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公开(公告)号：US12175742B2
公开(公告)日：2024-12-24
申请号：US18484806
申请日：2023-10-11
Applicant: Boston Dynamics, Inc.
Inventor： Alex Perkins , Charles DuHadway , Peter Anderson-Sprecher
IPC: G06V20/10 , B25J9/16 , G06N20/00 , G06T7/13 , G06T7/521 , G06T7/593 , G06V10/20 , G06V10/25 , G06V10/44 , G06V10/764 , G06V10/80 , G06V10/82
Abstract: A method for detecting boxes includes receiving a plurality of image frame pairs for an area of interest including at least one target box. Each image frame pair includes a monocular image frame and a respective depth image frame. For each image frame pair, the method includes determining corners for a rectangle associated with the at least one target box within the respective monocular image frame. Based on the determined corners, the method includes the following: performing edge detection and determining faces within the respective monocular image frame; and extracting planes corresponding to the at least one target box from the respective depth image frame. The method includes matching the determined faces to the extracted planes and generating a box estimation based on the determined corners, the performed edge detection, and the matched faces of the at least one target box.
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公开(公告)号：US20220143828A1
公开(公告)日：2022-05-12
申请号：US17581361
申请日：2022-01-21
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
IPC: B25J9/16 , B25J13/08 , B62D57/032
Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
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公开(公告)号：US20230096840A1
公开(公告)日：2023-03-30
申请号：US18074354
申请日：2022-12-02
Applicant: Boston Dynamics, Inc.
Inventor： Alex Perkins , Charles DuHadway , Peter Anderson-Sprecher
Abstract: A method for detecting boxes includes receiving a plurality of image frame pairs for an area of interest including at least one target box. Each image frame pair includes a monocular image frame and a respective depth image frame. For each image frame pair, the method includes determining corners for a rectangle associated with the at least one target box within the respective monocular image frame. Based on the determined corners, the method includes the following: performing edge detection and determining faces within the respective monocular image frame; and extracting planes corresponding to the at least one target box from the respective depth image frame. The method includes matching the determined faces to the extracted planes and generating a box estimation based on the determined corners, the performed edge detection, and the matched faces of the at least one target box.
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公开(公告)号：US11562552B2
公开(公告)日：2023-01-24
申请号：US17246797
申请日：2021-05-03
Applicant: Boston Dynamics, Inc.
Inventor： Alex Perkins , Charles DuHadway , Peter Anderson-Sprecher
Abstract: A method for detecting boxes includes receiving a plurality of image frame pairs for an area of interest including at least one target box. Each image frame pair includes a monocular image frame and a respective depth image frame. For each image frame pair, the method includes determining corners for a rectangle associated with the at least one target box within the respective monocular image frame. Based on the determined corners, the method includes the following: performing edge detection and determining faces within the respective monocular image frame; and extracting planes corresponding to the at least one target box from the respective depth image frame. The method includes matching the determined faces to the extracted planes and generating a box estimation based on the determined corners, the performed edge detection, and the matched faces of the at least one target box.
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公开(公告)号：US20220305663A1
公开(公告)日：2022-09-29
申请号：US17699545
申请日：2022-03-21
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Turpin , Benjamin Zelnick , Michael Murphy , Alex Perkins
Abstract: A perception mast for mobile robot is provided. The mobile robot comprises a mobile base, a turntable operatively coupled to the mobile base, the turntable configured to rotate about a first axis, an arm operatively coupled to a first location on the turntable, and the perception mast operatively coupled to a second location on the turntable, the perception mast configured to rotate about a second axis parallel to the first axis, wherein the perception mast includes disposed thereon, a first perception module and a second perception module arranged between the first imaging module and the turntable.
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Patent Agency Ranking
公开(公告)号：US11203385B1
公开(公告)日：2021-12-21
申请号：US16393003
申请日：2019-04-24
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
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公开(公告)号：US20210171135A1
公开(公告)日：2021-06-10
申请号：US17158471
申请日：2021-01-26
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
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公开(公告)号：US11023763B2
公开(公告)日：2021-06-01
申请号：US16358275
申请日：2019-03-19
Applicant: Boston Dynamics, Inc.
Inventor： Alex Perkins , Charles DuHadway , Peter Anderson-Sprecher
Abstract: A method for detecting boxes includes receiving a plurality of image frame pairs for an area of interest including at least one target box. Each image frame pair includes a monocular image frame and a respective depth image frame. For each image frame pair, the method includes determining corners for a rectangle associated with the at least one target box within the respective monocular image frame. Based on the determined corners, the method includes the following: performing edge detection and determining faces within the respective monocular image frame; and extracting planes corresponding to the at least one target box from the respective depth image frame. The method includes matching the determined faces to the extracted planes and generating a box estimation based on the determined corners, the performed edge detection, and the matched faces of the at least one target box.
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公开(公告)号：US10851810B2
公开(公告)日：2020-12-01
申请号：US16550903
申请日：2019-08-26
Applicant: Boston Dynamics, Inc.
Inventor： Alex Perkins , Kevin Blankespoor , Alfred Rizzi
IPC: F15B11/048 , F15B9/09 , F15B21/08 , F15B15/28 , F15B15/22
Abstract: In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.
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公开(公告)号：US12186919B2
公开(公告)日：2025-01-07
申请号：US17699545
申请日：2022-03-21
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Turpin , Benjamin Zelnick , Michael Murphy , Alex Perkins
Abstract: A perception mast for mobile robot is provided. The mobile robot comprises a mobile base, a turntable operatively coupled to the mobile base, the turntable configured to rotate about a first axis, an arm operatively coupled to a first location on the turntable, and the perception mast operatively coupled to a second location on the turntable, the perception mast configured to rotate about a second axis parallel to the first axis, wherein the perception mast includes disposed thereon, a first perception module and a second perception module arranged between the first imaging module and the turntable.
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