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公开(公告)号：US09498887B1
公开(公告)日：2016-11-22
申请号：US14340398
申请日：2014-07-24
Applicant: X Development LLC
Inventor： John Zevenbergen , Ethan Rublee , Kurt Konolige , Troy Straszheim
CPC classification number: B25J15/0616 , B25J15/0052 , B65G47/918 , B65G59/04 , B65G2203/042
Abstract: An example two-faced linearly actuated suction gripper includes a first gripping surface having one or more first suction cups arranged to provide suction in a first direction. The suction gripper also includes a second gripping surface comprising one or more second suction cups arranged to provide suction in a second direction which is perpendicular to the first direction. The suction gripper further includes a linear actuator configured to provide movement of the second gripping surface parallel to the second direction towards a face of an object. The suction gripper includes a sensor configured to generate data indicating that the face of the object is adjacent to the second gripping surface; and an engageable brake that, when engaged, stops the movement of the linear actuator in response to the data from the sensor indicating that the second gripping surface is adjacent to the face of the object.
Abstract translation: 一个示例性的双面线性致动吸力夹持器包括具有一个或多个第一吸盘的第一夹紧表面，该第一吸盘布置成在第一方向上提供吸力。 抽吸夹持器还包括第二抓握表面，其包括一个或多个第二吸盘，其布置成在垂直于第一方向的第二方向上提供吸力。 抽吸夹持器还包括线性致动器，该线性致动器被配置为提供平行于第二方向的第二夹持表面朝向物体的表面的运动。 抽吸夹持器包括：传感器，被配置为产生指示物体的表面与第二夹持表面相邻的数据; 以及可接合的制动器，当接合时，响应于来自传感器的指示第二夹持表面与物体的表面相邻的数据，停止线性致动器的运动。
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公开(公告)号：US10946524B2
公开(公告)日：2021-03-16
申请号：US16986653
申请日：2020-08-06
Applicant: X Development LLC
Inventor： Ethan Rublee , John Zevenbergen
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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公开(公告)号：US20190030717A1
公开(公告)日：2019-01-31
申请号：US16133414
申请日：2018-09-17
Applicant: X Development LLC
Inventor： Ethan Rublee , John Zevenbergen
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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14.发明授权公开(公告)号：US10025886B1
公开(公告)日：2018-07-17
申请号：US14870626
申请日：2015-09-30
Applicant: X Development LLC
Inventor： Ethan Rublee , Hauke Malte Strasdat
Abstract: Methods and systems for using projected patterns to facilitate mapping of an environment are provided herein. A computing system may cause fixedly-posed projectors to each provide, onto a respective area of the environment, a predetermined respective distinct pattern. The system may determine respective poses of the projectors, and further determine a map of the environment that identifies, for each distinct pattern, respective locations on one or more surfaces in the environment on which the distinct pattern is detectable. Based on sensor data the system may identify a portion of a particular distinct pattern in the environment. The system may use the map and the respective pose of a particular projector that is providing the particular pattern to make a determination that the portion is located at a new, different location compared to the map. The system may then transmit an output signal indicating the determination.
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15.发明申请公开(公告)号：US20180093377A1
公开(公告)日：2018-04-05
申请号：US15827321
申请日：2017-11-30
Applicant: X Development LLC
Inventor： Gary Bradski , Kurt Konolige , Ethan Rublee
CPC classification number: B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.
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Patent Agency Ranking
公开(公告)号：US09927815B2
公开(公告)日：2018-03-27
申请号：US15649080
申请日：2017-07-13
Applicant: X Development LLC
Inventor： Stefan Nusser , Troy Straszheim , John Zevenbergen , Ethan Rublee
CPC classification number: G05D1/0287 , B65G1/137 , B65G57/03 , G05B19/00 , G05D1/0297 , G05D2201/0216 , Y10S901/01
Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.
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17.发明授权公开(公告)号：US09802317B1
公开(公告)日：2017-10-31
申请号：US14695166
申请日：2015-04-24
Applicant: X Development LLC
Inventor： Kevin William Watts , Ethan Rublee , Kyle Lutz , Hauke Malte Strasdat
IPC: G05B19/04 , B25J9/16 , G05B19/402
CPC classification number: B25J9/1687 , B25J9/1676 , B25J9/1679 , B25J9/1697 , G05B19/402 , G05B2219/40006 , G05B2219/40067
Abstract: Methods and systems for remote perception assistance to facilitate robotic object manipulation are provided herein. From a model of objects in an environment of a robotic manipulator, a virtual boundary line separating two adjacent identified virtual objects may be identified. The robotic manipulator may be configured to perform a task involving a manipulation of at least one object in the environment represented by the identified virtual objects. Based on the identifying, a request for remote assistance with verifying the virtual boundary line may be sent to a remote assistor device. A response to the request, including a modification to the virtual boundary line, may then be received from the remote assistor device. The robotic manipulator may then be caused to perform the task based on the modification to the virtual boundary line.
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公开(公告)号：US09776326B2
公开(公告)日：2017-10-03
申请号：US14876947
申请日：2015-10-07
Applicant: X Development LLC
Inventor： John William Zevenbergen , Ethan Rublee
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.
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公开(公告)号：US20170248966A1
公开(公告)日：2017-08-31
申请号：US15595145
申请日：2017-05-15
Applicant: X Development LLC
Inventor： Kyle Lutz , Ethan Rublee
CPC classification number: G05D1/0291 , B25J5/007 , B25J9/0084 , B25J9/1682 , B25J9/1697 , B25J19/021 , G05B2219/32266 , G05B2219/39118 , G05B2219/40298 , G05D2201/0216 , Y02P90/20 , 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.
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公开(公告)号：US09733646B1
公开(公告)日：2017-08-15
申请号：US14537145
申请日：2014-11-10
Applicant: X Development LLC
Inventor： Stefan Nusser , Troy Straszheim , John Zevenbergen , Ethan Rublee
CPC classification number: G05D1/0287 , B65G1/137 , B65G57/03 , G05B19/00 , G05D1/0297 , G05D2201/0216 , Y10S901/01
Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.
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