Patents Examined by Stephen Holwerda
  • Patent number: 11318612
    Abstract: A control device includes at least two processors comprising at least a first processor and a second processor. The control device controls at least one autonomous motion mechanism on the basis of a recognition result received from a recognition device. A storage device of the control device stores upper-level software, middle-level software, and lower-level software. The upper-level software derives a feature amount representing a feature of the recognition result. The middle-level software generates a motion plan of the autonomous motion mechanism on the basis of the feature amount. The lower-level software outputs a command value for controlling the autonomous motion mechanism on the basis of the motion plan. The first processor executes at least the upper-level software, the second processor executes at least the lower-level software, and at least one processor included in the control device executes the middle-level software.
    Type: Grant
    Filed: February 26, 2019
    Date of Patent: May 3, 2022
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Junichiro Ooga, Akihito Ogawa
  • Patent number: 11298826
    Abstract: A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.
    Type: Grant
    Filed: September 24, 2018
    Date of Patent: April 12, 2022
    Assignee: Boston Dynamics, Inc.
    Inventors: Zachary John Jackowski, John Aaron Saunders, Benjamin Swilling
  • Patent number: 11294347
    Abstract: A control device includes a processor that is configured to execute computer-executable instructions so as to control an arm included in a robot. The processor is configured to perform work on a target using a tool that performs work on the target. A distance meter measures a measurement value according to a relative distance between a first position of the target and the tool. The first position includes a portion overlapping with the tool when viewed from a direction toward the target from the tool.
    Type: Grant
    Filed: October 29, 2018
    Date of Patent: April 5, 2022
    Inventors: Yoshito Miyamoto, Tsuguya Kojima
  • Patent number: 11293769
    Abstract: A method and apparatus for route selection to a destination may include receiving a starting point and the one or more destinations and transmitting a request to a server for routes associated with the starting point and the one or more destinations. Additionally, the method may include receiving, from the server, a plurality of routes to the one or more destinations. Furthermore, the method may include selecting a route to use from the plurality of routes based on an estimated localization uncertainty of each route and/or localization reliability of each route.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: April 5, 2022
    Assignee: QUALCOMM Incorporated
    Inventors: Sai Pradeep Venkatraman, Meghna Agrawal, Weihua Gao
  • Patent number: 11285615
    Abstract: A smart drilling system includes a terminal configured to map a design space to an actual space and having perforation location information in the design space, a drilling machine including a drill for perforation and configured to perform perforation in the actual space under control of the terminal based on the perforation location information, and a total station configured to acquire location information of a reference point in the actual space for mapping the design space to the actual space and location information of the drilling machine in the actual space, and to transmit the location information of the reference point in the actual space and the location information of the drilling machine to the terminal, wherein the terminal recognizes and displays a perforable region or a perforable point at a current position of the drilling machine.
    Type: Grant
    Filed: February 9, 2021
    Date of Patent: March 29, 2022
    Assignees: GeoSystem Inc., Buildingpointkorea Inc.
    Inventors: Dong Hun Kang, Jong Hyun Oh, Ji Eun Kim, Chang Wook Joh, Young Hoon Koh
  • Patent number: 11276256
    Abstract: A system for identifying and reporting traffic events is presented. Position and motion data from two or more vehicles are uploaded to a data center. The system identifies an accident between first and second vehicles by correlating the motion and position information of the first vehicle with the motion and position information of the second vehicle.
    Type: Grant
    Filed: August 25, 2016
    Date of Patent: March 15, 2022
    Assignee: Airbnb, Inc.
    Inventors: Timothy J. Chainer, Gerard McVicker, Pritish R. Parida
  • Patent number: 11267126
    Abstract: Force sensors capable of measuring only forces in xyz coordinate axis directions are installed in fingertips, respectively, and forces and moment forces acting on a robot hand are calculated based on positional information about each fingertip. This structure eliminates the need for using large force sensors to thereby enable downsizing of each fingertip, and enables detection of loads and moment forces acting on the robot hand.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: March 8, 2022
    Assignee: Canon Kabushiki Kaisha
    Inventors: Hidetada Asano, Shuuichi Sato
  • Patent number: 11269348
    Abstract: A method for operating an automatically moving service device includes detecting obstacles within an environment with a detection device. The detection results are used to generate an environment map of the environment, and the service device moves within the environment based on the environment map. A control device of the service device receives information about a spatial position of a base station in the environment, and a maneuvering area for the service device to approach, turn toward and/or dock with the base station is determined. The spatial position and maneuvering area are stored in the environment map and a turning point for a directional change is prescribed within the maneuvering area. The service device can execute a last directional change at this turning point at the latest and independently of the remaining progression of movement, before it moves along a straight line toward the base station.
    Type: Grant
    Filed: July 12, 2018
    Date of Patent: March 8, 2022
    Assignee: Vorwerk & Co. Interholding GmbH
    Inventor: Lorenz Hillen
  • Patent number: 11267480
    Abstract: A travel control apparatus is provided. The travel control apparatus acquires driver abnormality information indicative of an abnormality of a driver of a vehicle, makes a determination that the driver is in a driving difficulty state based at least on the driver abnormality information, and activates a lane departure prevention function and a cruise control function of the vehicle at substantially the same time during a time period between when the driver abnormality information is acquired and when the driving difficulty state is determined. Together with activating the lane departure prevention function and the cruise control function, the travel control apparatus outputs notification request information to a human machine interface controller controlling a notification device which issues a notification to a passenger of the vehicle. The notification request information causes the notification indicative of activation of the lane departure prevention function and the cruise control function to be issued.
    Type: Grant
    Filed: January 15, 2020
    Date of Patent: March 8, 2022
    Inventors: Mitsuo Tamagaki, Hiroaki Tanaka, Ifushi Shimonomoto, Akira Kamiya, Takuya Mori, Yuki Fujisawa, Ayako Kotani
  • Patent number: 11260529
    Abstract: The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.
    Type: Grant
    Filed: September 27, 2019
    Date of Patent: March 1, 2022
    Inventors: Jian Zhang, Youjun Xiong, Zhichao Liu, Longbiao Bai, Chenchen Jiang, Simin Zhang, Hongjian Liu, Zhanjia Bi, Yongsheng Zhao, Jianxin Pang
  • Patent number: 11253329
    Abstract: A robotic system and methods are provided. The robotic system includes a tool and a manipulator with links for moving the tool. A controller implements a virtual simulation wherein the tool is represented as a virtual volume interacting with a virtual boundary defined by a mesh of polygonal elements. The controller computes a reactive force responsive to penetration of polygonal elements by the virtual volume. The reactive force is computed based on a penetration factor being a function of a geometry of the virtual volume bound relative to a geometry of the polygonal element. The controller applies the reactive force to the virtual volume to reduce penetration of the polygonal element by the virtual volume. The controller commands the manipulator to move the tool in accordance with application of the reactive force to the virtual volume to constrain movement of the tool relative to the virtual boundary.
    Type: Grant
    Filed: June 5, 2018
    Date of Patent: February 22, 2022
    Assignee: MAKO Surgical Corp.
    Inventor: David Gene Bowling
  • Patent number: 11235459
    Abstract: Techniques for controlling a robot are described in this document. In some implementations, a method includes determining a first target position of a first point located at the first end of the first link based on pose data for an end effector of a robot having a wrist offset. A second target position of a first joint connecting the first link to a second link is determined. A third target position of a second joint located at the first end of a third link is determined, including defining a first plane that includes the second target position of the first joint. A position and size of a circle that lies within a second plane is determined. A point on a perimeter of the circle is selected as the third target position. Movement data based on each position of each joint is provided to a control system.
    Type: Grant
    Filed: August 15, 2019
    Date of Patent: February 1, 2022
    Assignee: Intrinsic Innovation LLC
    Inventor: Jean-Francois Dupuis
  • Patent number: 11231294
    Abstract: A feature for a motor vehicle that takes precautionary actions in response to conditions on the road network in the vicinity ahead of the vehicle. The feature uses a data representation of the road network extending from the current vehicle position out to an extent. The data representation of the road network is used to identify conditions, if any, that warrant taking a precautionary action. The type of conditions about which actions are to be taken may be identified in a data file. A precautionary action is taken as the vehicle approaches the location of the condition. The precautionary action may be a message provided to the vehicle driver to alert the driver about the condition. Alternatively, the action may be a modification of the vehicle operation, such as slowing down or stopping the vehicle, speeding up the vehicle, changing direction, and so on.
    Type: Grant
    Filed: May 25, 2017
    Date of Patent: January 25, 2022
    Assignee: HERE GLOBAL B.V.
    Inventor: Robert Denaro
  • Patent number: 11216006
    Abstract: According to various embodiments, there is provided a robot including: a spherical shell; a cart in the spherical shell, the cart including a plurality of wheels rotatable to move the cart along an inner surface of the spherical shell; a sensor coupled to the cart, the sensor configured to provide an inertial measurement of the cart; a motion encoder configured to measure an angular velocity of each wheel of the plurality of wheels; and a localizer configured to determine a location of the robot, based on the angular velocities of the plurality of wheels and the inertial measurement of the cart.
    Type: Grant
    Filed: July 20, 2017
    Date of Patent: January 4, 2022
    Inventors: Gim Song Soh, Shaohui Foong, Kevin Otto, Akash Vibhute, Kristin Wood
  • Patent number: 11215989
    Abstract: A method for monitoring a robot includes monitoring a safety condition and operating the robot in a limitation operating mode for as long as the monitored safety condition is not fulfilled. A deceleration of the robot is commanded and monitored in the limitation operating mode for as long as the robot exceeds a velocity limit.
    Type: Grant
    Filed: June 12, 2018
    Date of Patent: January 4, 2022
    Assignee: KUKA Deutschland GmbH
    Inventor: Uwe Bonin
  • Patent number: 11207500
    Abstract: A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. A method and system controls the needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: December 28, 2021
    Assignee: Worcester Polytechnic Institute
    Inventors: Gregory S. Fischer, Hao Su
  • Patent number: 11207775
    Abstract: A method of teaching a robot, the robot including a first and second end effector that are mounted to a robotic arm wrist, the first and second end effector being rotatable about a same rotational axis independently of each other. The method includes: a first step of, in a state where rotational positions of the first and second end effectors about the rotational axis coincide with each other, attaching a relative motion preventing device to the first and second end effector, the relative motion preventing device preventing the first and second end effector from moving relative to each other; and a fourth step of generating a teaching point of the second end effector based on: a teaching point of the first end effector; and rotational position information about the first and second end effector that are stored in a storage unit in association with each other in a third step.
    Type: Grant
    Filed: December 13, 2017
    Date of Patent: December 28, 2021
    Inventors: Takeshi Shibata, Yukimasa Yamada, Takao Yamaguchi, Tomokazu Arita, Eric Chan, Francisco J. Duran, Jr., Hajime Nakahara, Avish Ashok Bharwani, Ming Zeng
  • Patent number: 11197728
    Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.
    Type: Grant
    Filed: September 3, 2019
    Date of Patent: December 14, 2021
    Assignee: Auris Health, Inc.
    Inventors: Joshua F. DeFonzo, Alexander Tarek Hassan, Frederic H. Moll, David Stephen Mintz, David M. Schummers, Paxton H. Maeder-York, Andrew F. O'Rourke
  • Patent number: 11192247
    Abstract: A robot controller controls an arc motion of a robot. The robot controller includes an interpolation point setting unit that sets an interpolation point between movement points in an operation program. The robot controller includes a movement-point angle calculation unit that calculates an angle relating to a reference direction for determining the orientation of the robot, and an interpolation-point angle calculation unit that calculates an angle relating to the reference direction at an interpolation point by interpolating angles relating to the reference direction at the movement points. The reference direction is a direction independent from the positions of the movement points and is set in an operation program in a predetermined coordinate system.
    Type: Grant
    Filed: August 29, 2019
    Date of Patent: December 7, 2021
    Inventor: Tomonori Matsushima
  • Patent number: 11179219
    Abstract: A surgical robot system for stereotactic surgery, according to the present disclosure, may include: a stereotactic surgery unit to move and rotate a surgical instrument; a controller to receive the first imaging data that represents a three-dimensional image of a surgical portion that includes a surgical target; one or more markers to be attached to, or disposed near, the surgical portion; an imaging unit to create the second imaging data that represents a three-dimensional external image of the surgical portion; and a tracking unit to track the positions and postures of the imaging unit and the markers. The controller may create the coordinate conversion relationships for converting a coordinate from the first coordinate system of the first imaging data into the fourth coordinate system of the stereotactic surgery unit and control the stereotactic surgery unit by using the coordinate conversion relationships above.
    Type: Grant
    Filed: October 29, 2019
    Date of Patent: November 23, 2021
    Inventors: Eun Hyoung Seong, Young Sik Kwon, Jae Heon Chung