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1.发明申请SYSTEMS AND METHODS FOR GENERATING AND DISPLAYING A 3D MODEL OF ITEMS IN A WAREHOUSE 审中-公开用于生成和显示仓库中物品的3D模型的系统和方法
公开(公告)号：WO2018057442A1
公开(公告)日：2018-03-29
申请号：PCT/US2017/051970
申请日：2017-09-18
Applicant: X DEVELOPMENT LLC
Inventor： RUBLEE, Ethan , ZEVENBERGEN, John
IPC: G05D1/02
CPC classification number: H04N13/279 , G06K9/00671 , G06K9/6215 , G06T17/00 , G06T19/003 , G06T19/20 , G06T2200/08 , G06T2200/24 , G06T2215/16 , G06T2219/2021 , H04N5/23238 , Y10S901/01 , Y10S901/47
Abstract: An example method involves receiving, from at least one camera located in an environment, a plurality of images captured during a first time interval. The method also involves selecting one or more of the plurality of images having a movable platform supporting one or more objects. The method further involves generating a three-dimensional model of the movable platform supporting the one or more objects. The method yet further involves updating the three-dimensional model based on one or more images captured during a second time interval. The method still further involves presenting the three-dimensional model via a display of a user interface, and providing an option to view a history of the three-dimensional model such that the three-dimensional model remains in a fixed position on the display during a viewing of the history.
Abstract translation: 示例性方法涉及从位于环境中的至少一个相机接收在第一时间间隔期间捕获的多个图像。 该方法还涉及选择具有支撑一个或多个物体的可移动平台的多个图像中的一个或多个。 该方法还涉及生成支撑一个或多个物体的可移动平台的三维模型。 该方法还涉及基于在第二时间间隔期间捕获的一个或多个图像来更新三维模型。 该方法还涉及通过用户界面的显示来呈现三维模型，并且提供查看三维模型的历史的选项，使得三维模型在一段时间期间保持在显示器上的固定位置 查看历史记录。
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公开(公告)号：WO2018048641A1
公开(公告)日：2018-03-15
申请号：PCT/US2017/048696
申请日：2017-08-25
Applicant: X DEVELOPMENT LLC
Inventor： HOLMBERG, Robert , RUSSELL, Jared , RUBLEE, Ethan
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.
Abstract translation: 示例性系统可以包括电动机，被配置为将电动机驱动到具有特征加速度曲线的指令位置的位置控制电动机控制器，以及控制系统。 控制系统可以被配置为确定马达的目标速度。 控制系统可以另外被配置为确定目标位置，该目标位置当被命令给电动机控制器时被预测为通过驱动具有特征加速度曲线的电动机使电动机控制器以目标速度在目标时间点驱动电动机 。 此外，控制系统可以被配置成提供由位置控制马达控制器执行的指令，该指令可以被配置为使马达控制器驱动马达到目标位置。
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公开(公告)号：EP3331668A1
公开(公告)日：2018-06-13
申请号：EP16860584.8
申请日：2016-10-25
Applicant: X Development LLC
Inventor： LUTZ, Kyle , RUBLEE, Ethan
Abstract: A control system may perform functions including (i) storing data indicating an association between an optical identifier and a first robot, (ii) sending, to the first robot, data encoding the optical identifier for display by the first robot, and (iii) after sending the data encoding the optical identifier, sending, to a second robot, the data indicating the association between the optical identifier and the first robot. In some examples, the first robot may receive, from the control system, data encoding a second optical identifier of the first robot so that the first robot may display the second optical identifier instead of the first optical identifier. In some examples, a first robot may capture an image of an indication of a priority status of a second robot and perform an action based on comparing a first priority status of the first robot to the second priority status of the second robot.
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公开(公告)号：EP3169489A2
公开(公告)日：2017-05-24
申请号：EP15831185.2
申请日：2015-07-14
Applicant: X Development LLC
Inventor： KONOLIGE, Kurt , RUBLEE, Ethan , KALAKRISHANAN, Mrinal
IPC: B25J9/16
CPC classification number: B25J9/1612 , B25J5/007 , B25J9/1633 , B25J9/1664 , B25J15/0616 , G05B2219/37345 , G05B2219/40006 , G05B2219/40512 , G05B2219/40513 , G05B2219/45056 , Y10S901/09 , Y10S901/27 , Y10S901/30 , Y10S901/46
Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.
Abstract translation: 可以使用示例系统和方法来确定使用机器人设备移动物体的轨迹。 一个示例性方法包括基于多个可能的对象测量来确定用于利用机器人操纵器的末端执行器来移动对象的多个可能的轨迹。 该方法可以进一步包括使机器人操纵器用端部执行器拾取物体。 在使机器人操纵器利用末端执行器拾取物体之后，该方法还可以包括从一个或多个传感器接收指示物体的一个或多个测量结果的传感器数据。 基于接收到的传感器数据，该方法可以另外包括从多个可能的轨迹中选择用于移动物体的轨迹。 该方法还可以包括使机器人操纵器通过选择的轨迹移动物体。
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公开(公告)号：EP3365846A1
公开(公告)日：2018-08-29
申请号：EP16869035.2
申请日：2016-10-03
Applicant: X Development LLC
Inventor： RUBLEE, Ethan , ZEVENBERGEN, John
CPC classification number: B25J9/1676 , B25J9/1694 , B25J19/02 , B25J19/021 , G05B2219/40202 , G05D1/0289 , G05D2201/0216 , Y10S901/09
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.
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Patent Agency Ranking
公开(公告)号：WO2018080672A1
公开(公告)日：2018-05-03
申请号：PCT/US2017/052722
申请日：2017-09-21
Applicant: X DEVELOPMENT LLC
Inventor： ROSE, Robert , RUBLEE, Ethan
CPC classification number: G01V3/02 , B66F9/06 , B66F9/063 , B66F9/0755 , G01V3/08 , G05D1/0225 , G05D1/0259 , G05D2201/0216
Abstract: Example implementations may relate to accurate pallet insertion. An example system may include a forklifted configured with a base and a tine coupled to the base. The tine may include a first proximity sensor positioned on a first side of the tine and a second proximity sensor positioned on a second side of the tine. The system may also include a computing system configured to receive, from the first sensor and the second sensor, sensor data indicative of proximity of the tine relative to opposing surfaces of a pocket of a pallet and navigate the forklift relative to the pallet based on the sensor data.
Abstract translation: 示例实施可能涉及准确的托盘插入。 示例系统可以包括叉车，叉车配置有基座和连接到基座的叉齿。 齿可以包括位于齿的第一侧上的第一接近传感器和位于齿的第二侧上的第二接近传感器。 该系统还可以包括计算系统，该计算系统被配置为从第一传感器和第二传感器接收指示叉相对于托盘的口袋的相对表面的接近度的传感器数据，并且基于所述传感器数据相对于托盘导航叉车 传感器数据。
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7.发明申请
公开(公告)号：WO2017074888A1
公开(公告)日：2017-05-04
申请号：PCT/US2016/058569
申请日：2016-10-25
Applicant: X DEVELOPMENT LLC
Inventor： LUTZ, Kyle , RUBLEE, Ethan
CPC classification number: G05D1/0291 , B25J5/007 , B25J9/0084 , B25J9/1682 , B25J9/1697 , G05B2219/32266 , G05B2219/39118 , G05B2219/40298 , G05D2201/0216 , Y02P90/60 , Y10S901/01 , Y10S901/47
Abstract: A control system may perform functions including (i) storing data indicating an association between an optical identifier and a first robot, (ii) sending, to the first robot, data encoding the optical identifier for display by the first robot, and (iii) after sending the data encoding the optical identifier, sending, to a second robot, the data indicating the association between the optical identifier and the first robot. In some examples, the first robot may receive, from the control system, data encoding a second optical identifier of the first robot so that the first robot may display the second optical identifier instead of the first optical identifier. In some examples, a first robot may capture an image of an indication of a priority status of a second robot and perform an action based on comparing a first priority status of the first robot to the second priority status of the second robot.
Abstract translation: 控制系统可以执行以下功能，包括（i）存储指示光学标识符与第一机器人之间的关联的数据，（ii）向第一机器人发送编码光学标识符的数据以供显示 （iii）在发送编码光学标识符的数据之后，向第二机器人发送指示光学标识符与第一机器人之间的关联的数据。 在一些示例中，第一机器人可以从控制系统接收编码第一机器人的第二光学标识符的数据，使得第一机器人可以显示第二光学标识符而不是第一光学标识符。 在一些示例中，第一机器人可以捕捉第二机器人的优先状态的指示的图像，并且基于将第一机器人的第一优先级状态与第二机器人的第二优先级状态进行比较来执行动作。
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公开(公告)号：WO2017091296A1
公开(公告)日：2017-06-01
申请号：PCT/US2016/055220
申请日：2016-10-03
Applicant: X DEVELOPMENT LLC
Inventor： RUBLEE, Ethan , ZEVENBERGEN, John
CPC classification number: B25J9/1676 , B25J9/1694 , B25J19/02 , B25J19/021 , G05B2219/40202 , G05D1/0289 , G05D2201/0216 , Y10S901/09
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.
Abstract translation: 提供用于指定机器人设备的安全规则的系统和方法。 计算设备可以确定关于环境的预定区域内存在的任何演员的信息。 计算设备可以基于该信息确定预定区域的安全分类。 如果信息指示在预定区域内存在零演员，则安全分类可以包括：低安全分类，如果信息指示任何演员存在于预定区域内，则中等安全分类全部是预定的第一类型，并且高 如果所述信息指示存在于所述预定区域内的至少一个行动者具有预定的第二类型，则所述安全分类被执行。 在确定了预定区域的安全分类之后，计算设备可以提供用于在预定区域内操作的安全规则给在环境中操作的机器人设备。
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公开(公告)号：WO2017062259A1
公开(公告)日：2017-04-13
申请号：PCT/US2016/054450
申请日：2016-09-29
Applicant: X DEVELOPMENT LLC
Inventor： ZEVENBERGEN, John, William , RUBLEE, Ethan
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.
Abstract translation: 示例性方法包括由移动机器人设备从第一电池组的电池接收电力以在环境中操作。 该方法还包括在移动机器人设备和第一电池组之间建立第一数据通道。 该方法还包括使用第一数据信道将在操作期间由移动机器人装置获取的传感器数据传送到第一电池组的本地数据存储部件。 该方法还包括由移动机器人装置导航到电池更换站，以将包含电池的第一电池组和具有传感器数据的本地数据存储部件传送到电池更换站。 该方法还包括在将第一电池组转移到电池更换站之后，从电池更换站接收第二电池组以在环境内继续操作。
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公开(公告)号：EP3854535A1
公开(公告)日：2021-07-28
申请号：EP21162789.8
申请日：2015-07-14
Applicant: X Development LLC
Inventor： KONOLIGE, Kurt , RUBLEE, Ethan , KALAKRISHANAN, Mrinal
IPC: B25J9/16
Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.
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