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    Customized robotic installation based on measurements collected on site
    1.
    发明授权
    Customized robotic installation based on measurements collected on site 有权

    公开(公告)号：US10882181B2

    公开(公告)日：2021-01-05

    申请号：US16251175

    申请日：2019-01-18

    Applicant: X Development LLC

    Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans

    IPC: B25J9/16 ,  E04G21/22 ,  B25J13/08 ,  G05B17/02

    Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

    Automatic Generation of Toolpaths
    3.
    发明申请
    Automatic Generation of Toolpaths 审中-公开

    公开(公告)号：US20200218223A1

    公开(公告)日：2020-07-09

    申请号：US16751972

    申请日：2020-01-24

    Applicant: X Development LLC

    Inventor： Eli Reekmans ,  Marek Michalowski

    IPC: G05B19/402 ,  B25J9/16

    Abstract: Example implementations relate to generating instructions for robotic tasks. A method may involve determining task information of a path-based task by an end-effector on an object, where the task information includes (i) at least one task parameter, and (ii) a nominal representation of the object. The method also involves based on the task information, determining one or more parametric instructions for the end-effector to perform the task, where the one or more parametric instructions indicate a toolpath for the end-effector to follow when performing the task. The method also involves generating, based on sensor data, an observed representation of the object, and comparing the observed and the nominal representations. The method further involves based on the comparison, mapping the parametric instructions to the observed representation of the object. The method yet further involves sending the mapped instructions to the end-effector to cause the robotic device to perform the task.

    Customized robotic installation based on measurements collected on site
    4.
    发明授权
    Customized robotic installation based on measurements collected on site 有权

    公开(公告)号：US10220511B2

    公开(公告)日：2019-03-05

    申请号：US15222583

    申请日：2016-07-28

    Applicant: X Development LLC

    Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans

    IPC: B25J9/16 ,  B25J13/08 ,  G05B17/02 ,  E04G21/22

    Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

    Error accrual and mitigation during robotic process
    6.
    发明授权
    Error accrual and mitigation during robotic process 有权

    公开(公告)号：US10987812B1

    公开(公告)日：2021-04-27

    申请号：US16154923

    申请日：2018-10-09

    Applicant: X Development LLC

    Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans ,  Matthew Bitterman ,  Michael Beardsworth

    IPC: B25J9/16 ,  E04G21/22 ,  G05B19/4063 ,  G05B17/02

    Abstract: A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

    Planning and Adapting Projects Based on a Buildability Analysis
    7.
    发明申请
    Planning and Adapting Projects Based on a Buildability Analysis 审中-公开

    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.

    Methods and Systems for Establishing and Maintaining a Pre-Build Relationship
    8.
    发明申请
    Methods and Systems for Establishing and Maintaining a Pre-Build Relationship 审中-公开

    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.

    Methods and systems for establishing and maintaining a pre-build relationship
    10.
    发明授权
    Methods and systems for establishing and maintaining a pre-build relationship 有权

    公开(公告)号：US11040448B2

    公开(公告)日：2021-06-22

    申请号：US16392761

    申请日：2019-04-24

    Applicant: X Development LLC

    Inventor： Eli Reekmans ,  Marek Michalowski ,  Michael Beardsworth

    IPC: G05B15/02 ,  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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