Having Controlling Means Adapted To Interact With Stationary Means Which Describes Course Of Vehicle's Travel Patents (Class 180/168)
  • Patent number: 11142401
    Abstract: Disclosed are a system and a method that includes a robotic unit configured to deliver items (e.g., medicine, foodstuff, linens, equipment, etc.) to sites (e.g., rooms, offices, etc.) and/or individuals (e.g., patients, pharmacists, technician, etc.) throughout a facility (e.g., hospital, office building, mailroom, manufacturing facility, etc.). The robotic unit is a mobile unit that operates autonomously to follow predetermined or programmed routes throughout the facility to deliver the items. The system is configured to maintain a chain of custody for the items. In addition, the robotic unit is configured to only allow designated items to be delivered to designated sites and/or to authorized individuals. This can be achieved by the robotic unit having a plurality of containers that are locked within a storage space of the robotic unit, and are only accessible upon successful completion of an authorization process.
    Type: Grant
    Filed: January 10, 2020
    Date of Patent: October 12, 2021
    Assignee: ST Engineering Aethon, Inc.
    Inventors: Anthony Melanson, Ryan List, Spencer Allen, Scott E. Stropkay, Andres Chamorro, III, Mark C. Matthews, Ashley James Nye Legg
  • Patent number: 11142246
    Abstract: A driving support Electronic Control Unit (ECU) initializes a target trajectory calculation parameter at a start of Lane Change Assist Control (LCA), calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position in accordance with an elapsed time from the start of LCA; and calculates a target control amount according to the target trajectory function. When it is determined that the own vehicle has crossed a boundary white line, the driving support ECU again initializes the target trajectory calculation parameter, and calculate the target trajectory function based on the target trajectory calculation parameter.
    Type: Grant
    Filed: April 11, 2018
    Date of Patent: October 12, 2021
    Inventor: Shota Fujii
  • Patent number: 11132003
    Abstract: An integrated computing system computes a geo-location of a vehicle based on location data generated by a GNSS receiver, operates one or more external communication interfaces, calculates a desired path for steering the vehicle based on the geo-location, and communicates the desired path to one or more external operating units via the one or more external communication interfaces. The integrated computing system may include one or more computer processing units programmed to provide shared coordinated execution of software functions that are all implemented and located within a same integrated circuit or enclosure. The integrated computing system lowers the overall cost and complexity of agricultural guidance systems by reducing and simplifying the number of chassis, boxes, connectors, power supplies, and manufacturing processes.
    Type: Grant
    Filed: September 12, 2019
    Date of Patent: September 28, 2021
    Assignee: AGJUNCTION LLC
    Inventors: Thomas R. Kreider, Mark Alan Villela, Michael Brett McMickell
  • Patent number: 11126189
    Abstract: A system included and a computer-implemented method performed in an autonomous-driving vehicle are described. The system performs: detecting a wireless push signal transmitted from a signal transmitter accompanied by an off-vehicle passer and received by a signal receiver of the autonomous-driving vehicle, the wireless push signal including information about a motion capability level of the off-vehicle passer, determining a position and a motion capability level of the off-vehicle passer at least based on the wireless push signal, and controlling a locomotive mechanism of the autonomous-driving vehicle based on the determined position and motion capability level of the off-vehicle passer.
    Type: Grant
    Filed: March 31, 2020
    Date of Patent: September 21, 2021
    Assignee: Pony AI Inc.
    Inventors: Hao Song, Xiang Yu, Tiancheng Lou, Jun Peng, Yiming Liu, Sinan Xiao
  • Patent number: 11124208
    Abstract: A system for the supraregional operation of a vehicle includes at least one control device. A first vehicle bus can be connected to the control device, wherein a defined number of first control apparatuses can be connected to the first vehicle bus; and a second vehicle bus can be connected to the control device, wherein a defined number of second control apparatuses can be connected to the second vehicle bus. The control device provides for a defined minimum functionality during a moving transition of the vehicle from a defined first region into a defined second region. The control device changes a functionality for the second control apparatuses during the moving transition from the first region into the second region, and the control device is configured to control the coordination of the changing of the functionality of the second control apparatuses.
    Type: Grant
    Filed: June 7, 2018
    Date of Patent: September 21, 2021
    Assignee: Siemens Mobility GmbH
    Inventors: Stefan Reinicke, Christian Stroessner
  • Patent number: 11109528
    Abstract: A system for processing a ground at least partially in an outdoor region, in particular removing dirt or grass cuttings, includes a base station and a mobile robot unit. The system further includes at least one detection device for detecting at least one environmental variable, and a controller which influences the operating mode of the mobile robot unit in accordance with the value of at least one of the environmental variables detected by the at least one detection device. A method for controlling a mobile robot unit for processing a ground at least partially in an outdoor region, in particular removing dirt or grass cuttings, is also provided.
    Type: Grant
    Filed: November 22, 2016
    Date of Patent: September 7, 2021
    Assignee: Vorwerk & Co. Interholding GmbH
    Inventor: Benjamin Strang
  • Patent number: 11102612
    Abstract: Systems and methods are provided to permit groups of recreational vehicle riders and others the ability to quickly create and join groups without prior knowledge of the contact information of everyone in the group. In one embodiment, groups are joinable based on the proximity information of the prospective member and the current group members.
    Type: Grant
    Filed: March 6, 2020
    Date of Patent: August 24, 2021
    Assignee: Polaris Industries Inc.
    Inventors: Gray I. Rentz, Adam C. Koosmann, Nathan A. Good, Jacob H. Larson, Rebecca C. Deitz, David J. Koenig
  • Patent number: 11092969
    Abstract: In a system and method for operating a vehicle, the system includes the vehicle and a concrete floor, which has at least one reinforcement rod, the vehicle is disposed on the concrete floor so as to be movable, the vehicle has an evaluation device and a first sensor group, which has at least two sensors, the sensors are situated along a first reference line at a distance from one another, the sensors are adapted to detect the reinforcement rod, and the evaluation device is connected to the sensors and adapted to determine the driving direction based on the signals from the sensors.
    Type: Grant
    Filed: July 14, 2017
    Date of Patent: August 17, 2021
    Inventors: Josef Schmidt, Jürgen Böckle, Zhidong Hua, Thomas Schäfer, Andreas Wanjek
  • Patent number: 11092687
    Abstract: In a method and system for position capture of a vehicle along a driving route, situated on a concrete floor having a reinforcement: the vehicle carries out a reference drive along the driving route, the vehicle records measuring points along the driving route, and each measuring point allocates a signal from the reinforcement to a position on the driving route; a reference profile of the driving route is determined based on the measuring points ascertained during the reference drive; the vehicle drives along the driving route and records further measuring points; a profile segment is determined from the further measuring points; the profile segment is uniquely allocated to a segment of the reference profile, e.g., using a correlation method; a position on the driving route is uniquely allocated to the vehicle with the aid of the profile segment allocated to the reference profile.
    Type: Grant
    Filed: July 14, 2017
    Date of Patent: August 17, 2021
    Inventors: Josef Schmidt, Jürgen Böckle, Zhidong Hua, Thomas Schäfer, Andreas Wanjek
  • Patent number: 11084410
    Abstract: An automated guided vehicle (AGV) is described. In an example implementation, the AGV may include a lift platform and an AGV controller configured to control one or more operations of the AGV. The lift platform of the AGV may include a support surface adapted to contact a surface of a shelving unit and provide support from underneath the shelving unit when the support surface is in an elevated position and the shelving unit is situated on the support surface, and a lifting mechanism including motor(s) coupled to the support surface and providing a first lifting force via a first portion of the support surface and a second lifting force via a second portion of the support surface, the first lifting force and the second lifting force vertically lifting or lowering the shelving unit via the support surface based on a weight distribution of the shelving unit on the support surface.
    Type: Grant
    Filed: August 7, 2019
    Date of Patent: August 10, 2021
    Assignee: Staples, Inc.
    Inventors: Michael Bhaskaran, Weston Harris, Maimuna Rangwala
  • Patent number: 11086328
    Abstract: An autonomous cart moves products and materials in an industrial environment. It is different from conventional carts because it can navigate autonomously indoors or outdoors in dynamic environments where things change frequently. This autonomous cart uses state-of-the-art “dense” visual perception giving it unequalled and continuous awareness of its surroundings. With this it can operate at a cost, speed, level of safety and efficiency that has never been possible before. This robotic cart makes factories and warehouses more efficient and safer. It enables the movement of smaller batches of material more frequently, reduces the need for expensive conveyor systems, and helps eliminate dangerous and polluting fork trucks from indoor environments.
    Type: Grant
    Filed: February 15, 2019
    Date of Patent: August 10, 2021
    Assignee: A9.COM, INC.
    Inventors: Nima Keivan, Juan Falquez, Andrew E. Hoffman, Jonathan McQueen
  • Patent number: 11086336
    Abstract: Embodiments herein describe a controller for a machine that wirelessly transmits a destination address to a robot which is tasked with transporting an item to the destination corresponding to the received address. Using the address, the robot can select a predefined path stored in its memory for that address. Because multiple robots can move items in the machine at the same time, the robots may collide if their predefined paths intersect. The machine can use a variety of different techniques to prevent collisions between the robots as the robots deliver items to different locations along their predefined paths.
    Type: Grant
    Filed: June 5, 2018
    Date of Patent: August 10, 2021
    Assignee: Amazon Technologies, Inc.
    Inventors: Josephine Ammer Bolotski, Emilia S. Buneci, Sachin Rajendra Kothari, Unnikrishnan Vadakkanmaruveedu
  • Patent number: 11077847
    Abstract: A moving body includes: a first detection unit configured to detect three-dimensional information on a space in which the moving body travels; a second detection unit configured to detect a state of the moving body; and a control unit configured to predict a possibility of overturning of a virtual moving body by allowing the virtual moving body corresponding to the moving body to travel on a virtual road surface in a virtual space prior to a travel of the moving body on a road surface based on a shape of the virtual road surface in the virtual space corresponding to the detected three-dimensional information and based on the detected state of the moving body, and performs control depending on the predicted possibility of overturning.
    Type: Grant
    Filed: October 18, 2018
    Date of Patent: August 3, 2021
    Assignee: Aisin Seiki Kabushiki Kaisha
    Inventors: Wataru Takayanagi, Mitsuhiro Ando
  • Patent number: 11076531
    Abstract: An overall machine operational state (such as a problem state, field state, machine state, other non-problem state, etc.) is identified, and exit and entry conditions are monitored to determine whether the machine transitions into another operational state. When the machine transitions into a problem state, a multiple input, multiple output control system uses a state machine to identify the problem state and a solution is identified. The solution is indicative of machine settings that will return the machine to an acceptable, operational state. Control signals are generated to modify the machine settings based on the identified solution.
    Type: Grant
    Filed: January 23, 2018
    Date of Patent: August 3, 2021
    Assignee: Deere & Company
    Inventors: Brian J. Gilmore, Paul Readel, Bhanu Kiran Reddy Palla, Timothy S. Hunt, Douglas J. Bollin, John M. Hageman, Aaron J. Bruns
  • Patent number: 11080752
    Abstract: An information sharing system with a display device apparatus and a network computing system. The display device apparatus includes a display screen connected to a base capable of being manually moved by a person while the base supports the screen. The display device apparatus also includes a power system, a communication subsystem, a memory and a computing device. The communication subsystem communicates with the computing device, the network computing system, and the memory. The network computing system has an end-user display screen. The network computing system is configured to receive media and media secondary information, associate the media and media secondary information to a unique identifier, and show the media and the unique identifier on the display screen. The networking computing system is further configured to receive the unique identifier and an end-user account, and then show the media secondary information on the end-user display screen.
    Type: Grant
    Filed: September 17, 2017
    Date of Patent: August 3, 2021
    Inventor: Raphael Tzmach Chudaitov
  • Patent number: 11072368
    Abstract: In accordance with an example embodiment, a vehicle includes a moveable member, posture sensing system, bird's-eye camera system, display, and controller. The posture sensing system indicates the moveable member's posture. The bird's-eye camera system provides images of its field of view, including the ground adjacent to the vehicle. The controller receives a posture signal from the posture sensing system, receives images from the camera system, creates a rendered vehicle representation, creates a rendered path projection, and generates a dynamically augmented bird's-eye view then displays it on the display. The moveable member is positioned in the rendered vehicle representation using the posture signal. The rendered path projection includes an outer envelope line projecting the path of an outermost point of the vehicle, determined using the posture signal. The dynamically augmented bird's-eye view is generated using the images, rendered vehicle representation, and rendered path projection.
    Type: Grant
    Filed: January 22, 2019
    Date of Patent: July 27, 2021
    Assignee: DEERE & COMPANY
    Inventor: Noel W. Anderson
  • Patent number: 11074773
    Abstract: The present disclosure generally relates to a system and method for enabling on-demand, temporary storage of an autonomous vehicle in vehicle storage areas of existing infrastructures. The vehicle storage areas include one or more movable barrier operators configured to control access to the vehicle storage areas via movable barriers. An autonomous vehicle access control platform is configured to enable access to individual ones of the vehicle storage areas by a single-use access credential sent to at least one of the autonomous vehicle and one of the movable barrier operators. The autonomous vehicle access control platform communicates with a transportation-as-a-service (TaaS) platform that pairs an autonomous vehicle with a vehicle storage area for storage based at least on a factor or parameter including the location of the vehicle storage area relative to the autonomous vehicle.
    Type: Grant
    Filed: June 27, 2019
    Date of Patent: July 27, 2021
    Assignee: The Chamberlain Group, Inc.
    Inventor: David R. Morris
  • Patent number: 11073837
    Abstract: An adaptive boundary wire transmitter includes two bridge coupled power amplifiers, a sensing element, a feedback amplifier, a compensation network and an error amplifier. The adaptive boundary wire transmitter is connected to a boundary wire installation, including a boundary wire and feeds the boundary wire with a boundary signal current. By using a feedback amplifier to which the boundary signal current is fed together with the input signal together with compensation network and an error amplifier it is possible to generate a stable output signal from the adaptive boundary wire transmitter to the boundary wire that is independent of the boundary wire length.
    Type: Grant
    Filed: May 28, 2018
    Date of Patent: July 27, 2021
    Assignee: Globe (Jiangsu) Co., Ltd.
    Inventor: Jimmy Alzen
  • Patent number: 11052757
    Abstract: Methods of controlling axle torque distribution of a vehicle during steering through a curve include collecting, via a controller: input data which is representative of a plurality of vehicle inputs; vehicle data which is representative of axle torque of the front axle and axle torque of the rear axle; and constraint data which is representative of real-time constraints of the vehicle. The collected input data, vehicle data and constraint data are communicated to a predictive model. Determining, using the predictive model, whether torque adjustments are necessary. The distribution of the axle torque of the front axle and the axle torque of the rear axle is controlled, via the controller, when the torque adjustments are necessary as determined via the predictive model.
    Type: Grant
    Filed: April 5, 2019
    Date of Patent: July 6, 2021
    Assignee: GM Global Technology Operations LLC
    Inventors: SeyedAlireza Kasaiezadeh Mahabadi, Yubiao Zhang, Seyedeh Asal Nahidi, James H. Holbrook, John R. Yost, Hualin Tan, Bakhtiar B. Litkouhi
  • Patent number: 11048277
    Abstract: A technique is described for controlling an autonomous vehicle such as an unmanned aerial vehicle (UAV) using objective-based inputs. In an embodiment, the underlying functionality of an autonomous navigation system is via an application programming interface (API). In such an embodiment, the UAV can be controlled trough specifying a behavioral objective, for example, using a call to the API to set parameters for the behavioral objective. The autonomous navigation system can then incorporate perception inputs such as sensor data from sensors mounted to the UAV and the set parameters using a multi-objective motion planning process to generate a proposed trajectory that most closely satisfies the behavioral objective in view of certain constraints. In some embodiments, developers can utilize the API to build customized applications for utilizing the UAV to capture images.
    Type: Grant
    Filed: January 4, 2019
    Date of Patent: June 29, 2021
    Assignee: Skydio, Inc.
    Inventors: Jack Louis Zhu, Hayk Martirosyan, Abraham Bachrach, Matthew Donahoe, Patrick Lowe, Kristen Marie Holtz, Adam Bry
  • Patent number: 11036239
    Abstract: An autonomous road vehicle includes means for receiving wireless identification signals during vehicle navigation and using the wireless identification signals to determine position and identification of nearby road objects. The autonomous road vehicle further includes an autonomous vehicle control system responsive to the positions and the identifications.
    Type: Grant
    Filed: April 4, 2017
    Date of Patent: June 15, 2021
    Inventors: Janice H. Nickel, Bryan H. Nickel
  • Patent number: 11029437
    Abstract: The present invention provides a filter which is configured to filter frequencies created by noise outside of the band of interest and to then amplify the filtered signal to allow a weaker signal to be used for guidance. According to a first preferred embodiment, the filter of the present invention includes a 5th order active high pass filter cascaded with a 5th order active low pass filter. According to a further preferred embodiment, the filter of the present invention preferably provides a cutoff of frequencies below 700 Hz and above 1500 Hz. According to a further preferred embodiment, the filter of the present invention further uses a voltage amplifying circuit to amplify the filtered signal.
    Type: Grant
    Filed: May 13, 2019
    Date of Patent: June 8, 2021
    Assignee: Valmont Industries, Inc.
    Inventor: Lowell Imhof
  • Patent number: 11026366
    Abstract: Walk-behind power equipment includes: a main body provided with at least one front wheel and left and right rear wheels and a work unit; travel motors provided for the respective rear wheels; a handle extending from the main body rearward and upward; at least one of a tilt angle detector that detects a tilt angle of the main body and a load detector that detects a downward load applied to the handle; a yaw rate detector that detects a yaw rate; and a control unit that drive-controls the travel motors. The control unit determines whether the main body is in a rearward tilted state based on the tilt angle or the downward load, and if it is determined that the main body is not in the rearward tilted state, performs straight-line travel control to set a rotational speed difference between the travel motors to reduce the yaw rate.
    Type: Grant
    Filed: November 16, 2017
    Date of Patent: June 8, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Jun Fukano, Masato Takeda, Keisuke Muraoka
  • Patent number: 11025335
    Abstract: Provided is a system including: a first vehicle equipped with a land mobile station for mobile communication; and a second vehicle that transports the first vehicle and a user holding a terminal for mobile communication. The system further includes a control unit configured to acquire radio wave intensity of the mobile communication at a current location of the second vehicle, and generate, when the acquired radio wave intensity is less than a predetermined intensity, a command to unload the first vehicle from the second vehicle; and generating a command to relay the mobile communication by the land mobile station of the first vehicle.
    Type: Grant
    Filed: April 13, 2020
    Date of Patent: June 1, 2021
    Inventors: Koichi Suzuki, Toru Nishitani, Jun Usami, Minami Yoda, Kensuke Koike, Tsuyoshi Ogawa, Yohei Tanigawa
  • Patent number: 11009888
    Abstract: An autonomous vehicle, in particular an automated guided vehicle, comprises a control device and a sensor for detecting a continuous lane marking. The control device is adapted to control the vehicle along the lane marking in dependence on the detected lane marking, wherein the sensor is adapted to detect a code marking arranged adjacent to the lane marking and to determine a distance between the detected code marking and the lane marking, and wherein the control device is further adapted to control the vehicle in dependence on the determined distance.
    Type: Grant
    Filed: September 13, 2018
    Date of Patent: May 18, 2021
    Assignee: SICK AG
    Inventors: Bastian Steder, Fabian Fischer, Thomas Bludau
  • Patent number: 11008008
    Abstract: A method is provided that includes receiving user input identifying a travel destination for a first vehicle, determining, by a processor, a first route for the first vehicle to follow, and configuring the first vehicle to follow the first route. The method further includes obtaining a model for a second vehicle that shares a road with the first vehicle and comparing model to a pre-determined template for a vehicle that is known to be a special purpose vehicle in order to determine whether the first template and the second template match. The method further includes determining, by the processor, a second route that leads to the travel destination, when a match is found to exist, and switching the first vehicle from following the first route to following the second route.
    Type: Grant
    Filed: August 19, 2019
    Date of Patent: May 18, 2021
    Assignee: Waymo LLC
    Inventor: David I. Ferguson
  • Patent number: 10990108
    Abstract: A vehicle control system includes a vehicle-mounted sensor, a map database, a control rule database, and an electronic control unit. The electronic control unit is configured to recognize the position of a vehicle on a map; control traveling of the vehicle by using one of a plurality of control rules based on the position of the vehicle on the map, map information, and a detection result of the vehicle-mounted sensor; recognize a road section in the traveling direction of the vehicle based on the position of the vehicle on the map and the map information; specify a control rule used in the road section based on the recognized road section and control rule data; and control traveling of the vehicle in the road section by using the specified control rule.
    Type: Grant
    Filed: January 11, 2018
    Date of Patent: April 27, 2021
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Shuichi Yokokawa, Koji Taguchi, Yutaka Aoki, Masateru Amano
  • Patent number: 10976743
    Abstract: In autonomous driving, it is often useful to plan trajectories in a curvilinear coordinate frame with respect to some reference trajectory, like a path produced by a hi-level route planner. This disclosure includes techniques for developing efficient approximate path coordinate motion primitives appropriate for fast planning in autonomous driving scenarios. These primitives are approximate in that particular quantities, like the path length, acceleration, and track offset trajectory, are known with some degree of certainty, and values that depend on the curvature of the reference path can be bound. Such approximate motion primitives can be used to control the autonomous vehicle to follow the trajectory in an environment.
    Type: Grant
    Filed: August 12, 2019
    Date of Patent: April 13, 2021
    Assignee: Zoox, Inc.
    Inventors: Matthew Sheckells, Timothy Caldwell, Marin Kobilarov
  • Patent number: 10969245
    Abstract: Provided is a magnetic marker detection method with high detection reliability. The magnetic marker detection method for detecting a magnetic marker (10) laid on a road while a vehicle (5) having a plurality of, at least two or more, magnetic sensors attached thereto is travelling includes a gradient generating process of generating a first magnetic gradient, which is a difference between magnetic measurement values of two magnetic sensors and a filter processing process of generating a filter output value by performing filter processing by a high-pass filter as to a change of the first magnetic gradient in a travelling direction of the vehicle. The magnetic marker (10) is detected by an arithmetic operation process regarding the filter output value.
    Type: Grant
    Filed: October 17, 2016
    Date of Patent: April 6, 2021
    Inventors: Michiharu Yamamoto, Tomohiko Nagao, Hitoshi Aoyama
  • Patent number: 10966585
    Abstract: A cleaner includes a main body having a suction port, a cleaning unit provided in the main body to suck a cleaning object through the suction port, a driving unit moving the main body, a camera provided in the main body and photographing an image, and a controller detecting a vanishing point related to the image and detecting information related to a posture of the main body based on the detected vanishing point.
    Type: Grant
    Filed: May 31, 2018
    Date of Patent: April 6, 2021
    Inventors: Yongmin Shin, Donghoon Yi, Ilsoo Cho, Dongil Cho, Taejae Lee
  • Patent number: 10960717
    Abstract: A towing device of an automatic guided vehicle is mounted on the automatic guided vehicle for towing a cart. The towing device includes a hook member and a driving device. The hook member is engageable with a cart and is to be engaged with the cart in an elastically biased state at least when towing the cart. The driving device is for driving the hook member.
    Type: Grant
    Filed: March 31, 2017
    Date of Patent: March 30, 2021
    Assignees: Aichikikai Technosystem Co., Ltd., Honda Motor Co., Ltd.
    Inventors: Ryuji Adachi, Takayuki Kaneko
  • Patent number: 10962557
    Abstract: A method of operating a laboratory sample distribution system is presented. The system comprises container carriers, a gateway having a network interface, and transport modules. Each module comprises a transport surface and are adjacent in a row-direction and column-direction to form a transport surface. The module comprises a driver arranged below the transport surface to move container carriers on the transport surface and left, right, upper and lower network interfaces. The left and right network interfaces connect modules in rows and the upper and lower network interfaces connect modules in columns. The network interface of the gateway is connected to a network interface of a first module. The method comprises sending an explore command from the gateway to the first module, propagating an initialization command from the first module to the remaining modules, storing addresses within the modules, and using the addresses by the gateway to address the modules.
    Type: Grant
    Filed: June 28, 2018
    Date of Patent: March 30, 2021
    Assignee: Roche Diagnostics Operations, Inc.
    Inventor: Falk Hoehnel
  • Patent number: 10940767
    Abstract: A method, applicable in a self-propelled surface-traveling robot system, for returning to a primary charging station, where the robot system comprises a surface-traveling robot and at least two charging stations for charging the robot, comprising the following steps: S1: the robot establishes a map of an area; S2: one of the charging stations is set as the primary charging station and the position of the primary charging station is recorded in the map of the area; and S3: when finishing working, the self-propelled surface-traveling robot returns to the primary charging station according to the position of the primary charging station in the map of the area.
    Type: Grant
    Filed: September 30, 2015
    Date of Patent: March 9, 2021
    Inventors: Jinju Tang, Maoyong Chen, Lei Zhu, Liangliang Liao
  • Patent number: 10926953
    Abstract: A method for controlling at least two movable industrial trucks (30.1, 30.2, 30.3, 30.4, 30.5) in an area of a goods logistics facility (10). The industrial trucks each have an industrial truck drive control device for controlling the travel movements of the respective industrial truck, which is connected, preferably by wireless means, with a control apparatus (40) of the goods logistics facility, which is central and/or stationary. Individual travel movement control commands and/or individual industrial truck identifications are sent by the control apparatus to the respective industrial truck drive control devices of the industrial trucks so that in a local region (25) of the areas of the goods logistics facility, in which the industrial trucks are moved simultaneously, and preferably driven, the industrial trucks are moved or are drivable in a manner dependent on the individual travel movement control commands and/or dependent on the individual industrial truck identifications.
    Type: Grant
    Filed: March 5, 2019
    Date of Patent: February 23, 2021
    Assignee: Jungheinrich AG
    Inventors: Florian Grabbe, Stefan Ahrens, Sven-Ole Heise, Jan Kopelke, Tony Altmann
  • Patent number: 10930156
    Abstract: An image data acquisition unit acquires image data from a rear camera. A display image generation unit generates display image data obtained by superimposing a pair of predicted course lines and a plurality of assisting lines on the acquired image data. An extraction unit extracts a marked-off space boundary in a width direction of a marked-off parking space from the image data. A positional relation determination unit determines a positional relation between the extracted marked-off space boundary and the assisting line on the display image data. The display image generation unit changes a displaying format of an assisting line located on an outer side of the marked-off space boundary extracted by the extraction unit from a displaying format of an assisting line located on an inner side of the marked-off space boundary. A display control unit displays an image based on the display image data on a display unit.
    Type: Grant
    Filed: November 26, 2018
    Date of Patent: February 23, 2021
    Assignee: JVC Kenwood Corporation
    Inventors: Naoto Hayashi, Takuji Teruuchi
  • Patent number: 10926766
    Abstract: Methods, systems, and apparatus for preventing a vehicle from driving in a wrong direction. The method includes detecting, via a vehicle orientation sensor, a current driving direction of the vehicle. The method also includes detecting, via a GPS unit, a current location of the vehicle. The method also includes providing, by a powertrain, torque to one or more wheels of the vehicle. The method also includes determining, by an electronic control unit (ECU), whether the vehicle is travelling in the wrong direction based on the current driving direction of the vehicle and the current location of the vehicle. The method also includes communicating, by the ECU, an instruction to the powertrain to reduce the torque provided to the one or more wheels of the vehicle when the vehicle is travelling in the wrong direction.
    Type: Grant
    Filed: June 18, 2018
    Date of Patent: February 23, 2021
    Inventor: Justin J. Chow
  • Patent number: 10919525
    Abstract: Provided is a vehicle capable of: acquiring an image of a road in front of a vehicle in an autonomous driving mode; recognizing a lane line, a subject lane, and an obstacle on the acquired image of the road; determining whether the recognized obstacle is in a stationary state based on obstacle information detected by an obstacle detector; acquiring, if the obstacle in the stationary state exists on at least one of two subject lane lines constituting the subject lane, a width of the obstacle overlapping the subject lane; determining whether keeping of travelling on the subject lane is to be performed based on the acquired width of the obstacle overlapping the subject lane; performing a deflection control within the subject lane to avoid the obstacle in the stationary state if it is determined that the keeping of travelling on the subject lane is to be performed; and performing control of departure from the subject lane or deceleration control if it is determined that the keeping of travelling on the subject la
    Type: Grant
    Filed: January 9, 2020
    Date of Patent: February 16, 2021
    Inventor: Seunghun Cheon
  • Patent number: 10921819
    Abstract: Disclosed is an automated guided vehicle system including at least one AGV for following predetermined magnetic paths on a ground surface to carry cargo to selected points on the paths. The AGV includes a chassis, top plate mounted on the chassis for receipt of cargo, a pair of driving wheels coupled to driving motors, and plural passive omni-wheels. Control and navigation circuitry is provided to operate the motors to drive the driving wheels to cause the AGV to follow a desired one of the paths. The AGV provides illumination indicating its direction of travel and status. It also includes laser scanners for obstacle detection.
    Type: Grant
    Filed: August 28, 2018
    Date of Patent: February 16, 2021
    Assignee: ASI Technologies, Inc.
    Inventors: Christopher Brucker, Jeffrey Grabner, John William Cross, Joseph Robinson
  • Patent number: 10896615
    Abstract: A navigation method is implemented by a group of portable devices which are associated with a map-and-information system and each of which is communicatively coupled to an instrument cluster device of a respective vehicle. The group of the portable devices includes a leader device and at least one follower device. The map-and-information system computes, for the follower device, a dynamic navigation path from the follower device to the leader device. The instrument cluster device of the vehicle that corresponds to the follower device perceivably outputs the dynamic navigation path.
    Type: Grant
    Filed: February 11, 2019
    Date of Patent: January 19, 2021
    Assignee: KWANG YANG MOTOR CO., LTD.
    Inventors: Te-Chuan Liu, Li-Hui Chen, Chen-Sheng Lin, Yi-Yang Tsai
  • Patent number: 10890913
    Abstract: A robotic platform may include a chassis, left and right wheel assemblies, and a controller. The left and right wheel assemblies may include a caster wheel, a motor, a shaft, and a bevel gear. The wheel may be mounted to an axle for rotation about a drive axis and steering about a steering axis. The drive shaft may have one end coupled to the axle and another end wrapped by a respective belt to control rotation of the shaft about the steering axis. The bevel gear may couple the shaft to the axle so rotation of the shaft about the steering axis controls rotation of the wheel about the drive axis to drive the platform in a substantially horizontal direction. The controller may control the left and right drive motors independently, to provide differential drive. Various other assemblies, robots, and methods are also disclosed.
    Type: Grant
    Filed: May 1, 2020
    Date of Patent: January 12, 2021
    Assignee: Facebook, Inc.
    Inventor: Scott C. Wiley
  • Patent number: 10882694
    Abstract: A remotely operated vehicle assembly for picking up storage bins from a storage system and a method for change of vehicle direction. The vehicle assembly has a vehicle body with a cavity suitable for receiving a storage bin stored within the storage system, a lifting device for lifting the containers into the cavity and a displacement arrangement including a motor for lifting one of two sets of wheels in or out of engagement with an underlying track for changing vehicle direction. The displacement arrangement includes a displacement plate and a vertically displaceable bar arranged in a lateral plane above the cavity.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: January 5, 2021
    Assignee: Autostore Technology AS
    Inventors: Ingvar Hognaland, Ivar Fjeldheim, Trond Austrheim, Borge Bekken
  • Patent number: 10875559
    Abstract: The present disclosure discloses a preceding train identification method based on an object controller, a vehicle on board controller and a train. The method includes: carrying out communication interaction, by a vehicle on board controller of a train, with the OC to acquire the ID information of all running trains within the jurisdiction of the OC, before the train enters the jurisdiction of the object controller OC; communicating, by the vehicle on board controller, with the train corresponding to each piece of ID information according to the ID information of all running trains to acquire the position information of the train corresponding to each piece of ID information; and sorting, by the vehicle on board controller, the position information of the trains corresponding to all ID information in an axle counter sorting manner to identify the ID information of an adjacent preceding train of a present train.
    Type: Grant
    Filed: December 19, 2016
    Date of Patent: December 29, 2020
    Assignee: Traffic Control Technology Co., Ltd
    Inventors: Chunhai Gao, Bo Liu
  • Patent number: 10875448
    Abstract: An example system includes a vehicle, a light projector connected to the vehicle, and a control system. The control system is configured to determine a planned operating region for the vehicle within an environment. The control system is also configured to determine that the planned operating region is within a threshold distance of an object within the environment and, in response, determine a caution region to illuminate with the light projector near the object. The control system is further configured to cause the light projector to project an indication of the caution region near the object. The projected indication remains fixed in relation to the object as the vehicle moves toward the planned operating region.
    Type: Grant
    Filed: April 29, 2020
    Date of Patent: December 29, 2020
    Assignee: X Development LLC
    Inventors: John Zevenbergen, Robert Holmberg, Mark Fischer
  • Patent number: 10857925
    Abstract: A battery operated trash can carrier (100) for holding and transporting one or more containers is provided. The trash can carrier (100) includes a frame (102) having a laterally facing ramp (106) defining an entry means adapted to slidably receive one or more containers on a platform (104). The trash can carrier (100) includes a wheel base, where the wheel base includes a pair of wheels on one axle (108-1) and another pair of wheels on second axle (108-2). The trash can carrier (100) further includes a detachable power drive (110), battery compartment (130), ramp control (124), electronics control module (126) and a steering control (128). The detachable power drive (110) coupled to the wheel base, to power the pair of wheels on the one of the axle (108-2) and to steer the pair of wheels on the other axle (108-2) to transport carrier from one place to another.
    Type: Grant
    Filed: May 15, 2020
    Date of Patent: December 8, 2020
    Inventor: Taranpreet Randhawa Sahota
  • Patent number: 10842074
    Abstract: A robotic work tool system (200) comprising further comprising a charging station (210) and a robotic work tool (100), the robotic work tool system (200) being configured to determine a change in weather and to take preservation action. The robotic work tool may detect the change in weather by detecting an electrical charge buildup in the boundary wire. The robotic work tool may take the preservative action by the robotic work tool (100) distancing itself from the charging station (210).
    Type: Grant
    Filed: November 26, 2015
    Date of Patent: November 24, 2020
    Assignee: HUSQVARNA AB
    Inventors: Patrik Jägenstedt, Tom Söberg, Magnus Öhrlund, Andreas Källming, Fredrik Kallström, Jonas Holgersson, Mattias Kamfors, Johan Öster
  • Patent number: 10843705
    Abstract: A method is disclosed to operate a motor vehicle using a driver assistance system. The driver assistance system includes, for at least one driver assistance system function, at least one criterion relating to a vehicle environment. The at least one criterion is defined for an adaptation of the driver assistance system function, a number of features of the environment of the vehicle are detected, a probability of the occurrence of at least one criterion is estimated on the basis of a combination of the detected features, and the driver assistance system function is adapted on the basis of the estimated probability.
    Type: Grant
    Filed: July 19, 2018
    Date of Patent: November 24, 2020
    Assignee: Ford Global Technologies, LLC
    Inventors: Benjamin Maus, Reid James Steiger, Andreas Meyer, Manuel Merz, Guido Weitkus
  • Patent number: 10833515
    Abstract: An automatic charging device for an AGV on an automated container terminal and a charging method using the same are disclosed. The automatic charging device comprises a vehicle-mounted device and a ground device. The vehicle-mounted device comprises RFID read-write coils, a charging connector buffer device, a charging connector, a power measuring module, a vehicle charging controller and a vehicle-mounted wireless module. The ground device comprises an RFID label array, a power panel, a conductive groove, a pressure sensor, an electromagnet, a ground charging controller and a ground wireless module. The hook shaped charging plug, the charging connector buffer device and the power panel with the electromagnet improve success rate of connection between the power supply and the plug, and improve AGV working efficiency. RFID technology is used for positioning the charging region with high reliability. The pressure sensor and the safety cover ensure safety of the charging process and prevent electric leakage.
    Type: Grant
    Filed: October 28, 2015
    Date of Patent: November 10, 2020
    Inventors: Lin Zhai, Jianxin Chu, Fan Wang
  • Patent number: 10824152
    Abstract: System of automatic guidance of vehicles by means of the detection of changes of the dielectric properties in a pre-recorded rail-guide, wherein the dielectric changes are detected by a high resolution radar device and wherein there is a control system of the vehicle that has the ancillary means required to convert it to an auto guidance system characterized in that the system is composed by a pre-recorded rail-guide (1) an information reading device (11) and auxiliary means of vehicle control (12).
    Type: Grant
    Filed: May 12, 2015
    Date of Patent: November 3, 2020
    Inventor: Alejandro Badolato Martin
  • Patent number: 10824143
    Abstract: Autoscrubbers are capable of being operated in a manual (e.g. walk-behind) mode and an autonomous (operator free) mode and capable of switching between such operational modes. Apparatus and methods for steering such autoscrubbers use steering torque mechanisms to apply steering torques independently to left and right drive wheels. Steering systems for autonomous operation may be retrofit onto existing walk-behind autoscrubbers to implement this functionality. The autonomous control capability may not detract appreciably from an operator's ability to use the autoscrubber in a manual (walk-behind) mode.
    Type: Grant
    Filed: October 5, 2018
    Date of Patent: November 3, 2020
    Assignee: A&K Robotics Inc.
    Inventors: Matthew Henry Anderson, Anson Yan Shun Kung, Jacob Michael Perron, Alexander Joseph Yuen
  • Patent number: 10820473
    Abstract: A work vehicle control system including a steering control system that controls steering of a work vehicle. A controller including a processor and memory, wherein the controller receives a signal indicative of a probability of an operator being outside of a cab of the work vehicle, and wherein the controller disables the steering control system in response to the signal.
    Type: Grant
    Filed: November 20, 2017
    Date of Patent: November 3, 2020
    Assignee: CNH Industrial America LLC
    Inventor: Eran Salzman