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公开(公告)号：US20210191840A1
公开(公告)日：2021-06-24
申请号：US16724977
申请日：2019-12-23
Applicant: X Development LLC
Inventor： Abhishek Shailesh Shah , Gregory J. Prisament , Michael Beardsworth , Dmytro Hrybenko
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing real-time code analysis. One of the methods includes receiving a request to perform real-time code analysis on source code, wherein the request identifies one or more target source code elements. A plurality of real-time annotation values occurring in the source code for the target source code elements are identified. A call graph is generated for the one or more target source code elements. The call graph is traversed to identify one or more real-time violations, wherein each real-time violation is an instance in the source code that violates one or more real-time safe criteria. An output is provided that identifies one or more of the real-time violations occurring in the source code.
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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
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：US20180290305A1
公开(公告)日：2018-10-11
申请号：US15481909
申请日：2017-04-07
Applicant: X Development LLC
Inventor： Eli Reekmans , Marek Michalowski , Michael Beardsworth
IPC: B25J9/16
CPC classification number: B25J9/1669 , B25J9/163 , Y10S901/02
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：US20210370514A1
公开(公告)日：2021-12-02
申请号：US16883895
申请日：2020-05-26
Applicant: X Development LLC
Inventor： Michael Beardsworth
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing automated safety procedures for a robot. One of the methods includes receiving, by a robotic control system for a robot, a request to execute an automated safety procedure by a safety control subsystem for the robot. Each step of the automated safety procedure is iterated until an end of the automated safety procedure is reached, including if a step requires a new safety configuration, a respective safety configuration for the step is obtained and activated before performing one or more automatic actions for the step.
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公开(公告)号：US20210187746A1
公开(公告)日：2021-06-24
申请号：US16725620
申请日：2019-12-23
Applicant: X Development LLC
Inventor： Michael Beardsworth , Timothy Robert Kelch
IPC: B25J9/16
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning robotic movements to capture desired sensor measurements. One of the methods includes generating a three-dimensional representation of a robotic operating environment, wherein the robotic operating environment comprises a robot and a sensor, including: generating a first three-dimensional representation of a field of view of the sensor in the robotic operating environment, and generating a second three-dimensional representation of a desired observation of an object in the robotic operating environment; generating a plurality of candidate plans for the robot; selecting, from the candidate plans, a particular candidate plan that intersects the first three-dimensional representation of the field of view of the sensor and the second three-dimensional representation of the desired observation of the object; and causing the robot to execute the particular candidate plan to make the desired observation of the object in the robotic operating environment.
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Patent Agency Ranking
公开(公告)号：US20210197373A1
公开(公告)日：2021-07-01
申请号：US16730864
申请日：2019-12-30
Applicant: X Development LLC
Inventor： Sean Alexander Cassero , Michael Beardsworth
IPC: B25J9/16
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing transformation mode switching in a robotics control system. One of the methods includes receiving data representing a state machine that defines one or more portions of a robotics task; executing a first control loop corresponding to a first node of the state machine, wherein executing the first control loop comprises providing commands to the robotic components computed from a first coordinate transformation process; determining, based on one or more status messages, that an exit condition for the first node has been satisfied; performing a mode switch between the first coordinate transformation process and a different second coordinate transformation process; and executing a second control loop corresponding to a second node of the state machine, wherein executing the second control loop comprises providing commands to the robotic components computed from the second coordinate transformation process.
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公开(公告)号：US20210187747A1
公开(公告)日：2021-06-24
申请号：US16724883
申请日：2019-12-23
Applicant: X Development LLC
Inventor： Nils Berg , Michael Beardsworth
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for deblurring an image captured by a robot-mounted camera. One of the methods comprises capturing, using a camera that is attached to an arm of a robot, an image at a first time, wherein the image exhibits motion blur, and wherein the exhibited blur was caused by movement of the arm of the robot at the first time; receiving, from a robot control system of the robot, motion data characterizing the movement of the arm of the robot at the first time; generating a motion kernel using the received motion data; and generating a deblurred image by processing the image using the motion kernel.
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公开(公告)号：US20220395977A1
公开(公告)日：2022-12-15
申请号：US17347996
申请日：2021-06-15
Applicant: X Development LLC
Inventor： Michael Beardsworth , Steve Wolter , Nicholas Julian Cox
IPC: B25J9/16 , G06F16/2458
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that distributes skill bundles that can guide robot execution. One of the methods includes receiving data for a skill bundle from a skill developer. The data can include a definition of one or more preconditions for a robotic system to execute a skill; one or more effects to an operating environment after the robotic system has executed the skill; and a software module implementing the skill. The software module can define a state machine of subtasks. A skill bundle can be generated from the data received from the skill developer. Data identifying the generated skill bundle can be added to a skill registry. The skill bundle can be provided to the execution robot system for installation on the robot execution system.
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公开(公告)号：US20210197374A1
公开(公告)日：2021-07-01
申请号：US16730871
申请日：2019-12-30
Applicant: X Development LLC
Inventor： Gregory J. Prisament , Michael Beardsworth
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for a composability framework that supports the coordination of the low-level actions of multiple subsystems. One of the methods comprises receiving a multi-device application definition for a real-time robotic control system configured to perform operations comprising controlling a robotic execution environment having multiple robotic components, wherein the application definition comprises: one or more custom high-level software modules for each robotic component of the multiple robotic components; respective module interface definitions for each of the custom high-level software modules, wherein a module interface definition of a custom high-level software module specifies one or more asynchronous or real-time communication channels; and respective device interface definitions for each of the multiple robotic components; and processing the application definition to generate output programs to be executed respectively by the multiple robotic components.
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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).
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