Patents Examined by Khoi H. Tran
  • Patent number: 11179852
    Abstract: An actuator and end effector are controlled according to images from cameras having a surface in their field of view. Vessels (cups, bowls, etc.) and other objects are identified in the images and their configuration is assigned to a finite set of categories by a classifier that does not output a 3D bounding box or determine a 6D pose. For objects assigned to a first subset of categories, grasping parameters for controlling the actuator and end effector are determined using only 2D bounding boxes, such as oriented 2D bounding boxes. For objects not assigned to the first subset, a righting operation may be performed using only 2D bounding boxes. Objects that are still not in the first set may then be grasped by estimating a 3D bounding box and 6D pose.
    Type: Grant
    Filed: March 25, 2019
    Date of Patent: November 23, 2021
    Assignee: DISHCRAFT ROBOTICS, INC.
    Inventors: Kerkil Choi, Yen-Khai Lee, Paul Michael Birkmeyer
  • Patent number: 11179851
    Abstract: A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: November 23, 2021
    Assignee: Kabushiki Kaisha Toshiba
    Inventor: Junji Oaki
  • Patent number: 11179850
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning a path of motion for a robot. In some implementations, a candidate path of movement is determined for each of multiple robots. A swept region, for each of the multiple robots, is determined that the robot would traverse through along its candidate path. At least some of the swept regions for the multiple robots is aggregated to determine amounts of overlap among the swept regions at different locations. Force vectors directed outward from the swept regions are assigned, wherein the force vectors have different magnitudes assigned according to the respective amounts of overlap of the swept regions at the different locations. A path for a particular robot to travel is determined based on the swept regions and the assigned magnitudes of the forces.
    Type: Grant
    Filed: April 24, 2019
    Date of Patent: November 23, 2021
    Assignee: Intrinsic Innovation LLC
    Inventors: Jean-Francois Dupuis, Keegan Go, Maryam Bandari
  • Patent number: 11176497
    Abstract: A routing method comprises: a second matrix forming step of based on first matrices indicating travel time of a vehicle between all sites in each specified time intervals in a time period forming second matrices corresponding to the specified time intervals within one day respectively; a third matrix forming step of performing a pre-process calculation on the elements at the same position in all the second matrices, and forming one third matrix with values from the pre-process calculation; a route generating step of generating a route corresponding to the pre-process based on the third matrix; and a route selecting step of: calculating a travel time for the route generated in the route generating step based on the second matrix, and selecting the route with the shortest travel time for routing the vehicle.
    Type: Grant
    Filed: December 20, 2018
    Date of Patent: November 16, 2021
    Assignee: HITACHI, LTD.
    Inventor: Jian Ma
  • Patent number: 11172609
    Abstract: A system and method for an autonomous lawn mower comprising a mower body having at least one motor arranged to drive a cutting blade and to propel the mower body on an operating surface via a wheel arrangement, wherein the mower body includes a navigation system arranged to assist a controller to control the operation of the mower body within a predefined operating area.
    Type: Grant
    Filed: March 21, 2019
    Date of Patent: November 16, 2021
    Assignee: TTI (MACAO COMMERCIAL OFFSHORE) LIMITED
    Inventors: Klaus Hahn, Todd Brandon Rickey, Benjamin Edgar Montgomery
  • Patent number: 11167420
    Abstract: Systems and methods for auto-generating a control and monitoring solution for smart and robotics environments. The traditional systems and methods provide solutions for the smart and robotics environments by manually generating codes but none of them provide for auto-generation of the control and monitoring solutions and the corresponding coordination logics. Embodiments of the present disclosure provide for auto-generating the control and monitoring solution by capturing a set of domain knowledge and information on capabilities of a plurality of devices by an accumulator module (201), auto-generating a controlled coordination logic based upon the set of domain knowledge and the capabilities information by a control logic synthesizer module (202) and auto-generating, by an implementation module (203), the control and monitoring solution for the smart and robotics environments based upon the coordination control logic.
    Type: Grant
    Filed: February 5, 2019
    Date of Patent: November 9, 2021
    Assignee: Tata Consultancy Services Limited
    Inventors: Puneet Patwari, Subhrojyoti RC, Amar Banerjee, Ashwin Arun, Jayakumar VK, Thanga Jawahar Kalidoss, Jagpreet Singh Sasan, Yash Kedia
  • Patent number: 11169509
    Abstract: A robotic unit for manipulating items and products may receive assistance from a product management system if an exception occurs indicating the robotic unit cannot complete a given task with respect to handling the product. The product management system may be associated with a plurality of different assistance centers and response centers providing different types or levels of assistance. The product management system can classify the exception according to hierarchal tiers to determine the type of assistance required. The product management system can then generate and direct an intervention request to one of the response centers based on the classification. The assistance and response centers may be equipped and staffed to provide particularized assistance to the robotic unit. In an example, the robotic unit may store data and instructions received from the assistance and response center for future implementation.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: November 9, 2021
    Assignee: ABB Schweiz AG
    Inventors: Gregory A. Cole, Carlos W. Morato
  • Patent number: 11161491
    Abstract: An automatic deceleration control device includes an electronic control unit including a central processing unit, the electronic control unit configured to: acquire road-type information that is information about a type of a road on which a vehicle is traveling; set a maximum deceleration based on the road-type information; and output a signal to decelerate the vehicle at a first deceleration that is equal to or lower than the maximum deceleration, when an actual vehicle speed of the vehicle exceeds a target vehicle speed of the vehicle.
    Type: Grant
    Filed: June 17, 2020
    Date of Patent: November 2, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hiroki Fukuda, Yoshinori Watanabe
  • Patent number: 11161487
    Abstract: A system for controlling wheel brakes in a first vehicle platooning with a second vehicle includes a transceiver in the first vehicle that receives a brake command from the second vehicle to apply a wheel brake in the first vehicle. A controller in the first vehicle generates, responsive to the brake command, a first set of control signals that control delivery of fluid pressure to the wheel brake and implement a braking event. The controller may further detect a wheel slip condition indicative of slip in a wheel of the first vehicle during the braking event and generate, when the condition occurs, a second set of control signals to control delivery of fluid pressure to the wheel brake. The control signals are generated in accordance with braking profiles that differ from braking profiles used by the controller during braking events occurring in the absence of the brake command.
    Type: Grant
    Filed: August 15, 2019
    Date of Patent: November 2, 2021
    Assignee: Bendix Commercial Vehicle Systems LLC
    Inventors: Thomas S. Miller, Jr., Phillip J. Kasper
  • Patent number: 11161238
    Abstract: A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.
    Type: Grant
    Filed: June 14, 2019
    Date of Patent: November 2, 2021
    Assignee: Intrinsic Innovation LLC
    Inventors: Geoffrey Lalonde, Peter Elving Anderson-Sprecher
  • Patent number: 11161242
    Abstract: In a robot having a first rotary shaft and a second rotary shaft driven by respective motors and extending in the same direction, the second rotary shaft is rotated while vibrating the first rotary shaft that is holding a load directly or indirectly, thereby rotating the first rotary shaft relative to a load. This enables calculating the gravitational torque of the load applied to the first rotary shaft.
    Type: Grant
    Filed: May 30, 2019
    Date of Patent: November 2, 2021
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Ryosuke Yamamoto, Hiroyuki Nakata, Atsumi Hashimoto, Yasuyoshi Honuchi
  • Patent number: 11162804
    Abstract: In an exemplary embodiment, a method for determining a route using route segment characterizations is disclosed. The method includes receiving, by a processor, a destination. The method further includes determining, by the processor, one or more routes to the destination from a first location. The method further includes dividing, by the processor, each of the one or more routes into one or more route segments. The method further includes characterizing, by the processor, each of the one or more route segments according to propulsion resources available to a vehicle. The method further includes providing, by the processor, an optimized route from the one or more routes based on the characterization of the one or more route segments.
    Type: Grant
    Filed: October 9, 2019
    Date of Patent: November 2, 2021
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventor: Anthony H. Heap
  • Patent number: 11155265
    Abstract: A method is provided for moving off of a vehicle with a hybrid powertrain, comprising a combustion engine; a gearbox with input and output shafts; a first planetary gear connected to the input shaft and a first main shaft; a second planetary gear connected to the first planetary gear and a second main shaft; first and second electrical machines respectively connected to the first and second planetary gears and capable of operating each other; one gear pair connected with the first planetary gear and output shaft; and one gear pair connected with the second planetary gear and output shaft.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: October 26, 2021
    Assignee: Scania CV AB
    Inventors: Johan Lindström, Mathias Björkman, Niklas Pettersson, Mikael Bergquist
  • Patent number: 11156994
    Abstract: An automated guided vehicle control system includes an automated guided vehicle (AGV) transporting parts by moving along a guide line designed on a floor of a factory; and a server displaying a guide line map of the factory on a screen through an AGV path setting UI, setting a transport path of the AGV depending on selection of a node which is present in the guide line and AGV motion information considering a link direction between neighboring nodes included in the transport path and transmitting the set transport path and motion information to the AGV through a wireless relay.
    Type: Grant
    Filed: June 6, 2019
    Date of Patent: October 26, 2021
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Kyung Dong Park, Young Jin Jung, Sang Won Yoon
  • Patent number: 11148297
    Abstract: A method of controlling a robotic arm in a surgical system comprises manually applying a force to a body of the robotic arm. Force information is received from a gesture force sensor on the robotic arm and a controller determines, using the force information, whether the force is a gesture force input. If the force is determined to be a gesture force input, the controller initiates a predetermined system function. The predetermined system function may be a change in operational state, movement between operational modes, or a movement from a first configuration of the arm's joints to a second, predetermined, configuration of the arms joints.
    Type: Grant
    Filed: December 30, 2018
    Date of Patent: October 19, 2021
    Assignee: Asensus Surgical US, Inc.
    Inventor: Alexander John Maret
  • Patent number: 11148294
    Abstract: A robot includes a filming unit that films a periphery, and a movement control unit that controls a distance from a filmed target object in accordance with a size of the target object. The robot may further include an operation control unit that controls an operation of a head portion, and a recognizing unit that recognizes a face of the filmed target object. The operation control unit may control the operation of the head portion so that a line of sight of the head portion reaches an angle of looking up directed at the face of the target object. The movement control unit may control the distance from the target object in accordance with a height of the target object.
    Type: Grant
    Filed: February 25, 2019
    Date of Patent: October 19, 2021
    Assignee: GROOVE X, INC.
    Inventor: Kaname Hayashi
  • Patent number: 11148293
    Abstract: A robot controlling method includes: obtaining a depth image by a depth camera; receiving the depth image and obtaining an object parameter according to the depth image by a processing circuit; generating an attractive force parameter according to a target trajectory by the processing circuit; generating a repulsive force parameter according to a first vector between the object parameter and a robot by the processing circuit; generating a virtual force parameter according to a second vector between the object parameter and the robot by the processing circuit; and outputting a control signal to the robot to drive the robot according to the attractive force parameter, the repulsive force parameter and the virtual force parameter by the processing circuit.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: October 19, 2021
    Assignee: NATIONAL CHIAO TUNG UNIVERSITY
    Inventors: Kai-Tai Song, Jen-Hao Chen
  • Patent number: 11141864
    Abstract: A detection system includes a first detection apparatus that detects an object that is being moved, within a predetermined detection region, a number of times, a work-data creation device that creates, every time the first detection apparatus detects the object, work data having a first data element that indicates at least a position of the object obtained by the first detection apparatus and a second data element that includes at least an index related to the object and obtained at the time of the detection, and a work-data storage unit that stores the work data created by the work-data creation means. The work-data storage unit selects, as the work data that should be stored, one of the work data that is newly created for the object and the work data for the object that has been stored by the work-data storage unit, on the basis of the index.
    Type: Grant
    Filed: July 11, 2019
    Date of Patent: October 12, 2021
    Assignee: FANUC CORPORATION
    Inventor: Masafumi Ooba
  • Patent number: 11141857
    Abstract: A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: October 12, 2021
    Assignee: Kabushiki Kaisha Toshiba
    Inventor: Junji Oaki
  • Patent number: 11135720
    Abstract: Systems and a method are provided for programming a cobot for a plurality of cells of an industrial environment. A physical cobot is provided within a lab cell comprising physical lab objects. A virtual simulation system receives information inputs on a virtual cobot representing the physical cobot, regarding a virtual lab cell comprising virtual lab objects, and on a plurality of virtual industrial cells comprising virtual industrial objects. Inputs are received from the physical cobot's movement during teaching whereby the physical cobot is moved in the lab cell to the desired position(s) while providing, via a user interface, a visualization of the virtual cobot's movement within a meta cell generated by superimposing the plurality of virtual industrial cells with the virtual lab cell, so that collisions with any object are minimized. A robotic program is generated based on the received inputs of the physical cobot's movement.
    Type: Grant
    Filed: October 23, 2018
    Date of Patent: October 5, 2021
    Assignee: Siemens Industry Software Ltd.
    Inventors: Moshe Hazan, Shaul Badusa