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

IPC: G05D1/222 ,  B62D57/032 ,  G05D1/229 ,  G05D1/246 ,  G06T3/40 ,  G06T11/20

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.

公开(公告)号：US20210141389A1

公开(公告)日：2021-05-13

申请号：US17157405

申请日：2021-01-25

Applicant: Boston Dynamics, Inc.

Inventor： Dom Jonak ,  Marco da Silva ,  Joel Chestnutt ,  Matt Klingensmith

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G06K9/00

Abstract: A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.

公开(公告)号：US11747825B2

公开(公告)日：2023-09-05

申请号：US16295592

申请日：2019-03-07

Applicant: Boston Dynamics, Inc.

Inventor： Dom Jonak ,  Marco da Silva ,  Joel Chestnutt ,  Matt Klingensmith

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G06V20/10

CPC classification number: G05D1/0274 ,  G01S17/89 ,  G05D1/027 ,  G05D1/0251 ,  G06T7/13 ,  G06T7/521 ,  G06T7/593 ,  G06T7/74 ,  G06V20/10 ,  G05B2219/40298 ,  G05D1/0214 ,  G06T2207/10012 ,  G06T2207/10028

Abstract: A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.

公开(公告)号：US11656630B2

公开(公告)日：2023-05-23

申请号：US17157405

申请日：2021-01-25

Applicant: Boston Dynamics, Inc.

Inventor： Dom Jonak ,  Marco da Silva ,  Joel Chestnutt ,  Matt Klingensmith

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G06V20/10

CPC classification number: G05D1/0274 ,  G01S17/89 ,  G05D1/027 ,  G05D1/0251 ,  G06T7/13 ,  G06T7/521 ,  G06T7/593 ,  G06T7/74 ,  G06V20/10 ,  G05B2219/40298 ,  G05D1/0214 ,  G06T2207/10012 ,  G06T2207/10028

Abstract: A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.

公开(公告)号：US20230359220A1

公开(公告)日：2023-11-09

申请号：US18354500

申请日：2023-07-18

Applicant: Boston Dynamics, Inc.

Inventor： Dom Jonak ,  Marco da Silva ,  Joel Chestnutt ,  Matt Klingensmith

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G06V20/10

CPC classification number: G05D1/0274 ,  G06T7/74 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G05D1/0251 ,  G05D1/027 ,  G06V20/10 ,  G05B2219/40298 ,  G05D1/0214 ,  G06T2207/10012 ,  G06T2207/10028

Abstract: A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.

公开(公告)号：US20220244741A1

公开(公告)日：2022-08-04

申请号：US17648942

申请日：2022-01-26

Applicant: Boston Dynamics, Inc

Inventor： Marco da Silva ,  Dom Jonak ,  Matthew Klingensmith ,  Samuel Seifert

IPC: G05D1/02 ,  G06V20/50 ,  G01C21/00 ,  B62D57/032

Abstract: A method includes receiving, while a robot traverses a building environment, sensor data captured by one or more sensors of the robot. The method includes receiving a building information model (BIM) for the environment that includes semantic information identifying one or more permanent objects within the environment. The method includes generating a plurality of localization candidates for a localization map of the environment. Each localization candidate corresponds to a feature of the environment identified by the sensor data and represents a potential localization reference point. The localization map is configured to localize the robot within the environment when the robot moves throughout the environment. For each localization candidate, the method includes determining whether the respective feature corresponding to the respective localization candidate is a permanent object in the environment and generating the respective localization candidate as a localization reference point in the localization map for the robot.