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公开(公告)号：US20200174460A1
公开(公告)日：2020-06-04
申请号：US16705445
申请日：2019-12-06
Applicant: X Development LLC
Inventor： Kendra Byrne , Eli Reekmans , Stoyan Gaydarov , Marek Michalowski , Michael Beardsworth , Ryan Butterfoss , Ytai Ben-Tsvi
IPC: G05B19/418
Abstract: Disclosed herein is a worksite automation process that involves: generating a first sequence of tasks to build the product according to a model. The process further involves causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks. Further, during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks. Based on the analysis, determining that it is not feasible to complete the product by executing the first sequence of tasks, and in response, generating a second sequence of tasks to complete the product according to the model. Then, causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.
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公开(公告)号：US20190308321A1
公开(公告)日：2019-10-10
申请号：US16392761
申请日：2019-04-24
Applicant: X Development LLC
Inventor： Eli Reekmans , Marek Michalowski , Michael Beardsworth
IPC: B25J9/16
Abstract: Described herein are methods and systems to establish a pre-build relationship in a model that specifies a first parameter for a first feature of a structure and a second parameter for a second feature of the structure. In particular, a computing system may receive data specifying a pre-build relationship that defines a build value of the first parameter in terms of a post-build observed value of the second parameter. During production of the structure, the computing system may determine the post-build observed value of the second parameter and, based on the determined post-build observed value, may determine the build value of the first parameter in accordance with the pre-build relationship. After determining the build value, the computing system may then transmit, to a robotic system, an instruction associated with production of the first feature by the robotic system, with that instruction specifying the determined build value of the first parameter.
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公开(公告)号：US20220395979A1
公开(公告)日：2022-12-15
申请号：US17348264
申请日：2021-06-15
Applicant: X Development LLC
Inventor： Michael Beardsworth
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating safety information for a motion plan for one or more robots in an operating environment. One of the methods includes: obtaining a definition of the motion plan, obtaining data specifying a safety footprint volume for a first robot in the operating environment, obtaining one or more safety constraints for the motion plan according to the safety footprint volume for the first robot, determining whether a first safety constraint of the one or more safety constraints is satisfied, in response to determining that the first safety constraint is not satisfied, generating information indicating a violation of a safety constraint.
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公开(公告)号：US20210370504A1
公开(公告)日：2021-12-02
申请号：US16885035
申请日：2020-05-27
Applicant: X Development LLC
Inventor： Michael Beardsworth , Klas Jonas Alfred Kronander , Sean Alexander Cassero , Bala Venkata Sai Ravi Krishna Kolluri
IPC: B25J9/16
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.
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Patent Agency Ranking
公开(公告)号：US11061801B1
公开(公告)日：2021-07-13
申请号：US16724939
申请日：2019-12-23
Applicant: X Development LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for logging real-time data of a robot control system. One of the systems comprises a real-time robotic control system comprising one or more computers, programmed to perform operations comprising i) software module loops and ii) real-time data logging, wherein each software module loop comprises a plurality of software modules executed repeatedly in a predetermined sequence, each software module executes within a predetermined time window, and the real-time data logging comprises copying segments of real-time data used by a particular software module to a buffer accessible by a non-real-time downstream system, wherein each segment of real-time data is copied at a respective predetermined time relative to execution of the software modules in the software module loop; and the non-real-time downstream system comprising one or more computers, the non-real-time downstream system programmed to perform operations that consume the real-time messages.
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公开(公告)号：US20210191838A1
公开(公告)日：2021-06-24
申请号：US16724939
申请日：2019-12-23
Applicant: X Development LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for logging real-time data of a robot control system. One of the systems comprises a real-time robotic control system comprising one or more computers, programmed to perform operations comprising i) software module loops and ii) real-time data logging, wherein each software module loop comprises a plurality of software modules executed repeatedly in a predetermined sequence, each software module executes within a predetermined time window, and the real-time data logging comprises copying segments of real-time data used by a particular software module to a buffer accessible by a non-real-time downstream system, wherein each segment of real-time data is copied at a respective predetermined time relative to execution of the software modules in the software module loop; and the non-real-time downstream system comprising one or more computers, the non-real-time downstream system programmed to perform operations that consume the real-time messages.
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公开(公告)号：US10704887B1
公开(公告)日：2020-07-07
申请号：US16287613
申请日：2019-02-27
Applicant: X Development LLC
Inventor： Michael Beardsworth
Abstract: A laser tracking system for determining pose information of a rigid object is disclosed. The laser tracking system includes three or more retroreflectors, three or more sets of multiple laser trackers, and an electronic controller. Each retroreflector is secured to the rigid object that is moveable within a frame of reference. For each set of laser trackers, each laser tracker is configured to direct a laser beam to and receive a reflected laser beam from an associated one of the retroreflectors within the frame of reference. The electronic controller is in communication with each of the laser trackers and determines the pose information of the rigid object in the reference frame based on information about the fixed location of each laser tracker in the frame of reference and information about a distance of each retroreflector from each laser tracker of the set of laser trackers associated with the retroreflector.
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公开(公告)号：US10307908B2
公开(公告)日：2019-06-04
申请号：US15481909
申请日：2017-04-07
Applicant: X Development LLC
Inventor： Eli Reekmans , Marek Michalowski , Michael Beardsworth
IPC: B25J9/16
Abstract: Described herein are methods and systems to establish a pre-build relationship in a model that specifies a first parameter for a first feature of a structure and a second parameter for a second feature of the structure. In particular, a computing system may receive data specifying a pre-build relationship that defines a build value of the first parameter in terms of a post-build observed value of the second parameter. During production of the structure, the computing system may determine the post-build observed value of the second parameter and, based on the determined post-build observed value, may determine the build value of the first parameter in accordance with the pre-build relationship. After determining the build value, the computing system may then transmit, to a robotic system, an instruction associated with production of the first feature by the robotic system, with that instruction specifying the determined build value of the first parameter.
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公开(公告)号：US20180348742A1
公开(公告)日：2018-12-06
申请号：US15611777
申请日：2017-06-01
Applicant: X Development LLC
Inventor： Kendra Byrne , Eli Reekmans , Stoyan Gaydarov , Marek Michalowski , Michael Beardsworth , Ryan Butterfoss , Ytai Ben-Tsvi
IPC: G05B19/418
Abstract: Disclosed herein is a worksite automation process that involves: generating a first sequence of tasks to build the product according to a model. The process further involves causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks. Further, during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks. Based on the analysis, determining that it is not feasible to complete the product by executing the first sequence of tasks, and in response, generating a second sequence of tasks to complete the product according to the model. Then, causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.
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