公开(公告)号：EP3186777A1

公开(公告)日：2017-07-05

申请号：EP15733599.3

申请日：2015-06-18

Applicant: X Development LLC

Inventor： KONOLIGE, Kurt ,  RUBLEE, Ethan

IPC: G06T7/00

Abstract: Methods and systems for determining depth information using a combination of stereo and structured-light processing are provided. An example method involves receiving a plurality of images captured with at least two optical sensors, and determining a first depth estimate for at least one surface based on corresponding features between a first image and a second image. Further, the method involves causing a texture projector to project a known texture pattern, and determining, based on the first depth estimate, at least one region of at least one image of the plurality of images within which to search for a particular portion of the known texture pattern. And the method involves determining points corresponding to the particular portion of the known texture pattern within the at least one region, and determining a second depth estimate for the at least one surface based on the determined points corresponding to the known texture pattern.

Abstract translation: 提供了使用立体和结构光处理的组合来确定深度信息的方法和系统。 示例方法涉及接收用至少两个光学传感器捕获的多个图像，并基于第一图像和第二图像之间的对应特征来确定至少一个表面的第一深度估计。 此外，该方法包括使纹理投影仪投影已知纹理图案，并且基于第一深度估计来确定多个图像中的至少一个图像的至少一个区域，在该区域内搜索特定部分的 已知的纹理图案。 并且该方法包括确定与至少一个区域内的已知纹理图案的特定部分相对应的点，以及基于确定的与已知纹理图案相对应的点确定至少一个表面的第二深度估计。

公开(公告)号：EP3789944A1

公开(公告)日：2021-03-10

申请号：EP20203684.4

申请日：2016-10-03

Applicant: X Development LLC

Inventor： RUBLEE, Ethan ,  ZEVENBERGEN,, John

IPC: G06Q10/06 ,  G06Q10/08 ,  B25J9/16 ,  G06K19/07 ,  G05D1/02

Abstract: Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.

公开(公告)号：EP3331668B1

公开(公告)日：2020-07-29

申请号：EP16860584.8

申请日：2016-10-25

Applicant: X Development LLC

Inventor： LUTZ, Kyle ,  RUBLEE, Ethan

IPC: B25J9/16 ,  B25J5/00 ,  B25J11/00 ,  B25J19/02 ,  B25J19/00

公开(公告)号：EP3169490A1

公开(公告)日：2017-05-24

申请号：EP15821550.9

申请日：2015-07-14

Applicant: X Development LLC

Inventor： ZEVENBERGEN, John ,  RUBLEE, Ethan

IPC: B25J15/06 ,  B25J19/02 ,  B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1664 ,  B25J9/1633 ,  B25J9/1687 ,  B25J15/0052 ,  B25J15/0616 ,  B25J15/0625 ,  G05B2219/40006 ,  G05B2219/45056 ,  Y10S901/09 ,  Y10S901/40 ,  Y10S901/46

Abstract: Example embodiments may provide for control of a suction gripper with multiple suction cups. One example system includes a suction gripper and a control system. The suction gripper may include a vacuum pump, a plurality of suction cups coupled to the vacuum pump, and a plurality of sensors corresponding to the suction cups, where a sensor is positioned between the vacuum pump and a suction cup and measures a vacuum pressure of the suction cup. The control system may be configured to activate the vacuum pump to cause the suction gripper to apply suction to an object through one or more active suction cups, receive sensor data indicative of the vacuum pressure of the one or more active suction cups from the corresponding sensors, identify at least one suction cup to deactivate from the one or more active suction cups, and deactivate the at least one identified suction cup.

Abstract translation: 示例实施例可以提供用多个吸盘来控制吸盘。 一个示例系统包括一个吸盘和一个控制系统。 吸取夹具可以包括真空泵，连接到真空泵的多个吸盘以及与吸盘相对应的多个传感器，其中传感器位于真空泵和吸盘之间并且测量真空泵的真空压力 吸盘。 控制系统可以被构造成启动真空泵以使吸取夹具通过一个或多个主动吸盘向对象施加抽吸，从相应的传感器接收指示一个或多个主动吸盘的真空压力的传感器数据 识别至少一个吸盘以从所述一个或多个主动吸盘去激活，并且停用所述至少一个识别的吸盘。

公开(公告)号：EP3186777B1

公开(公告)日：2020-04-22

申请号：EP15733599.3

申请日：2015-06-18

Applicant: X Development LLC

Inventor： KONOLIGE, Kurt ,  RUBLEE, Ethan

IPC: G06T7/521 ,  G06T7/593

公开(公告)号：EP3325228A1

公开(公告)日：2018-05-30

申请号：EP16854108.4

申请日：2016-09-29

Applicant: X Development LLC

Inventor： ZEVENBERGEN, John, William ,  RUBLEE, Ethan

IPC: B25J9/16 ,  B25J19/00 ,  G06Q10/06 ,  H02J7/00

CPC classification number: B25J9/1674 ,  B25J5/00 ,  B25J9/1664 ,  B25J19/005 ,  G05D1/0225 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/50

Abstract: An example method includes receiving, by a mobile robotic device, power from a battery of a first battery pack in order to operate within an environment. The method further includes establishing a first data channel between the mobile robotic device and the first battery pack. The method also includes using the first data channel to transfer sensor data acquired by the mobile robotic device during operation to a local data storage component of the first battery pack. The method additionally includes navigating, by the mobile robotic device, to a battery exchange station to transfer the first battery pack containing the battery and the local data storage component with the sensor data to the battery exchange station. The method further includes after transferring the first battery pack to the battery exchange station, receiving a second battery pack from the battery exchange station to continue operation within the environment.