公开(公告)号：US20210187746A1

公开(公告)日：2021-06-24

申请号：US16725620

申请日：2019-12-23

Applicant: X Development LLC

Inventor： Michael Beardsworth ,  Timothy Robert Kelch

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning robotic movements to capture desired sensor measurements. One of the methods includes generating a three-dimensional representation of a robotic operating environment, wherein the robotic operating environment comprises a robot and a sensor, including: generating a first three-dimensional representation of a field of view of the sensor in the robotic operating environment, and generating a second three-dimensional representation of a desired observation of an object in the robotic operating environment; generating a plurality of candidate plans for the robot; selecting, from the candidate plans, a particular candidate plan that intersects the first three-dimensional representation of the field of view of the sensor and the second three-dimensional representation of the desired observation of the object; and causing the robot to execute the particular candidate plan to make the desired observation of the object in the robotic operating environment.

公开(公告)号：US20220395980A1

公开(公告)日：2022-12-15

申请号：US17343312

申请日：2021-06-09

Applicant: X Development LLC

Inventor： Dirk Holz ,  Timothy Robert Kelch

IPC: B25J9/16 ,  G05B19/4155

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that automatically calibrates robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining a representation of a robotic operating environment. A user selection of a plurality of components to be configured to operate in the robotic operating environment is received. A mapping is obtained between pairs of components to be calibrated and one or more respective calibration processes to perform to calibrate each pair of components. From the mapping, one or more calibration processes to be performed on pairs of components based on the user selection of the plurality of components is computed. Calibration instruction data describing how to perform the one or more calibration processes to be performed on the pairs of components of the user selection is determined and presented.

公开(公告)号：US20220297301A1

公开(公告)日：2022-09-22

申请号：US17203147

申请日：2021-03-16

Applicant: X Development LLC

Inventor： Timothy Robert Kelch ,  Dirk Holz

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for measuring and reporting calibration accuracy of robots and sensors assigned to perform a task in an operating environment. One of the methods includes receiving a request to perform a calibration process for one or more robots in an operating environment; in response, performing the calibration process including executing a calibration program that generates movement data representing movements by the one or more robots within the operating environment; computing a measure of calibration accuracy from the movement data; receiving an input program to be executed in the operating environment; determining that the measure of calibration accuracy does not satisfy an accuracy tolerance of the input program; and in response, generating a notification representing that the measure of calibration accuracy generated from performing the calibration process does not satisfy the accuracy tolerance of the input program.

公开(公告)号：US20210339388A1

公开(公告)日：2021-11-04

申请号：US16865070

申请日：2020-05-01

Applicant: X Development LLC

Inventor： Timothy Robert Kelch ,  Ryan Butterfoss

IPC: B25J9/16 ,  B25J13/08

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for modifying a process definition to ensure accuracy, timeliness, or both of workcell measurement. One of the methods includes receiving an initial process definition for a process to be performed by a robot, wherein the process definition defines a sequence of actions to be performed in a workcell, and wherein a first action in the sequence of actions has an associated measurement tolerance; computing a predicted accumulated measurement variance for each of one or more actions that occur before the first action in the sequence; determining that the predicted accumulated measurement variance for the one or more actions that occur before the first action in the sequence exceeds a threshold; and in response, generating a modified process definition that inserts a measurement action at a location in the sequence before the first action.

公开(公告)号：US20220390922A1

公开(公告)日：2022-12-08

申请号：US17338486

申请日：2021-06-03

Applicant: X Development LLC

Inventor： Timothy Robert Kelch ,  Dirk Holz

IPC: G05B19/414 ,  G05B19/21 ,  G05B19/4063 ,  G05B19/4093 ,  G06N20/00 ,  G06N5/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for measuring and reporting calibration accuracy of robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining sensor data of one or more physical robots performing a process in an operating environment; generating, from the sensor data for a first robot of the one or more physical robots, a motion profile representing how the first robot moves while performing the process; obtaining data representing a plurality of candidate virtual robot components, each having a respective virtual motion profile and is a candidate to be included in a virtual representation of the operating environment; performing a motion profile matching process to determine a first virtual robot component from the plurality of candidate virtual robot components that matches the first robot; and adding the first virtual robot component to the virtual representation.