Patents by Inventor Matthew LaFary
Matthew LaFary has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20190286145Abstract: According to disclosed methods and apparatus, a mobile robot moves autonomously along a planned path defined in a coordinate map of a working environment, and dynamically updates the planned path on an ongoing basis, to avoid detected obstacles and projections of detected obstacles. A “projection” arises in the context of moving obstacles detected by the mobile robot, at least in the case for a moving detected obstacle that meets certain minimum requirements, such as minimum speed, persistence, etc. The mobile robot makes a projection by, for example, marking map coordinates or map grid cells as occupied, based not only on the currently detected location of a moving obstacle but further on the most recent estimates of speed and direction. By feeding both detected locations and projections into its path planning algorithm, the mobile robot obtains sophisticated avoidance behavior with respect to moving obstacles.Type: ApplicationFiled: March 14, 2018Publication date: September 19, 2019Inventors: Matthew LaFary, Daman Bareiss
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Patent number: 10168711Abstract: In one aspect of the teachings presented herein, an autonomously-navigating mobile robot moves to a designated location and detects the presence and relative positioning of a compatible wheeled cart, based on recognizing one or more characteristic physical features of the cart from sensor readings taken by the robot. The robot moves into a position of gross alignment with the cart, based on the detected relative position of the cart, which means that the robot accommodates carts that are not properly positioned or oriented for pickup. The robot takes additional sensor readings referenced to the same or additional characteristic features of the cart and moves into a position of fine alignment with the cart, whereupon it latches to the cart and transports it via rolling conveyance to a designated destination location. The cart preferably includes a normally-on brake that is automatically disengaged by virtue of the robot latching to it.Type: GrantFiled: September 14, 2016Date of Patent: January 1, 2019Assignee: Omron Adept Technologies, Inc.Inventors: Todd P. Reynolds, Deron Jackson, Matthew LaFary, Justin Eskesen
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Patent number: 10089586Abstract: The Job Management System (JMS) of the present invention processes job requests in an automated physical environment, such as a factory, hospital, order processing facility or office building, wherein the job requests are handled by a fleet of autonomously-navigating mobile robots. The JMS includes a map defining a floor plan, a set of virtual job locations and a set of one or more virtual job operations associated with virtual job locations. The JMS automatically determines the actual locations and actual job operations for the job requests, and intelligently selects a suitable mobile robot to handle each job request based on the current status and/or the current configuration for the selected mobile robot. The JMS also sends commands to the selected mobile robot to cause the mobile robot to automatically drive the actual job location, to automatically perform the actual job operations, or both.Type: GrantFiled: February 8, 2013Date of Patent: October 2, 2018Assignee: OMRON ADEPT TECHNOLOGIES, INC.Inventors: Matthew Vestal, Matthew LaFary, Peter Stopera
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Publication number: 20170072558Abstract: In one aspect of the teachings presented herein, an autonomously-navigating mobile robot moves to a designated location and detects the presence and relative positioning of a compatible wheeled cart, based on recognizing one or more characteristic physical features of the cart from sensor readings taken by the robot. The robot moves into a position of gross alignment with the cart, based on the detected relative position of the cart, which means that the robot accommodates carts that are not properly positioned or oriented for pickup. The robot takes additional sensor readings referenced to the same or additional characteristic features of the cart and moves into a position of fine alignment with the cart, whereupon it latches to the cart and transports it via rolling conveyance to a designated destination location. The cart preferably includes a normally-on brake that is automatically disengaged by virtue of the robot latching to it.Type: ApplicationFiled: September 14, 2016Publication date: March 16, 2017Inventors: Todd P. Reynolds, Deron Jackson, Matthew LaFary, Justin Eskesen
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Patent number: 9592609Abstract: An intelligent mobile robot having a robot base controller and an onboard navigation system that, in response to receiving a job assignment specifying a job location that is associated with one or more job operations, activates the onboard navigation system to automatically determine a path the mobile robot should use to drive to the job location, automatically determines that using an initially-selected path could cause the mobile robot to run into stationary or non-stationary obstacles, such as people or other mobile robots, in the physical environment, automatically determines a new path to avoid the stationary and non-stationary obstacles, and automatically drives the mobile robot to the job location using the new path, thereby avoiding contact or collisions with those obstacles. After the mobile robot arrives at the job location, it automatically performs said one or more job operations associated with that job location.Type: GrantFiled: January 25, 2013Date of Patent: March 14, 2017Assignee: Omron Adept Technologies, Inc.Inventors: Matthew LaFary, Matthew Vestal, George V. Paul
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Publication number: 20140365258Abstract: The Job Management System (JMS) of the present invention processes job requests in an automated physical environment, such as a factory, hospital, order processing facility or office building, wherein the job requests are handled by a fleet of autonomously-navigating mobile robots. The JMS includes a map defining a floor plan, a set of virtual job locations and a set of one or more virtual job operations associated with virtual job locations. The JMS automatically determines the actual locations and actual job operations for the job requests, and intelligently selects a suitable mobile robot to handle each job request based on the current status and/or the current configuration for the selected mobile robot. The JMS also sends commands to the selected mobile robot to cause the mobile robot to automatically drive the actual job location, to automatically perform the actual job operations, or both.Type: ApplicationFiled: February 8, 2013Publication date: December 11, 2014Applicant: ADEPT TECHNOLOGY, INC.Inventors: Matthew Vestal, Matthew LaFary, Peter Stopera
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Publication number: 20140350725Abstract: An intelligent mobile robot having a robot base controller and an onboard navigation system that, in response to receiving a job assignment specifying a job location that is associated with one or more job operations, activates the onboard navigation system to automatically determine a path the mobile robot should use to drive to the job location, automatically determines that using an initially-selected path could cause the mobile robot to run into stationary or non-stationary obstacles, such as people or other mobile robots, in the physical environment, automatically determines a new path to avoid the stationary and non-stationary obstacles, and automatically drives the mobile robot to the job location using the new path, thereby avoiding contact or collisions with those obstacles. After the mobile robot arrives at the job location, it automatically performs said one or more job operations associated with that job location.Type: ApplicationFiled: January 25, 2013Publication date: November 27, 2014Applicant: ADEPT TECHNOLOGY, INC.Inventors: Matthew LaFary, Matthew Vestal, George V. Paul
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Patent number: 8688275Abstract: Embodiments of the present invention provide methods and systems for ensuring that mobile robots are able to detect and avoid positive obstacles in a physical environment that are typically hard to detect because the obstacles do not exist in the same plane or planes as the mobile robot's horizontally-oriented obstacle detecting lasers. Embodiments of the present invention also help to ensure that mobile robots are able to detect and avoid driving into negative obstacles, such as gaps or holes in the floor, or a flight of stairs. Thus, the invention provides positive and negative obstacle avoidance systems for mobile robots.Type: GrantFiled: January 25, 2013Date of Patent: April 1, 2014Assignee: Adept Technology, Inc.Inventors: Matthew LaFary, George Paul
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Publication number: 20140074287Abstract: Embodiments of the present invention provide methods and systems for ensuring that mobile robots are able to detect and avoid positive obstacles in a physical environment that are typically hard to detect because the obstacles do not exist in the same plane or planes as the mobile robot's horizontally-oriented obstacle detecting lasers. Embodiments of the present invention also help to ensure that mobile robots are able to detect and avoid driving into negative obstacles, such as gaps or holes in the floor, or a flight of stairs. Thus, the invention provides positive and negative obstacle avoidance systems for mobile robots.Type: ApplicationFiled: January 25, 2013Publication date: March 13, 2014Applicant: Adept Technology, Inc.Inventors: Matthew LaFary, George Paul
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Patent number: 8200423Abstract: An apparatus for mobile autonomous updating of GIS maps is provided, comprising an autonomous mobile data collecting platform with a map identifying one or more GIS features. The platform has at least one data collecting sensor for collecting data for at least one of the GIS features and patrols at least a portion of a region included in the map while updating its GIS position as it patrols. The autonomous mobile data collecting platform applies the at least one data collecting sensor during patrolling to collect data for at least one of the GIS features and updates the GIS map to reflect differential data collected for at least one GIS feature.Type: GrantFiled: March 17, 2011Date of Patent: June 12, 2012Assignee: Adept Technology, Inc.Inventors: Jeanne Dietsch, William Kennedy, Matthew LaFary
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Publication number: 20110208745Abstract: An apparatus for mobile autonomous updating of GIS maps is provided, comprising an autonomous mobile data collecting platform with a map identifying one or more GIS features. The platform has at least one data collecting sensor for collecting data for at least one of the GIS features and patrols at least a portion of a region included in the map while updating its GIS position as it patrols. The autonomous mobile data collecting platform applies the at least one data collecting sensor during patrolling to collect data for at least one of the GIS features and updates the GIS map to reflect differential data collected for at least one GIS feature.Type: ApplicationFiled: March 17, 2011Publication date: August 25, 2011Applicant: ADEPT TECHNOLOGY, INC.Inventors: Jeanne Dietsch, William Kennedy, Matthew LaFary
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Patent number: 7912633Abstract: A method for mobile autonomous updating of GIS maps is provided. In the method, an autonomous mobile data collecting platform is provided with a map identifying one or more GIS features. The platform has at least one data collecting sensor for collecting data for at least one of the GIS features and patrols at least a portion of a region included in the map while updating its GIS position as it patrols. The autonomous mobile data collecting platform applies the at least one data collecting sensor during patrolling to collect data for at least one of the GIS features and updates the GIS map to reflect differential data collected for at least one GIS feature.Type: GrantFiled: November 30, 2006Date of Patent: March 22, 2011Assignee: Adept MobileRobots LLCInventors: Jeanne Dietsch, William Kennedy, Matthew LaFary
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Patent number: 7650013Abstract: A system and methods for map and position determination enhancement. The method includes obtaining at least one image of a view in an area. Also, identifying at least one high-contrast feature in the image of the area and, embedding the high-contrast feature in a map of the area. The result is the generation of an enhanced map of the area which can be used to determine the position of any device or object.Type: GrantFiled: November 15, 2005Date of Patent: January 19, 2010Assignee: MobileRobots Inc.Inventors: Jeanne Dietsch, Matthew LaFary
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Publication number: 20060120601Abstract: A system and methods for map and position determination enhancement. The method includes obtaining at least one image of a view in an area. Also, identifying at least one high-contrast feature in the image of the area and, embedding the high-contrast feature in a map of the area. The result is the generation of an enhanced map of the area which can be used to determine the position of any device or object.Type: ApplicationFiled: November 15, 2005Publication date: June 8, 2006Inventors: Jeanne Dietsch, Matthew LaFary
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Patent number: 6917893Abstract: A spatial data collection apparatus collects and correlates spatial data for use in creating floor plans, maps and models of existing spaces. The apparatus includes a mobile platform with wheels to allow movement around a space. One or more positional sensors on the platform generate positional data related to a position of the platform. The positional data can include odometry data and optionally gyroscopic data for correcting the odometry data. One or more range-finding devices on the platform measure and calculate range data (e.g., 2-D or 3-D) relating to distances and angles between the platform and objects in the space. The apparatus collects, fuses and correlates the positional data and range data to produce spatial data and stores the spatial data for transfer to a PC for use in creating, viewing and/or editing a map of the space. The apparatus can also record media files (e.g., audio, video, or images) to be associated with locations within the map.Type: GrantFiled: March 14, 2003Date of Patent: July 12, 2005Assignee: ActivMedia Robotics, LLCInventors: Jeanne Dietsch, William Kennedy, Matthew LaFary
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Publication number: 20030176986Abstract: A spatial data collection apparatus collects and correlates spatial data for use in creating floor plans, maps and models of existing spaces. The apparatus includes a mobile platform with wheels to allow movement around a space. One or more positional sensors on the platform generate positional data related to a position of the platform. The positional data can include odometry data and optionally gyroscopic data for correcting the odometry data. One or more range-finding devices on the platform measure and calculate range data (e.g., 2-D or 3-D) relating to distances and angles between the platform and objects in the space. The apparatus collects, fuses and correlates the positional data and range data to produce spatial data and stores the spatial data for transfer to a PC for use in creating, viewing and/or editing a map of the space. The apparatus can also record media files (e.g., audio, video, or images) to be associated with locations within the map.Type: ApplicationFiled: March 14, 2003Publication date: September 18, 2003Inventors: Jeanne Dietsch, William Kennedy, Matthew LaFary