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公开(公告)号：US11416003B2
公开(公告)日：2022-08-16
申请号：US16573284
申请日：2019-09-17
Applicant: Boston Dynamics, Inc.
Inventor： Eric Whitman , Gina Christine Fay , Alex Khripin , Max Bajracharya , Matthew Malchano , Adam Komoroski , Christopher Stathis
IPC: G05D1/02 , B25J9/16 , B25J13/08 , B62D57/032
Abstract: A method of constrained mobility mapping includes receiving from at least one sensor of a robot at least one original set of sensor data and a current set of sensor data. Here, each of the at least one original set of sensor data and the current set of sensor data corresponds to an environment about the robot. The method further includes generating a voxel map including a plurality of voxels based on the at least one original set of sensor data. The plurality of voxels includes at least one ground voxel and at least one obstacle voxel. The method also includes generating a spherical depth map based on the current set of sensor data and determining that a change has occurred to an obstacle represented by the voxel map based on a comparison between the voxel map and the spherical depth map. The method additional includes updating the voxel map to reflect the change to the obstacle.
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公开(公告)号：US20210041887A1
公开(公告)日：2021-02-11
申请号：US16573284
申请日：2019-09-17
Applicant: Boston Dynamics, Inc
Inventor： Eric Whitman , Gina Christine Fay , Alex Khripin , Max Bajracharya , Matthew Malchano , Adam Komoroski , Christopher Stathis
Abstract: A method of constrained mobility mapping includes receiving from at least one sensor of a robot at least one original set of sensor data and a current set of sensor data. Here, each of the at least one original set of sensor data and the current set of sensor data corresponds to an environment about the robot. The method further includes generating a voxel map including a plurality of voxels based on the at least one original set of sensor data. The plurality of voxels includes at least one ground voxel and at least one obstacle voxel. The method also includes generating a spherical depth map based on the current set of sensor data and determining that a change has occurred to an obstacle represented by the voxel map based on a comparison between the voxel map and the spherical depth map. The method additional includes updating the voxel map to reflect the change to the obstacle.
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公开(公告)号：US20240377843A1
公开(公告)日：2024-11-14
申请号：US18541874
申请日：2023-12-15
Applicant: Boston Dynamics, Inc.
Inventor： Julian Ryde , Yi Dong , Marco da Silva , Christopher Stathis , Karthik Ramachandran
IPC: G05D1/689 , B62D57/032 , G06T7/00 , G06T7/70
Abstract: Systems and methods are described for detecting changes at a location based on image data by a mobile robot. A system can instruct navigation of the mobile robot to a location. For example, the system can instruct navigation to the location as part of an inspection mission. The system can obtain input identifying a change detection. Based on the change detection and obtained image data associated with the location, the system can perform the change detection and detect a change associated with the location. For example, the system can perform the change detection based on one or more regions of interest of the obtained image data. Based on the detected change and a reference model, the system can determine presence of an anomaly condition in the obtained image data.
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Patent Agency Ranking
公开(公告)号：US20220388174A1
公开(公告)日：2022-12-08
申请号：US17805101
申请日：2022-06-02
Applicant: Boston Dynamics, Inc.
Inventor： Christopher Stathis , Dion Gonano , Robert Eugene Paolini , Adam Komoroski
IPC: B25J9/16
Abstract: A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The operations include receiving a sensor pointing command that commands the robot to use a sensor to capture sensor data of a location in an environment of the robot. The sensor is disposed on the robot. The operations include determining, based on an orientation of the sensor relative to the location, a direction for pointing the sensor toward the location, and an alignment pose of the robot to cause the sensor to point in the direction toward the location. The operations include commanding the robot to move from a current pose to the alignment pose. After the robot moves to the alignment pose and the sensor is pointing in the direction toward the location, the operations include commanding the sensor to capture the sensor data of the location in the environment.
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公开(公告)号：US20220374024A1
公开(公告)日：2022-11-24
申请号：US17811840
申请日：2022-07-11
Applicant: Boston Dynamics, Inc.
Inventor： Eric Whitman , Gina Christine Fay , Alex Khripin , Max Bajracharya , Matthew Malchano , Adam Komoroski , Christopher Stathis
IPC: G05D1/02 , B25J9/16 , B25J13/08 , B62D57/032
Abstract: A method of constrained mobility mapping includes receiving from at least one sensor of a robot at least one original set of sensor data and a current set of sensor data. Here, each of the at least one original set of sensor data and the current set of sensor data corresponds to an environment about the robot. The method further includes generating a voxel map including a plurality of voxels based on the at least one original set of sensor data. The plurality of voxels includes at least one ground voxel and at least one obstacle voxel. The method also includes generating a spherical depth map based on the current set of sensor data and determining that a change has occurred to an obstacle represented by the voxel map based on a comparison between the voxel map and the spherical depth map. The method additional includes updating the voxel map to reflect the change to the obstacle.
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公开(公告)号：US12172537B2
公开(公告)日：2024-12-24
申请号：US17644696
申请日：2021-12-16
Applicant: Boston Dynamics, Inc.
Inventor： Dion Gonano , Eric Cary Whitman , Christopher Stathis , Matthew Jacob Klingensmith
Abstract: A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations including receiving sensor data corresponding to an area including at least a portion of a docking station. The operations include determining an estimated pose for the docking station based on an initial pose of the legged robot relative to the docking station. The operations include identifying one or more docking station features from the received sensor data. The operations include matching the one or more identified docking station features to one or more known docking station features. The operations include adjusting the estimated pose for the docking station to a corrected pose for the docking station based on an orientation of the one or more identified docking station features that match the one or more known docking station features.
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公开(公告)号：US20240316762A1
公开(公告)日：2024-09-26
申请号：US18542082
申请日：2023-12-15
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Jacob Klingensmith , Adam Komoroski , Brian Masao Yamauchi , Michael James McDonald , Christopher Stathis
CPC classification number: B25J9/163 , B25J9/1664 , B25J9/1697 , B25J19/061 , B62D57/032
Abstract: Systems and methods are described for reacting to a feature in an environment of a robot based on a classification of the feature. A system can detect the feature in the environment using a first sensor on the robot. For example, the system can detect the feature using a feature detection system based on sensor data from a camera. The system can detect a mover in the environment using a second sensor on the robot. For example, the system can detect the mover using a mover detection system based on sensor data from a lidar sensor. The system can fuse the data from detecting the feature and detecting the mover to produce fused data. The system can classify the feature based on the fused data and react to the feature based on classifying the feature.
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公开(公告)号：US20220194245A1
公开(公告)日：2022-06-23
申请号：US17644696
申请日：2021-12-16
Applicant: Boston Dynamics, Inc.
Inventor： Dion Gonano , Eric Cary Whitman , Christopher Stathis , Matthew Jacob Klingensmith
Abstract: A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations including receiving sensor data corresponding to an area including at least a portion of a docking station. The operations include determining an estimated pose for the docking station based on an initial pose of the legged robot relative to the docking station. The operations include identifying one or more docking station features from the received sensor data. The operations include matching the one or more identified docking station features to one or more known docking station features. The operations include adjusting the estimated pose for the docking station to a corrected pose for the docking station based on an orientation of the one or more identified docking station features that match the one or more known docking station features.
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