Patents Issued in June 2, 2020
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Patent number: 10671041Abstract: Systems are provided for a “loadable module” architecture for industrial controllers in which new control program modules which provide updated functions or features may be loaded to extend or modify the underlying operating system and/or other services without updating the firmware and without disrupting or otherwise compromising the ability of the industrial controller to maintain continuous control over the controlled process. Control program modules and libraries may be delivered to the industrial controller in object code format and an embedded linker in the industrial controller may be used to efficiently create fully linked and executable files locally. Loadable libraries may be provided to the industrial controller during runtime to extend functionality and/or provide desired fixes. As a result, a system is provided that is more efficient and that enables significant flexibility in adding new capabilities.Type: GrantFiled: March 26, 2018Date of Patent: June 2, 2020Assignee: Rockwell Automation Technologies, Inc.Inventors: Charles M. Rischar, Ladislav Bumbalek, Filip Macurek, Michael Viste, Petr Pitrinec
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Patent number: 10671042Abstract: Systems, methods, apparatus, and articles of manufacture to learn and share remote commands are disclosed. An example method to configure a playback device to be controlled by a remote control includes receiving by the playback device a first code for a first command from the remote control. The example method includes identifying by the playback device a second code for a second command based on the received first code. The example method includes receiving by the playback device the second code from the remote control. The example method includes executing the second command by the playback device.Type: GrantFiled: August 20, 2019Date of Patent: June 2, 2020Assignee: Sonos, Inc.Inventors: Neil Griffiths, Simon Jarvis, Hilmar Lehnert, Aurelio Ramos
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Patent number: 10671043Abstract: In an embodiment, the present invention provides a system for generating a visualization a home or building, including a fieldbus commissioning tool with a template library and a graphical commissioning engine for implementing physical devices of the home or building. The template library includes: a set of device templates and device object templates, which contains information how the devices are used; a set of zone templates, which specify the use of the devices which are available within a zone; a set of automation templates and a set of web templates. The fieldbus commissioning tool is connected with a configuration data input unit and an automation studio, the automation studio being receiving building topology information, which are supplied by the fieldbus commissioning tool. Based on the building topology, the automation studio generates a navigation structure of the building to allow access to different areas of the building.Type: GrantFiled: October 16, 2017Date of Patent: June 2, 2020Assignee: ABB AGInventors: Eric Ferro, Francois Mayis, Olaf Bigalke
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Patent number: 10671044Abstract: Approaches are provided whereby synchronization is achieved between control logic at an automation controller and a representation of this logic at a communication network. Control logic is initially deployed to an automatic controller and a representation of this control logic is stored at the communication network. The automation controller is located remotely from the network. When a change is made to the representation of the control logic at the network, the control logic is re-deployed to the automation controller so that the operator of the control logic is synchronized to the representation. The synchronization is effective to allow a service center to remotely service the control logic without the need for traveling to the automation controller.Type: GrantFiled: June 29, 2012Date of Patent: June 2, 2020Inventor: Kenneth Pierson Dickie
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Patent number: 10671045Abstract: A positioning device (1) of a processing module of a cable processing machine for finishing a cable. The positioning device (1) includes a first displacing device (10) for displacing the processing module relative to the cable to be processed along a first, in particular horizontal axis (x) transversely, preferably perpendicularly to the longitudinal axis (L) of the cable to be processed and a second displacing device (20) for displacing the processing module relative to the cable to be processed along a second, in particular vertical axis (z) transversely, preferably perpendicularly to the longitudinal axis (L) of the cable to be processed and transversely, preferably perpendicular to the first axis (x). A processing module and a cable processing machine having at least one such positioning device (1).Type: GrantFiled: July 17, 2017Date of Patent: June 2, 2020Assignee: KOMAX HOLDING AGInventors: Adrian Berther, Luca Meier
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Patent number: 10671046Abstract: A numerical control device is for machining a machining object by moving a tool and the machining object relative to each other along a movement path while applying vibration, by use of a drive axis provided for the tool or the machining object. The device includes a storage unit that holds an invalid frequency region, and a vibration condition determining unit to determine a frequency for the vibration, based on a rotational speed of a main shaft for rotating the machining object, a number of vibrations of the vibration in each one rotation of the main shaft, and the invalid frequency region.Type: GrantFiled: November 26, 2014Date of Patent: June 2, 2020Assignees: Mitsubishi Electric Corporation, CITIZEN WATCH CO., LTD., CITIZEN MACHINERY CO., LTD.Inventors: Mitsuo Watanabe, Masakazu Sagasaki, Hitoshi Matsumoto, Takanori Shinohara, Kazuhiko Sannomiya, Yuki Hirata
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Patent number: 10671047Abstract: A method and system for drilling holes in a repaired composite structure. Four corner holes are selected from holes outside of a repaired area in the repaired composite structure. The four corner holes define a rectangle encompassing the repaired area with sides that each include a pair of corner holes with intermediate holes in between. A surface representation is generated based on a scan of the repaired composite structure that includes the rectangle. Side hole locations between a corresponding pair of corner holes are generated for each side of the rectangle. Grid vector lines are generated between corresponding pairs of side hole locations on opposite sides of the rectangle. The grid vector lines intersect each other at intersection points on the surface representation. Point coordinates are determined for intersection points that lie within the repaired area. A path is created for drilling holes at point coordinates for the intersection points.Type: GrantFiled: March 15, 2018Date of Patent: June 2, 2020Assignee: The Boeing CompanyInventors: Michelle Crivella, Christopher L. Brooks, Jr.
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Patent number: 10671048Abstract: Manufacturing of a shoe or a portion of a shoe is enhanced by executing various shoe-manufacturing processes in an automated fashion. For example, information describing a shoe part may be determined, such as an identification, an orientation, a color, a surface topography, an alignment, a size, etc. Based on the information describing the shoe part, automated shoe-manufacturing apparatuses may be instructed to apply various shoe-manufacturing processes to the shoe part.Type: GrantFiled: March 29, 2018Date of Patent: June 2, 2020Assignee: NIKE, Inc.Inventor: Patrick Conall Regan
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Patent number: 10671049Abstract: An optimization device of a component mounting line of the present invention includes a cycle time calculating section which calculates respective cycle times required for mounting components of component types which are allocated to each of the component mounting machines by the optimization process onto a single board, an excluded machine setting section which sets a specific portion of the component mounting machines to be excluded from further calculation processes, a balance efficiency calculating section which calculates a line balance efficiency indicating a degree to which the cycle times of the component mounting machines which are not excluded are equalized, and a balance efficiency display section which displays the line balance efficiency. Accordingly, the results of the optimization process which is carried out before starting production of the board are evaluated appropriately and the original device performance of the component mounting line can be utilized.Type: GrantFiled: March 26, 2015Date of Patent: June 2, 2020Assignee: FUJI CORPORATIONInventors: Yoshihiro Yasui, Hitoshi Kobayashi
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Patent number: 10671050Abstract: A surveillance system may comprise one or more computing devices and one or more robotic surveillance devices. The one or more computing devices may be configured to obtain video data captured by one or more cameras. The one or more computing devices may analyze the video data to determine whether there is any trigger event. In response to determining that there is a trigger event, the one or more computing device may determine an optimal robotic surveillance device among the one or more robotic surveillance devices based on the trigger event and provide an instruction to the optimal robotic surveillance device. The optimal robotic surveillance device may be configured to perform a responding action in response to receiving the instruction.Type: GrantFiled: May 4, 2018Date of Patent: June 2, 2020Assignee: TURING VIDEO, INC.Inventors: Fang Wang, Song Cao
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Patent number: 10671051Abstract: A method for detecting thermal events in an electrical system includes: synchronizing, via a controller, measurements of power consumed by each of a plurality of load elements during an interval with one another and with measurements of power supplied by each of a plurality of power sources to the plurality of load elements during the interval; determining a differential between a sum of the power consumed by the load elements during the interval and a sum of the power supplied by the power sources to the plurality of load elements during the interval; comparing the differential to a predetermined threshold; and determining whether a thermal event has occurred based on the comparison of the differential to the predetermined threshold.Type: GrantFiled: October 9, 2018Date of Patent: June 2, 2020Assignee: Hewlett Packard Enterprise Development LPInventors: Daniel Humphrey, David A. Moore, Stewart Gavin Goodson, II
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Patent number: 10671052Abstract: Examples of synchronized parallel tile computation techniques for large area lithography simulation are disclosed herein for solving tile boundary issues. An exemplary method for integrated circuit (IC) fabrication comprises receiving an IC design layout, partitioning the IC design layout into a plurality of tiles, performing a simulated imaging process on the plurality of tiles, generating a modified IC design layout by combining final synchronized image values from the plurality of tiles, and providing the modified IC design layout for fabricating a mask. Performing the simulated imaging process comprises executing a plurality of imaging steps on each of the plurality of tiles. Executing each of the plurality of imaging steps comprises synchronizing image values from the plurality of tiles via data exchange between neighboring tiles.Type: GrantFiled: January 10, 2018Date of Patent: June 2, 2020Assignee: TAIWAN SEMICONDUCTOR MANUFACTURING CO., LTD.Inventors: Daniel Beylkin, Kenneth L. Ho, Sagar Vinodbhai Trivedi, Fangbo Xu, Junjiang Lei, Danping Peng
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Patent number: 10671053Abstract: A numerical controller (100) capable of shortening the cycle time during tool replacement without modifying an existing program is provided. A numerical controller (100) includes a block information checking unit (108) that analyzes a program for respective blocks. When it is determined that one or two or more feed axis positioning commands are present before a tool replacement command found in the analysis result of the program, the block information checking unit (108) modifies the analysis result of the program so that a rotating tool axis orientation operation in the tool replacement command is executed during execution of a feed axis positioning command in any one of the one or two or more feed axis positioning command blocks.Type: GrantFiled: January 26, 2018Date of Patent: June 2, 2020Assignee: FANUC CORPORATIONInventor: Takenori Ono
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Patent number: 10671054Abstract: A numerical control device configured to perform stopping control of an axis of a machining tool to be controlled corresponding to command for machining interruption during machining by moving a workpiece or a tool using cycle operation, the numerical control device includes an override input unit, a decelerating and stopping override change unit configured to calculate actual override, decelerated in stages at each interpolation period based on the override acquired by the override input unit, and a velocity calculation unit configured to decelerating and stopping control of the axis.Type: GrantFiled: October 21, 2015Date of Patent: June 2, 2020Assignee: FANUC CORPORATIONInventor: Iwao Makino
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Patent number: 10671055Abstract: An apparatus and method for determining a target adjustment route for a preset control condition set of a production line are provided. The apparatus establishes at least one candidate adjustment route for the preset control condition set according to the historical control condition sets. Each candidate adjustment route includes at least one adjustment control condition set arranged in an adjustment order. Each adjustment control condition set is one of the historical control condition sets. Within the same candidate adjustment route, the historical yield related values corresponding to the adjustment control condition sets are all greater than the preset yield related value and increase in the adjustment order. Within the same candidate adjustment route, the numbers of the adjustment control condition(s) included in the adjustment sets increase in the adjustment order. The apparatus selects one of the candidate adjustment route(s) as the target adjustment route.Type: GrantFiled: November 8, 2018Date of Patent: June 2, 2020Assignee: Institute For Information IndustryInventors: Cheng-Juei Yu, Yi-Hsin Wu, Yin-Jing Tien, Jui-Yu Huang, Li-Jung Chen
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Patent number: 10671056Abstract: There is provided a substrate processing system, including: a plurality of substrate processing apparatuses; a first control part installed in each of the plurality of substrate processing apparatuses and configured to transmit a first apparatus data from each of the plurality of substrate processing apparatuses; a second control part configured to receive the first apparatus data from each of the plurality of substrate processing apparatuses, generate a priority data of each of the plurality of substrate processing apparatuses based on the first apparatus data, and transmit the priority data to the first control part; and a display part configured to display the priority data thereon.Type: GrantFiled: September 18, 2017Date of Patent: June 2, 2020Assignee: Kokusai Electric CorporationInventors: Masanori Nakayama, Tsukasa Kamakura
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Patent number: 10671057Abstract: The present invention has an object of providing a management system capable of predicting a malfunction occurrence rate that takes account of installation conditions and operating conditions of individual machining apparatuses. A management system that manages machining apparatuses which uses coolant, includes: an acquisition unit that acquires duration information including an installed duration and operating duration of the machining apparatus and condition information based on the installed duration and operating duration of the machining apparatus for each of the machining apparatuses; an analysis unit that analyzes a malfunction occurrence rate for each of the machining apparatuses, based on the duration information and the condition information, as well as the malfunction occurrence information of the machining apparatus caused by coolant; and a notification information generation unit that outputs notification information based on the analyzed malfunction occurrence rate.Type: GrantFiled: March 20, 2018Date of Patent: June 2, 2020Assignee: FANUC CORPORATIONInventor: Akira Nishioka
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Patent number: 10671058Abstract: A monitoring server includes a communication unit (11) that receives image data transmitted periodically from a robot (20), information on communication quality of a communication network between the monitoring server and the robot (20), and load information of the robot (20), and a distributed-processing control unit (12) that determines, based on at least one of tracking-operation-environment information of the tracking target (30) determined based on the image data, the information on the communication quality, and the load information, a process to be performed in the robot (20), and the process to be performed in the monitoring server itself from among an image analysis process including a plurality of processes, the image analysis process being a process of specifying the tracking target (30), in which the communication unit (11) transmits information on the process to be performed in the robot (20) to the robot (20).Type: GrantFiled: September 2, 2016Date of Patent: June 2, 2020Assignee: NEC CORPORATIONInventors: Takaaki Suzuki, Takanori Iwai
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Patent number: 10671059Abstract: The invention relates to a method for producing objects, in particular motor vehicles, in an industrial production process, wherein a plurality of work processes is coordinated by a process control system, wherein the process control system exchanges data with at least one electronic communication device via a communication path, which electronic communication device is operated autonomously and independently of the process control system, wherein a user can enter data at the electronic communication device, which are then transmitted to the process control system as a change data set, and the process control system coordinates the production process anew on the basis of the received change data. The invention further relates to an installation for producing objects, in particular motor vehicles, to a telecommunication method, and to a computer program.Type: GrantFiled: October 12, 2015Date of Patent: June 2, 2020Assignee: EISENMANN SEInventor: Matthias von Krauland
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Patent number: 10671060Abstract: In some embodiments, a system model construction platform may receive, from a system node data store, system node data associated with an industrial asset. The system model construction platform may automatically construct a data-driven, dynamic system model for the industrial asset based on the received system node data. A synthetic attack platform may then inject at least one synthetic attack into the data-driven, dynamic system model to create, for each of a plurality of monitoring nodes, a series of synthetic attack monitoring node values over time that represent simulated attacked operation of the industrial asset. The synthetic attack platform may store, in a synthetic attack space data source, the series of synthetic attack monitoring node values over time that represent simulated attacked operation of the industrial asset. This information may then be used, for example, along with normal operational data to construct a threat detection model for the industrial asset.Type: GrantFiled: August 21, 2017Date of Patent: June 2, 2020Assignee: General Electric CompanyInventors: Masoud Abbaszadeh, Lalit Keshav Mestha, Cody Joe Bushey
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Patent number: 10671061Abstract: Devices, methods, and systems for distributed rule based automated fault detection are described herein. One system includes a data extractor engine configured to: extract configuration data relating to an environment based on a number of defined rules, and receive monitored data relating to the environment, an AFD engine configured to evaluate the monitored data in view of the configuration data to determine a state of the environment, and a fault generation engine to determine whether the state of the environment is outside a range defined by the number of defined rules.Type: GrantFiled: November 15, 2018Date of Patent: June 2, 2020Assignee: Honeywell International Inc.Inventors: Jitendra Singh, Arvind R. Shetty, Rajesh V. Poojary, Manu Taranath, Greg Bernhardt
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Patent number: 10671062Abstract: A crash sensor device may include multiple sensor components positioned along one or more data paths to a communication interface of the crash sensor device. The crash sensor device may include a test control unit. The test control unit may receive a test command from an electronic control unit during operation of a vehicle. The test control unit may perform a test of one or more sensor components, of the multiple sensor components, during operation of the vehicle based on the test command. The test control unit may output a test result to the electronic control unit based on performing the test.Type: GrantFiled: April 19, 2017Date of Patent: June 2, 2020Assignee: Infineon Technologies AGInventor: Dirk Hammerschmidt
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Patent number: 10671063Abstract: Devices, systems, and methods for controlling an autonomous vehicle are provided. In one example embodiment, a control device for user control of an autonomous vehicle includes a communication interface configured to physically couple the control device to an autonomous vehicle to allow communication with the autonomous vehicle. The control device includes an input device configured to receive user input for controlling one or more features of the autonomous vehicle when the communication interface is coupled to the autonomous vehicle. The control device includes one or more computing devices configured to provide one or more control signals to the autonomous vehicle via the communication interface to allow a user to control the autonomous vehicle via the input device. The autonomous vehicle is in a control mode that allows the user to control the autonomous vehicle.Type: GrantFiled: December 14, 2016Date of Patent: June 2, 2020Assignee: UATC, LLCInventors: Scott C. Poeppel, Nicholas G. Letwin, Sean J. Kelly
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Patent number: 10671064Abstract: An unmanned aerial vehicle (UAV) includes one or more sources of propulsion coupled to provide propulsion to the UAV, and a power source coupled to power the one or more sources of propulsion. A communication system is coupled to communicate with an external device, and a controller is coupled to the communication system, the power source, and the one or more sources of propulsion. The controller includes logic that when executed by the controller causes the UAV to perform operations, including: measuring a status of the UAV; sending the status of the UAV to the external device; receiving movement instructions from the external device; and engaging the one or more sources of propulsion to move the UAV from a first location to a second location within a storage facility.Type: GrantFiled: September 17, 2018Date of Patent: June 2, 2020Assignee: Wing Aviation LLCInventors: James Schmalzried, André Prager
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Patent number: 10671065Abstract: The present disclosure describes a system to facilitate the landing of drones including an eye tracker, an interpreter, and a control system configured to be worn by a person that performs coded moves of their arms and hands during a drone landing operation. In accordance with an exemplary embodiment, the eye tracker recognizes the line of sight of the person with respect to a drone, the interpreter identifies the coded moves performed by the person during landing of the drone, and the control system generates a signal to cause a transmitter to rotate into a position so as to establish a direct optical communication link to the drone to which is sent information relating to the identified coded moves.Type: GrantFiled: October 27, 2014Date of Patent: June 2, 2020Inventor: Ioannis Micros
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Patent number: 10671066Abstract: Systems and methods for scanning environments and tracking unmanned aerial vehicles within the scanned environments are disclosed. A method in accordance with a particular embodiment includes using a rangefinder off-board an unmanned air vehicle (UAV) to identify points in a region. The method can further include forming a computer-based map of the region with the points and using the rangefinder and a camera to locate the UAV as it moves in the region. The location of the UAV can be compared with locations on the computer-based map and, based upon the comparison, the method can include transmitting guidance information to the UAV. In a further particular embodiment, two-dimensional imaging data is used in addition to the rangefinder data to provide color information to points in the region.Type: GrantFiled: March 2, 2016Date of Patent: June 2, 2020Assignee: PreNav, Inc.Inventors: Asa Hammond, Nathan Schuett, Naimisaranya Das Busek
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Patent number: 10671067Abstract: Embodiments include devices and methods for maintaining control of a robotic vehicle when control signals from a main controller are lost. A detector circuit may monitor signals from the main controller to an electronic speed controller (ESC) to detect a loss of valid control signals. The detector circuit may cause an auxiliary controller to begin issuing motor control signals to the ESC in response to detecting a loss of valid control signals. The auxiliary controller may be configured to issue motor control signals to the ESC according to a pre-loaded set of motor control instructions. The pre-loaded set of motor control instructions may be received from the main controller and/or may be configured to cause the auxiliary controller to issue motor control signals to the ESC that control motors in a manner that causes the robotic vehicle to enter a safe mode of operation or execute a particular maneuver.Type: GrantFiled: January 15, 2018Date of Patent: June 2, 2020Assignee: QUALCOMM IncorporatedInventors: William Henry Von Novak, III, Vincent Kemler, Cody Wheeland, Layne Thomas, Courtney Cooley, Donald Bolden Hutson, Mark Caskey
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Patent number: 10671068Abstract: Sensor data captured at by different sensors may be shared across different sensor processing pipelines. Sensor processing pipelines may process captured sensor data from respective sensors. Some of the sensor data that is received or processed at one sensor data processing pipeline may be provided to another sensor data processing pipeline so that subsequent processing stages at the recipient sensor processing pipeline may process the combined sensor data in order to determine a perception decision. Different types of sensor data may be shared, including raw sensor data, processed sensor data, or data derived from sensor data. A control system may perform control actions based on the perception decisions determined by the sensor processing pipelines that share sensor data.Type: GrantFiled: September 19, 2017Date of Patent: June 2, 2020Assignee: Apple Inc.Inventors: Xinyu Xu, Ahmad Al-Dahle, Kshitiz Garg
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Patent number: 10671069Abstract: A driving system for a vehicle includes: an input unit configured to receive user input from a user; an interface configured to acquire vehicle driving information and to acquire information from one or more devices provided in the vehicle; at least one processor; and a computer-readable medium having stored thereon instructions which, when executed by the at least one processor, causes the at least one processor to perform operations including: acquiring information from the one or more devices; determining that the vehicle is to be autonomously driven in absence of a set destination; determining at least one of a first time period or a first distance based on the acquired information; identifying a first area based on at least one of the first time period or the first distance; and providing a control signal configured to autonomously drive the vehicle within the first area.Type: GrantFiled: December 28, 2017Date of Patent: June 2, 2020Assignee: LG Electronics Inc.Inventors: Minji Son, Eunkyung Noh, Jinhua Piao
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Patent number: 10671070Abstract: In one embodiment, a system receives a reference trajectory including a reference path in which the ADV is to follow. The system controls the ADV along the reference path using a path tracking algorithm, including: determining a first lateral distance error, determining a second lateral distance error based on the first lateral distance error using a proportional-integral-derivative (PID) control system, where the second lateral distance error compensates for a lateral drift, and generating a steering command based on the second lateral distance error using the path tracking algorithm to control the ADV to minimize a lateral distance error, e.g., a lateral distance between an actual path taken by the ADV and the reference path.Type: GrantFiled: May 23, 2018Date of Patent: June 2, 2020Assignee: BAIDU USA LLCInventor: Fan Zhu
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Patent number: 10671071Abstract: An interest level detection unit configured to detect a level of interest of an occupant in a travel state of an automatic driving vehicle, a manual driving characteristic learning unit configured to learn manual driving characteristics based on the travel state of the automatic driving vehicle, and an automatic driving characteristic setting unit configured to set automatic driving characteristics based on a surrounding state of the automatic driving vehicle, an interest level determination unit configured to determine the occupant's level of interest in the vehicle travel and a driving characteristic setting unit configured to set the driving characteristics based on the manual driving characteristics learned in the manual driving characteristic learning unit when the level of interest is determined to be high and set the automatic driving characteristics set by the automatic driving characteristic setting unit when the level of interest is determined to be low.Type: GrantFiled: August 9, 2016Date of Patent: June 2, 2020Assignee: Nissan Motor Co., Ltd.Inventors: Hwaseon Jang, Takashi Sunda, Machiko Hiramatsu
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Patent number: 10671072Abstract: A drone receives an initiation signal which indicates that flight and/or navigation components of the drone are to be activated. Once activated, the drone then determines its initial position using a position-identifying radio signal. The drone then retrieves, from storage, dimensions of a drone-relative geofence. The drone can then calculate, using a processor, the drone-relative geofence having the dimensions with at least a specified floor and a specified radius. The drone adjusts the motor controller inputs to prevent the drone from exiting the calculated drone-relative geofence.Type: GrantFiled: March 14, 2018Date of Patent: June 2, 2020Assignee: Teal Drones, Inc.Inventors: William Kent McGuire, Jr., Seth Bradley Porter, George Michael Matus
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Patent number: 10671073Abstract: A method for maintaining a marine vessel at a global position and/or heading includes receiving measurements related to vessel attitude and estimating water roughness conditions based on the measurements. A difference between the vessel's actual global position and the target global position and/or a difference between the vessel's actual heading and the target heading are determined. The method includes calculating a desired linear velocity based on the position difference and/or a desired rotational velocity based on the heading difference. The vessel's actual linear velocity and/or actual rotational velocity are filtered based on the roughness conditions. The method includes determining a difference between the desired linear velocity and the filtered actual linear velocity and/or a difference between the desired rotational velocity and the filtered actual rotational velocity.Type: GrantFiled: February 2, 2018Date of Patent: June 2, 2020Assignee: Brunswick CorporationInventors: Jason S. Arbuckle, Steven J. Andrasko, David M. Van Buren
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Patent number: 10671074Abstract: A control system for a work vehicle includes a sensor and a controller. The sensor outputs a signal indicating an actual traveling direction of the work vehicle. The controller communicates with the sensor. The controller is programmed so as to execute the following processing. The controller acquires the actual traveling direction of the work vehicle. The controller sets the actual traveling direction as a target traveling direction when a condition that indicates that the work vehicle has started straight travel has been met. The controller calculates a bearing difference between the target traveling direction and the actual traveling direction. The controller moves the work implement at a target tilt angle corresponding to the bearing difference so as to reduce the bearing difference.Type: GrantFiled: August 8, 2017Date of Patent: June 2, 2020Assignee: KOMATSU LTD.Inventors: Kazuhiro Hashimoto, Kenjiro Shimada, Kazuhiko Hayashi, Yousuke Yamaguchi
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Patent number: 10671075Abstract: A trajectory for an autonomous vehicle (AV) can be generated using curvature segments. A decision planner component can receive a reference trajectory for the AV to follow in an environment. A number of subdivisions (frames) of the reference trajectory may be associated with a curvature value and a tangent vector. Starting with an initial position of the AV, a candidate trajectory can be determined by continuously intersecting a segment with an origin at the initial position of the AV and a reference line associated with a particular frame. The reference line can be substantially perpendicular to the tangent vector of the particular frame. A location of the intersection between the segment and the reference line can be based on a curvature value of the segment. Optimizing a candidate trajectory can include varying curvature values associated with various segments and determining costs of the various candidate trajectories.Type: GrantFiled: December 15, 2017Date of Patent: June 2, 2020Assignee: Zoox, Inc.Inventor: Marin Kobilarov
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Patent number: 10671076Abstract: Techniques for generating trajectories for autonomous vehicles and for predicting trajectories for third-party objects using temporal logic and tree search are described herein. Perception data about an environment can be captured to determine static objects and dynamic objects. For a particular dynamic object, which can represent a third-party vehicle, predictive trajectories can be generated to represent possible trajectories based on available options and rules of the road. Operations can include determining probabilities that a third-party vehicle will execute a predictive trajectory and updating the probabilities over time as motion data is captured. Predictive trajectories can be provided to the autonomous vehicle and commands for the autonomous vehicle can be based on the predictive trajectories.Type: GrantFiled: December 6, 2017Date of Patent: June 2, 2020Assignee: Zoox, Inc.Inventors: Marin Kobilarov, Timothy Caldwell, Vasumathi Raman, Christopher Paxton
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Patent number: 10671077Abstract: A method for full-stack verification of autonomous agents includes training a neural network to learn a noise model associated with an object detection module of an autonomous agent system of an autonomous vehicle. The method also includes replacing the object detection module of the autonomous agent system with the neural network and a sensory input of the object detection module with ground truth information to apply a surrogate function to the ground truth information. The method further includes verifying the autonomous agent system including the trained neural network to apply the surrogate function in response to the ground truth information to simulate sensor information data to at least a planner module of the autonomous agent system. The method also includes controlling a behavior of the autonomous vehicle using the verified autonomous agent system including the object detection module.Type: GrantFiled: April 17, 2018Date of Patent: June 2, 2020Assignee: TOYOTA RESEARCH INSTITUTE, INC.Inventor: German Ros Sanchez
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Patent number: 10671078Abstract: A method, apparatus and medium for controlling a self-balancing scooter are provided. The method includes: detecting a target navigation marker used for navigating the self-balancing scooter; and controlling the self-balancing scooter to travel according to the target navigation marker when the target navigation marker is detected.Type: GrantFiled: May 31, 2017Date of Patent: June 2, 2020Assignee: BEIJING XIOMI MOBILE SOFTWARE CO., LTD.Inventors: Shuai Chen, Tiejun Liu, Xiangyang Zhang
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Patent number: 10671079Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.Type: GrantFiled: October 24, 2017Date of Patent: June 2, 2020Assignee: Waymo LLCInventors: Jared Stephen Russell, Mark Paskin
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Patent number: 10671080Abstract: The present disclosure provides a data processing method and a robot with the same. The robot includes: an electromagnetic wave receiver configured to receive at least two electromagnetic wave signals transmitted by at least two electromagnetic wave transmitters on a charging device within a preset time range; a demodulator configured to demodulate the at least two electromagnetic wave signals received by the electromagnetic wave receiver to obtain at least two corresponding electromagnetic wave demodulation data; a processor configured to determine electromagnetic wave demodulation control data based on the at least two obtained electromagnetic wave demodulation data and preset electromagnetic wave demodulation data; and a controller configured to move the robot according to the electromagnetic wave demodulation control data until the robot is docked at the charging device.Type: GrantFiled: November 30, 2018Date of Patent: June 2, 2020Assignee: UBTECH ROBOTICS CORPInventors: Youjun Xiong, Jiawen Hu, Gaobo Huang, Caixia Li
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Patent number: 10671081Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and utilizing non-uniform volume measures for occupied voxels, where each of the occupied voxels represents an occupied point of an environment of a robot. The volume measure for each of the occupied voxels is a “padding” for the occupied voxel and indicates a volume to be utilized for that occupied voxel. The volume measures for the occupied voxels are non-uniform in that they are not all the same volume measure. During path planning, the non-uniform volume measures of the occupied voxels can be considered as “paddings” for the occupied voxels and the occupied voxels with their corresponding volume measures considered as obstacles.Type: GrantFiled: April 16, 2019Date of Patent: June 2, 2020Assignee: X DEVELOPMENT LLCInventor: Mario Prats
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Patent number: 10671082Abstract: In one embodiment, a method or system generates a high resolution 3-D point cloud to operate an autonomous driving vehicle (ADV) from a low resolution 3-D point cloud and camera-captured image(s). The system receives a first image captured by a camera for a driving environment. The system receives a second image representing a first depth map of a first point cloud corresponding to the driving environment. The system determines a second depth map by applying a convolutional neural network model to the first image. The system generates a third depth map by applying a conditional random fields model to the first image, the second image and the second depth map, the third depth map having a higher resolution than the first depth map such that the third depth map represents a second point cloud perceiving the driving environment surrounding the ADV.Type: GrantFiled: July 3, 2017Date of Patent: June 2, 2020Assignee: BAIDU USA LLCInventors: Yu Huang, Hsien-Ting Cheng, Jun Zhu, Weide Zhang
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Patent number: 10671083Abstract: A system for visual odometry is disclosed. The system includes: an internet server, comprising: an I/O port, configured to transmit and receive electrical signals to and from a client device; a memory; one or more processing units; and one or more programs stored in the memory and configured for execution by the one or more processing units, the one or more programs including instructions for: extracting representative features from a pair input images in a first convolution neural network (CNN) in a visual odometry model; merging, in a first merge module, outputs from the first CNN; decreasing feature map size in a second CNN; generating a first flow output for each layer in a first deconvolution neural network (DNN); merging, in a second merge module, outputs from the second CNN and the first DNN; generating a second flow output for each layer in a second DNN; and reducing accumulated errors in a recurrent neural network (RNN).Type: GrantFiled: September 13, 2017Date of Patent: June 2, 2020Assignee: TUSIMPLE, INC.Inventors: Wentao Zhu, Yi Wang, Yi Luo
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Patent number: 10671084Abstract: A system and method is provided for identifying an object along a road, where the object may be represented by a bounding box, and projecting a set of obstacle points within the bounding box corresponding to the identified object. In one aspect, a two-dimensional plane oriented perpendicular to a direction of the movement of the vehicle may be identified. In another aspect, the areas of the plane that may be occupied based on the set of obstacle points may be determined to generate a contour of the identified object. Thereafter, the height profiles of the identified object and the vehicle may be determined and identified, respectively. Based on the height profiles, a minimum clearance may be determined.Type: GrantFiled: January 28, 2019Date of Patent: June 2, 2020Assignee: Waymo LLCInventors: Nathaniel Fairfield, Ian James Mahon
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Patent number: 10671085Abstract: An autonomous vehicle (AV) includes a vehicle computing system including one or more processors configured to receive map data associated with a map of a geographic location, receive pose data based on a pose estimate associated with a location of the autonomous vehicle, determine, based on the pose data, that the autonomous vehicle is on a coverage lane, and, in response to determining that the autonomous vehicle is on the coverage lane, determine one or more candidate lanes, generate a route plan, based on the one or more candidate lanes and a current lane, and control travel of the autonomous vehicle on the route plan. The map includes (i) a coverage lane where the autonomous vehicle can travel under a partially-autonomous mode or a manual mode, and (ii) an AV lane where the autonomous vehicle can travel under a fully-autonomous mode. The autonomous vehicle configured to determine a pose estimate in a submap of a plurality of submaps where an autonomous vehicle can travel.Type: GrantFiled: March 7, 2018Date of Patent: June 2, 2020Assignee: UATC, LLCInventors: Adam Cole Panzica, Brett Bavar
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Patent number: 10671086Abstract: A system uses machine models to estimate trip durations or distance. The system trains a historical model to estimate trip duration using characteristics of past trips. The system trains a real-time model to estimate trip duration using characteristics of recently completed trips. The historical and real-time models may use different time windows of training data to predict estimates, and may be trained to predict an adjustment to an initial trip estimate. A selector model is trained to predict whether the historical model, the real-time model, or a combination of the historical and real-time models will more accurately estimate a trip duration, given features associated with a trip duration request, and the system accordingly uses the models to estimate a trip duration. In some embodiments, the real-time model and the selector may be trained using batch machine learning techniques which allow the models to incorporate new trip data as trips complete.Type: GrantFiled: August 22, 2018Date of Patent: June 2, 2020Assignee: Uber Technologies, Inc.Inventors: Shijing Yao, Xiao Cai
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Patent number: 10671087Abstract: Systems and methods for a materials handling vehicle to navigate a vehicle transit surface in a warehouse environment including a navigation subsystem configured to cooperate with a traction control unit, a braking system, a steering assembly, and an obstacle detection subsystem to: determine whether the materials handling vehicle is approaching, or has arrived at, a potentially contested intersection; associate with the intersection pre-positioned warehouse object data, a set of road rules, and obstacle data; and navigate the materials handling vehicle through the intersection utilizing warehouse navigation maneuvers in combination with the associated set of road rules, obstacle avoidance maneuvers, or both, the warehouse navigation maneuvers accounting for the associated pre-positioned warehouse object data and the obstacle avoidance maneuvers accounting for the obstacle data derived from the obstacle detection subsystem.Type: GrantFiled: July 26, 2018Date of Patent: June 2, 2020Assignee: Crown Equipment CorporationInventors: Toby Collett, Sam McArdle, Sian Phillips, Greg Sumner
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Patent number: 10671088Abstract: A control system may perform functions including (i) storing data indicating an association between an optical identifier and a first robot, (ii) sending, to the first robot, data encoding the optical identifier for display by the first robot, and (iii) after sending the data encoding the optical identifier, sending, to a second robot, the data indicating the association between the optical identifier and the first robot. In some examples, the first robot may receive, from the control system, data encoding a second optical identifier of the first robot so that the first robot may display the second optical identifier instead of the first optical identifier. In some examples, a first robot may capture an image of an indication of a priority status of a second robot and perform an action based on comparing a first priority status of the first robot to the second priority status of the second robot.Type: GrantFiled: May 15, 2017Date of Patent: June 2, 2020Assignee: X Development LLCInventors: Kyle Lutz, Ethan Rublee
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Patent number: 10671089Abstract: A management system of a mining machine includes a vehicle, a first antenna, in the vehicle, receiving radio waves from GPS satellites, a portable second antenna, in a releasable manner in the vehicle, receiving radio waves from the GPS satellites, a first detector, in the vehicle, detecting a position of the first antenna based on a signal from the first antenna, a second detector, in the vehicle, detecting a position of the second antenna based on a signal from the second antenna, and a processer setting a prohibited area where an entry of a mining machine is prohibited based on detection results of the first and second detectors, such that the prohibited area includes the positions of the first and second antennae.Type: GrantFiled: July 30, 2013Date of Patent: June 2, 2020Assignee: KOMATSU LTD.Inventors: Masanori Tojima, Mitsuhiro Ryuman
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Patent number: 10671090Abstract: Aircraft and associated methods, apparatus, system and storage devices for automatically positioning of lift control devices such as high lift devices including slats and flaps so an aircraft equipped with this technology will not need to count on the crew to command the lift control devices.Type: GrantFiled: September 1, 2017Date of Patent: June 2, 2020Assignee: Embraer S.A.Inventors: Paulo Emilio da Silva Turetta, Daniel Paulo de Tarso Ferreira, Igor Miranda Rodrigues