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公开(公告)号：US10705532B2
公开(公告)日：2020-07-07
申请号：US15854376
申请日：2017-12-26
Applicant: X Development LLC
Inventor： Robert Holmberg
IPC: G05D1/02
Abstract: Embodiments are provided that include a method that includes causing a mobile robot to navigate toward a standing test device placed within an environment of the mobile robot. The method also includes receiving, from a proximity sensor on the standing test device, sensor data indicative of proximity of the mobile robot to the standing test device as the mobile robot navigates toward the standing test device. The method further includes determining, based on the sensor data received from the proximity sensor on the standing test device, an approach motion profile followed by the mobile robot in navigating toward the standing device. The method additionally includes providing a control instruction for the mobile robot based on the determined approach motion profile.
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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：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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Patent Agency Ranking
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：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：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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公开(公告)号：US20190193629A1
公开(公告)日：2019-06-27
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：US20190196488A1
公开(公告)日：2019-06-27
申请号：US15854376
申请日：2017-12-26
Applicant: X Development LLC
Inventor： Robert Holmberg
IPC: G05D1/02
Abstract: Embodiments are provided that include a method that includes causing a mobile robot to navigate toward a standing test device placed within an environment of the mobile robot. The method also includes receiving, from a proximity sensor on the standing test device, sensor data indicative of proximity of the mobile robot to the standing test device as the mobile robot navigates toward the standing test device. The method further includes determining, based on the sensor data received from the proximity sensor on the standing test device, an approach motion profile followed by the mobile robot in navigating toward the standing device. The method additionally includes providing a control instruction for the mobile robot based on the determined approach motion profile.
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