positioned within a second rotor. The second rotor includes a traction surface defining a wheel. The traction motor is configured to rotate the second rotor about a rolling axis, and the traction motor is positioned within an opening in the first rotor. The motor system also includes an axle positioned coaxial to the second rotor and coupled to the first rotor such that the traction motor rotates about the steering axis as the steering motor rotates the first rotor about the steering axis.
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公开(公告)号：US10007266B2
公开(公告)日：2018-06-26
申请号：US15629343
申请日：2017-06-21
Applicant: X Development LLC
Inventor： Mark Fischer , John Zevenbergen
CPC classification number: G05D1/0231 , B66F9/063 , B66F9/0755 , G01S7/4802 , G01S17/08 , G01S17/42 , G05D1/024 , G05D2201/0216 , Y10S901/01
Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.
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公开(公告)号：US09582001B1
公开(公告)日：2017-02-28
申请号：US14876923
申请日：2015-10-07
Applicant: X Development LLC
Inventor： Robert Andre Holmberg , John William Zevenbergen , Mark Fischer
IPC: B62D7/02 , G05D1/00 , B60K7/00 , B62D5/04 , B62D6/00 , B62D63/04 , B66C13/22 , B66F9/06 , B66F9/075
CPC classification number: G05D1/0212 , B60K7/0007 , B60K17/30 , B60K2007/0038 , B60K2007/0061 , B60K2007/0092 , B60Y2200/62 , B60Y2400/602 , B62D5/0403 , B62D5/0418 , B62D5/046 , B62D6/00 , B62D6/002 , B62D7/023 , B62D63/04 , B66C13/22 , B66F9/063 , B66F9/07568 , B66F9/07572 , G05D1/0088 , G05D2201/0216
Abstract: The present disclosure provides an example motor system. The motor system includes a steering motor with a first rotor positioned within a first stator. The steering motor is configured to rotate the first rotor about a steering axis. The motor system also includes a traction motor including a second stator positioned within a second rotor. The second rotor includes a traction surface defining a wheel. The traction motor is configured to rotate the second rotor about a rolling axis, and the traction motor is positioned within an opening in the first rotor. The motor system also includes an axle positioned coaxial to the second rotor and coupled to the first rotor such that the traction motor rotates about the steering axis as the steering motor rotates the first rotor about the steering axis.
Abstract translation: 本公开提供了一种示例性电动机系统。 电动机系统包括转子电动机，第一转子位于第一定子内。 转向马达被配置成围绕转向轴旋转第一转子。 马达系统还包括牵引马达，其包括定位在第二转子内的第二定子。 第二转子包括限定车轮的牵引表面。 牵引电动机构造成围绕滚动轴线旋转第二转子，并且牵引电动机位于第一转子的开口内。 所述马达系统还包括与所述第二转子同轴设置并联接到所述第一转子的轴，使得当所述转向马达绕所述转向轴旋转所述第一转子时，所述牵引马达围绕所述转向轴旋转。
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Patent Agency Ranking
公开(公告)号：US10676022B2
公开(公告)日：2020-06-09
申请号：US15854850
申请日：2017-12-27
Applicant: X Development LLC
Inventor： John Zevenbergen , Robert Holmberg , Mark Fischer
Abstract: An example system includes a vehicle, a light projector connected to the vehicle, and a control system. The control system is configured to determine a planned operating region for the vehicle within an environment. The control system is also configured to determine that the planned operating region is within a threshold distance of an object within the environment and, in response, determine a caution region to illuminate with the light projector near the object. The control system is further configured to cause the light projector to project an indication of the caution region near the object. The projected indication remains fixed in relation to the object as the vehicle moves toward the planned operating region.
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公开(公告)号：US20180021954A1
公开(公告)日：2018-01-25
申请号：US15216145
申请日：2016-07-21
Applicant: X Development LLC
Inventor： Mark Fischer , Robert Holmberg
CPC classification number: B25J9/1692 , B25J13/089 , G01S7/4808 , G05D1/024 , G05D1/0274 , G05D2201/0216 , Y10S901/01
Abstract: Example implementations may relate to a mobile robotic device that is operable to reorient a distance sensor using an adjustable leveler. According to these implementations, the robotic device may determine a height map indicating surface elevation data for a ground surface on which the robotic device is travelling within an environment. Then, the robotic device may determine a current location of the robotic device relative to the height map. Based on the current location, the robotic device may determine a current spatial orientation of the distance sensor relative to the ground surface. Further, the robotic device may (i) determine an adjusted position of the leveler to which the leveler is movable to cause the distance sensor to spatially reorient from the current spatial orientation to a target spatial orientation and (ii) cause the distance sensor to reorient to the target spatial orientation by moving the leveler to the adjusted position.
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公开(公告)号：US09715232B1
公开(公告)日：2017-07-25
申请号：US15268984
申请日：2016-09-19
Applicant: X Development LLC
Inventor： Mark Fischer , John Zevenbergen
CPC classification number: G05D1/0231 , B66F9/063 , B66F9/0755 , G01S7/4802 , G01S17/08 , G01S17/42 , G05D1/024 , G05D2201/0216 , Y10S901/01
Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.
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公开(公告)号：US20170102706A1
公开(公告)日：2017-04-13
申请号：US15375381
申请日：2016-12-12
Applicant: X Development LLC
Inventor： Robert Andre Holmberg , John William Zevenbergen , Mark Fischer
CPC classification number: G05D1/0212 , B60K7/0007 , B60K17/30 , B60K2007/0038 , B60K2007/0061 , B60K2007/0092 , B60Y2200/62 , B60Y2400/602 , B62D5/0403 , B62D5/0418 , B62D5/046 , B62D6/00 , B62D6/002 , B62D7/023 , B62D63/04 , B66C13/22 , B66F9/063 , B66F9/07568 , B66F9/07572 , G05D1/0088 , G05D2201/0216
Abstract: The present disclosure provides an example motor system. The motor system includes a steering motor with a first rotor positioned within a first stator. The steering motor is configured to rotate the first rotor about a steering axis. The motor system also includes a traction motor including a second stator positioned within a second rotor. The second rotor includes a traction surface defining a wheel. The traction motor is configured to rotate the second rotor about a rolling axis, and the traction motor is positioned within an opening in the first rotor. The motor system also includes an axle positioned coaxial to the second rotor and coupled to the first rotor such that the traction motor rotates about the steering axis as the steering motor rotates the first rotor about the steering axis.
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公开(公告)号：US20200254925A1
公开(公告)日：2020-08-13
申请号：US16862070
申请日：2020-04-29
Applicant: X Development LLC
Inventor： John Zevenbergen , Robert Holmberg , Mark Fischer
Abstract: An example system includes a vehicle, a light projector connected to the vehicle, and a control system. The control system is configured to determine a planned operating region for the vehicle within an environment. The control system is also configured to determine that the planned operating region is within a threshold distance of an object within the environment and, in response, determine a caution region to illuminate with the light projector near the object. The control system is further configured to cause the light projector to project an indication of the caution region near the object. The projected indication remains fixed in relation to the object as the vehicle moves toward the planned operating region.
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