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公开(公告)号：US20240192695A1
公开(公告)日：2024-06-13
申请号：US18531152
申请日：2023-12-06
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Jacob Klingensmith , Dom Jonak , Leland Hepler , Christopher Basmajian , Brian Ringley
CPC classification number: G05D1/222 , B62D57/032 , G05D1/2297 , G05D1/2462 , G06T3/40 , G06T11/206 , G05D2109/12 , G06T2200/24 , G06T2210/56
Abstract: Systems and methods are described for the display of a transformed virtual representation of sensor data overlaid on a site model. A system can obtain a site model identifying a site. For example, the site model can include a map, a blueprint, or a graph. The system can obtain sensor data from a sensor of a robot. The sensor data can include route data identifying route waypoints and/or route edges associated with the robot. The system can receive input identifying an association between a virtual representation of the sensor data and the site model. Based on the association, the system can transform the virtual representation of the sensor data and instruct display of the transformed data overlaid on the site model.
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公开(公告)号：US20230278214A1
公开(公告)日：2023-09-07
申请号：US18316485
申请日：2023-05-12
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Jacob Klingensmith
CPC classification number: B25J9/1664 , B25J13/006
Abstract: A method of localizing a robot includes receiving odometry information plotting locations of the robot and sensor data of the environment about the robot. The method also includes obtaining a series of odometry information members, each including a respective odometry measurement at a respective time. The method also includes obtaining a series of sensor data members, each including a respective sensor measurement at the respective time. The method also includes, for each sensor data member of the series of sensor data members, (i) determining a localization of the robot at the respective time based on the respective sensor data, and (ii) determining an offset of the localization relative to the odometry measurement at the respective time. The method also includes determining whether a variance of the offsets determined for the localizations exceeds a threshold variance. When the variance among the offsets exceeds the threshold variance, a signal is generated.
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公开(公告)号：US20210331313A1
公开(公告)日：2021-10-28
申请号：US16893608
申请日：2020-06-05
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Jacob Klingensmith
Abstract: A method of localizing a robot includes receiving odometry information plotting locations of the robot and sensor data of the environment about the robot. The method also includes obtaining a series of odometry information members, each including a respective odometry measurement at a respective time. The method also includes obtaining a series of sensor data members, each including a respective sensor measurement at the respective time. The method also includes, for each sensor data member of the series of sensor data members, (i) determining a localization of the robot at the respective time based on the respective sensor data, and (ii) determining an offset of the localization relative to the odometry measurement at the respective time. The method also includes determining whether a variance of the offsets determined for the localizations exceeds a threshold variance. When the variance among the offsets exceeds the threshold variance, a signal is generated.
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Patent Agency Ranking
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：US11685049B2
公开(公告)日：2023-06-27
申请号：US16893608
申请日：2020-06-05
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Jacob Klingensmith
CPC classification number: B25J9/1664 , B25J13/006
Abstract: A method of localizing a robot includes receiving odometry information plotting locations of the robot and sensor data of the environment about the robot. The method also includes obtaining a series of odometry information members, each including a respective odometry measurement at a respective time. The method also includes obtaining a series of sensor data members, each including a respective sensor measurement at the respective time. The method also includes, for each sensor data member of the series of sensor data members, (i) determining a localization of the robot at the respective time based on the respective sensor data, and (ii) determining an offset of the localization relative to the odometry measurement at the respective time. The method also includes determining whether a variance of the offsets determined for the localizations exceeds a threshold variance. When the variance among the offsets exceeds the threshold variance, a signal is generated.
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公开(公告)号：US20220390954A1
公开(公告)日：2022-12-08
申请号：US17804982
申请日：2022-06-01
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Jacob Klingensmith
Abstract: The operations of a computer-implemented method include obtaining a topological map of an environment including a series of waypoints and a series of edges. Each edge topologically connects a corresponding pair of adjacent waypoints. The edges represent traversable routes for a robot. The operations include determining, using the topological map and sensor data captured by the robot, one or more candidate alternate edges. Each candidate alternate edge potentially connects a corresponding pair of waypoints that are not connected by one of the edges. For each respective candidate alternate edge, the operations include determining, using the sensor data, whether the robot can traverse the respective candidate alternate edge without colliding with an obstacle and, when the robot can traverse the respective candidate alternate edge, confirming the respective candidate alternate edge as a respective alternate edge. The operations include updating, using nonlinear optimization and the confirmed alternate edges, the topological map.
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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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