公开(公告)号：US20250068165A1

公开(公告)日：2025-02-27

申请号：US18454126

申请日：2023-08-23

Applicant: Locus Robotics Corp.

Inventor： Changchun Li ,  Stephen V. Williams

IPC: G05D1/02

Abstract: A method for estimating a pose of a robot using two co-planar points on an object plane in the environment and two co-planar lines on the object plane, includes capturing with a camera on the robot an image of the object in the environment, including two observed points corresponding to the two co-planar points on the object and two observed lines corresponding to the two co-planar lines on the object; projecting onto the image plane the two co-planar points to obtain two projected points and projecting the two co-planar lines to obtain two projected lines; determining a point projection error by comparing the two projected co-planar points to corresponding observed points; determining a line projection error by comparing the two projected co-planar lines to corresponding observed lines; and estimating a current robot pose if the point projection error and the line projection error are below a predetermined error threshold.

公开(公告)号：US20230034492A1

公开(公告)日：2023-02-02

申请号：US17380136

申请日：2021-07-20

Applicant: Locus Robotics Corp.

Inventor： Changchun Li

IPC: G01S7/497 ,  G01S17/931

Abstract: A system for determining pose of a lidar sensor in an environment in order to calibrate the lidar sensor. The system includes at least two calibration boards, each having a first edge and a second edge. There is a controller coupled to the lidar sensor to cause the lidar sensor to direct a lidar scan at the calibration boards. The controller causes the lidar sensor to receive a reflection of the lidar scan from the calibration boards and determine locations of a first crossing point on the first edge and a second crossing point on the second edge of the calibration boards. The controller determines a reference plane defined by the first and second crossing points of each of the calibration boards, performs a plane transform of the reference frame to obtain a lidar sensor plane and determine from the lidar sensor plane a pose of the lidar sensor.

公开(公告)号：US20230150150A1

公开(公告)日：2023-05-18

申请号：US17532203

申请日：2021-11-22

Applicant: Locus Robotics Corp.

Inventor： Michael Sussman ,  Seth Edwards Allen ,  Brad Edward Fiore ,  Hian Kai Kwa ,  Keegan Burgess Smith ,  Rafael Gregorio Chavez ,  Changchun Li ,  Scott Matthew Rydbeck

IPC: B25J19/00 ,  B25J13/08 ,  H02J7/00 ,  B25F5/02

CPC classification number: B25J19/0066 ,  B25J13/087 ,  B25J19/005 ,  H02J7/0042 ,  B25F5/021 ,  B25J11/008

Abstract: Robot charging dock includes a charge connector configured to mate with a charging port of a mobile robot. There is a charge connector frame having a front surface on which the charge connector is mounted. The front surface has a first side edge and a second side edge. There is a front cover disposed over the charge connector frame which has an aperture through which the charge connector protrudes. At least a portion of the front cover is spaced from the front surface of the charge connector frame, defining an internal region. There is an opening to the internal region formed along at least a portion of a perimeter of the aperture and there is a light source disposed in the internal region. The light source is directed toward the opening to allow the light source to illuminate charge connector.

公开(公告)号：US12162141B2

公开(公告)日：2024-12-10

申请号：US17532203

申请日：2021-11-22

Applicant: Locus Robotics Corp.

Inventor： Michael Sussman ,  Seth Edwards Allen ,  Brad Edward Fiore ,  Hian Kai Kwa ,  Keegan Burgess Smith ,  Rafael Gregorio Chavez ,  Changchun Li ,  Scott Matthew Rydbeck

IPC: B25J19/00 ,  B25F5/02 ,  B25J13/08 ,  B60L53/30 ,  B60L53/35 ,  B60L53/37 ,  H02J7/00 ,  B25J11/00 ,  F21V33/00 ,  F21W131/403 ,  F21Y115/10

Abstract: Robot charging dock includes a charge connector configured to mate with a charging port of a mobile robot. There is a charge connector frame having a front surface on which the charge connector is mounted. The front surface has a first side edge and a second side edge. There is a front cover disposed over the charge connector frame which has an aperture through which the charge connector protrudes. At least a portion of the front cover is spaced from the front surface of the charge connector frame, defining an internal region. There is an opening to the internal region formed along at least a portion of a perimeter of the aperture and there is a light source disposed in the internal region. The light source is directed toward the opening to allow the light source to illuminate charge connector.

公开(公告)号：US11405557B1

公开(公告)日：2022-08-02

申请号：US17380154

申请日：2021-07-20

Applicant: Locus Robotics Corp.

Inventor： Changchun Li

IPC: H04N5/232 ,  B60R1/00 ,  B25J19/02 ,  B25J9/16 ,  G06T3/00 ,  G06T1/00 ,  B60R11/04

Abstract: A method for rolling shutter compensation for a camera sensor mounted on a moving vehicle includes estimating, based on a plurality of images of an object, a speed and a direction of movement of the vehicle; acquiring an additional image of the object having four corners; estimating a location of each of the four corners of the object in an image plane defined by the additional image; determining a corrected location in 3D space for each of the four corners of the object; determining a first compensated location for each of the four corners of the object in the image plane; determining a second compensated location for each of the four corners of the object in the image plane; and determining a difference between the first compensated locations of the four corners of the object and the second compensated locations of the four corners of the object.