Having Controlling Means Adapted To Interact With Stationary Means Which Describes Course Of Vehicle's Travel Patents (Class 180/168)
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Patent number: 9554683Abstract: A floor cleaning or burnishing machine has at least one motor controller that is electrically connected to an analog joystick control, right and left potentiometers, an electrical power source, and right and left electrical drive motors. The right motor is mechanically connected to a right rear steering drive wheel and the left motor is mechanically connected to a left rear steering drive wheel. Rotational speed and direction of each rear wheel is independently controlled, by way of the joystick in cooperation with respective potentiometers, in either a forward or reverse direction. At any given time, each potentiometer controls a respective motor controller which individually controls the rotational speed and direction of a respective wheel, thereby each wheel is capable of rotating in an opposite direction at a different speed to the other wheel. To slow the floor cleaning or burnishing machine down, regenerative braking is utilized by operating the motors as generators.Type: GrantFiled: May 1, 2013Date of Patent: January 31, 2017Assignee: NSS Enterprises, Inc.Inventors: Jeffery R. Fellhauer, William E. Brashear, Jr., Dale A. Krausnick
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Patent number: 9554507Abstract: A mowing boundary area recognizing apparatus of a mowing robot includes a ground state measurer configured to acquire environment data of a ground based on a grass length on the ground, a determiner configured to determine the grass length on the ground on a basis of the ground environment data to recognize a mowing boundary area, and a controller configured to adjust running of the mowing robot to a mowing area for which mowing is needed.Type: GrantFiled: March 20, 2014Date of Patent: January 31, 2017Assignee: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTEInventors: Jae Hyun Park, Sung Lok Choi, Won Pil Yu
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Patent number: 9550494Abstract: An apparatus for assisting in the driving of a vehicle determines, for a first vehicle, a first traveling track based on road infrastructure and a second traveling track based on the traveling track of a second vehicle that precedes the first vehicle. The apparatus stores information about the first traveling track and the second traveling track such that the deviation corresponds to the respective traveling positions of the vehicles. If a base for formation of a target track that the first vehicle is caused follow is switched between the first traveling track and the second traveling track when the apparatus forms this target track, the apparatus forms the target track based on the deviation information to decrease deviation between the first traveling track and the second traveling track.Type: GrantFiled: April 20, 2015Date of Patent: January 24, 2017Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventor: Kazuaki Aso
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Patent number: 9547985Abstract: An approach is provided for granting access to an autonomous vehicle based on validation of a request, and configuring an autonomous vehicle to transport a user and/or items to at least one destination. The approach involves receiving a transport request for a transport of at least one user, at least one item, or a combination thereof to at least one destination. The approach also involves determining profile information associated with the at least one user, the at least one item, or a combination thereof, wherein the profile information specifies at least one role associated with the at least one user, the at least one item, or a combination thereof. The approach further involves causing, at least in part, a validation of the request based, at least in part, on a comparison of the at least one destination to one or more approved destinations associated with the at least one role.Type: GrantFiled: November 5, 2014Date of Patent: January 17, 2017Assignee: HERE Global B.V.Inventor: Marko Tapio Tuukkanen
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Patent number: 9538702Abstract: A method of mowing multiple areas includes training the robotic mower to move across a space separating at least two areas, and initiating a mowing operation. Training the robotic mower to move across the space separating the areas includes moving the robotic mower to a traversal launch point of a first of the areas, storing data indicative of location of the traversal launch point, moving the robotic mower to a traversal landing point of a second of the areas, and storing data indicative of location of the traversal landing point. The mowing operation causes the robotic mower to autonomously and in sequence mow the first of the areas, move to the traversal launch point, move from the traversal launch point across the space to the traversal landing point, and then mow the second of the areas.Type: GrantFiled: December 22, 2014Date of Patent: January 10, 2017Assignee: iRobot CorporationInventors: Paul Balutis, Andrew Beaulieu, Brian Yamauchi
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Patent number: 9522623Abstract: A floor-bound heavy duty transport vehicle for transporting ISO containers, which, in an initial state, can be operated exclusively in a non-automated operating mode by an operator and can be freely displaced by means of wheels having pneumatic rubber tires. The vehicle comprises a driver's cab having a non-automated control system for non-automated steering, non-automated motion control and non-automated braking, which vehicle can optionally also be used in an automated mode. For this purpose, the heavy duty transport vehicle can be converted such that it can also be operated in an automated mode without a driver and has at least one second installation space for antennae for the conversion.Type: GrantFiled: November 9, 2011Date of Patent: December 20, 2016Assignee: Terex MHPS GmbHInventors: Hermann Franzen, Armin Wieschemann, Jannis Moutsokapas
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Patent number: 9517563Abstract: The robot system includes: a robot for performing predetermined operations on an object placed at a first object position; a first robot position storage configured to store the position of an arm end arranged in a predetermined positional relationship relative to the first object position; a target arrival state data storage configured to store feature quantities of the object on the camera image; a robot movement amount calculator configured to calculate the amount of movement in order to make the feature quantities of the object placed at a second object position coincide with the feature quantities of the target arrival state data; and a correction data calculator configured to calculate correction data based on the difference between the second robot position when the arm end has been moved based on the amount of movement and the first robot position.Type: GrantFiled: February 10, 2015Date of Patent: December 13, 2016Assignee: FANUC CORPORATIONInventor: Keisuke Watanabe
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Patent number: 9511769Abstract: Autonomous cruise control is provided to permit one vehicle to follow another at a predetermined separation regardless of gradient. A system and method is disclosed which continually determines the separation distance of the vehicles, the speed of the leading vehicle and the location of the leading vehicle, to the intent that the following vehicle computes the required speed upon reaching the instant location of the lead vehicle.Type: GrantFiled: February 20, 2013Date of Patent: December 6, 2016Assignee: Jaguar Land Rover LimitedInventors: Andrew Fairgrieve, James Kelly
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Patent number: 9506774Abstract: A method of inputting a path is provided. The method includes the steps of generating an aerial view of a vehicle and a trailer based on at least one of image data and satellite image data, displaying the aerial view on a display having a touch screen, and registering a touch event on the touch screen that inputs an intended path for the vehicle and the trailer.Type: GrantFiled: August 14, 2014Date of Patent: November 29, 2016Assignee: Ford Global Technologies, LLCInventors: John Shutko, Roger Arnold Trombley, Matt Y. Rupp, Michael Hafner
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Patent number: 9505405Abstract: Data is collected from vehicle sensors to generate a virtual map of objects proximate to the vehicle. Based on the virtual map, an in-vehicle computer determines a traffic condition in front of and behind a host vehicle. The in-vehicle computer determines collision avoidance maneuvers. The computer instructs vehicle control units to implement the collision avoidance maneuvers. The computer may additionally or alternatively communicate the collision avoidance maneuvers to a driver via an interface. In the case of unavoidable collisions, the computer determines and initiates damage mitigation actions.Type: GrantFiled: January 16, 2015Date of Patent: November 29, 2016Assignee: FORD GLOBAL TECHNOLOGIES, LLCInventors: Joseph F. Stanek, Tobias John Pallett, Sarra Awad Yako, Mark Davison, Mark Douglas Malone, Mathew Alan Boesch, John A. Lockwood, Hsin-hsiang Yang, Kwaku O. Prakah-Asante, Manoharprasad K. Rao
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Patent number: 9496081Abstract: A contactless power supply is provided. The contactless power supply includes two or more primary coils for generating a region of cooperative magnetic flux generally therebetween. A portable device having a secondary coil can be positioned proximate this region of magnetic flux to receive wireless power from the contactless power supply. The spaced-apart primary coils can be wound in alternating directions about a common axis and driven in phase, or can be wound in a single direction about a common axis and driven approximately 180 degrees out of phase. The contactless power supply can include a plurality of primary coils in an adjustable array to accommodate multiple portable devices each with different secondary configurations and power consumption needs.Type: GrantFiled: April 6, 2012Date of Patent: November 15, 2016Assignee: Access Business Group International LLCInventors: Matthew J. Norconk, Joshua K. Schwannecke, David W. Baarman, Neil W. Kuyvenhoven, Benjamin C. Moes, Colin J. Moore
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Patent number: 9481087Abstract: A robot and a control method thereof are provided. The method includes the following steps: receiving a manual control command from a remote control device, and accumulating a duration of issuing the manual control commands; estimating an estimated moving velocity corresponding to the manual control command; detecting a surrounding environment of the robot and generating an autonomous navigation command based on the surrounding environment; determining a first weighting value associated with the manual control command based on the duration, the estimated moving velocity and the distance to obstacles; determining a second weighting value associated with the autonomous navigation command based on the first weighting value; linearly combining the manual control command and the autonomous navigation command based on the first weighting value and the second weighting value to generate a moving control command; and moving based on the moving control command.Type: GrantFiled: April 30, 2015Date of Patent: November 1, 2016Assignee: National Chiao Tung UniversityInventors: Kai-Tai Song, Ming-Han Lin
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Patent number: 9475588Abstract: Methods, non-transitory computer readable media, and aircraft for aircraft taxiing are provided. A particular method determines a location of an aircraft relative to a taxiway having a curved section. The method determines a first nose gear steering angle to steer the aircraft through at least a first portion of the curved section. The first nose gear steering angle is selected to cause nose gear of the aircraft to depart a taxiway centerline. The first nose gear steering angle is selected to keep a steering point of the aircraft substantially over the taxiway centerline as the aircraft traverses at least the first portion of the curved section. The steering point is located between the nose gear and main gear of the aircraft.Type: GrantFiled: December 14, 2010Date of Patent: October 25, 2016Assignee: The Boeing CompanyInventor: Gary L. Westerlund
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Patent number: 9471459Abstract: A storage unit stores information indicting the past execution records of a plurality of related tasks. An operating unit obtains information indicating the execution status of a plurality of tasks. After obtaining the information, the operating unit obtains the execution status of an unexecuted task included in the plurality of related tasks, which was not yet executed, at an estimated time by which the unexecuted task is completed and which is estimated based on the information stored in the storage unit.Type: GrantFiled: July 2, 2014Date of Patent: October 18, 2016Assignee: FUJITSU LIMITEDInventor: Tomohiro Nakamura
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Patent number: 9471894Abstract: A system for managing inventory items includes a portable inventory holder and an unmanned drive unit configured to move the inventory holder between locations in an inventory facility. The inventory facility includes a plurality of uniquely identifiable fiducial markers having a small set of values distributed in a pattern. The drive unit captures at least one image of a subset of the plurality of the fiducial markers. The at least one captured image is processed to determine a location of the drive unit within the facility. A path is determined along which the drive unit moves to an inventory holder and moves the inventory holder to another location. The pattern of fiducial markers can include one or more repeated instances of uniquely identifiable fiducial markers. A fiducial marker can encode information using a readable code and at least one attribute of the fiducial marker.Type: GrantFiled: August 31, 2015Date of Patent: October 18, 2016Assignee: Amazon Technologies, Inc.Inventors: Andriy Palamarchuk, Jeremiah David Brazeau
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Patent number: 9469296Abstract: A method and arrangement are described for manoeuvre generation for automated driving on a one-way road of a vehicle (e) hosting the arrangement, the host vehicle (e) further including one or more advanced driver assistance systems. A collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) is determined repeatedly, with a fix time interval, for allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane utilizing model predictive control and quadratic program formulation. A control scheme where the structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints is utilized. Manoeuvre generation is performed through solving the quadratic program. The one or more advanced driver assistance systems are controlled to perform the generated manoeuvre.Type: GrantFiled: September 5, 2014Date of Patent: October 18, 2016Assignee: Volvo Car CorporationInventors: Julia Nilsson, Mohammad Ali
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Patent number: 9460628Abstract: A method for monitoring a motor vehicle includes: monitoring whether a speed of the motor vehicle indicates a stopping condition of the motor vehicle; detecting whether at least one vehicle operating condition indicating an imminent unintentional acceleration of the vehicle exists; and triggering a fault response if (i) the vehicle is in the stopping condition and (ii) the at least one vehicle operating condition indicating an imminent unintentional acceleration of the vehicle exists.Type: GrantFiled: July 21, 2014Date of Patent: October 4, 2016Assignees: ROBERT BOSCH GMBH, BMW AGInventors: Magnus Oppelland, Matthias Schueler, Juergen Binder, Florian Oesterreicher, Dalibor Kovac
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Patent number: 9449235Abstract: A steering control device is provided that calculates a white line approach suppression turning amount that is based on a distance between a host vehicle is separated from either a left or a right white line when a host vehicle approaches either a left or a right white line. The steering control device controls a turning unit for turning a turnable wheel based on the white line approach suppression turning amount, and upon determining that the other among the left and right white lines cannot be detected and a distance between the host vehicle and the left or right white line is decreasing, an increase in the white line approach suppression turning amount is inhibited while permitting a decrease in the white line approach suppression turning amount.Type: GrantFiled: September 25, 2013Date of Patent: September 20, 2016Assignee: Nissan Motor Co., Ltd.Inventor: Yuya Takeda
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Patent number: 9448560Abstract: A method for moving one or more mobile drive units within a workspace includes receiving, from a first mobile drive unit, a reservation request requesting use of a first path segment to move in a first direction. The method further includes determining that a second mobile drive unit is currently located on the first path segment and determining whether the second mobile drive unit is moving in the first direction. Additionally, the method includes transmitting a reservation response indicating that the reservation request is denied, in response to determining that the second mobile drive unit is not moving in the first direction. The method also includes transmitting a reservation response indicating that the reservation request is granted, in response to determining that the second mobile drive unit is moving in the first direction.Type: GrantFiled: April 25, 2014Date of Patent: September 20, 2016Assignee: Amazon Technologies, Inc.Inventors: Raffaello D'Andrea, Peter R. Wurman, Michael T. Barbehenn, Andrew E. Hoffman, Michael C. Mountz
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Patent number: 9436184Abstract: A system for transporting inventory items includes an inventory holder capable of storing inventory items and a mobile drive unit. The mobile drive unit is capable of moving to a first point with the inventory holder at least one of coupled to and supported by the mobile drive unit. The mobile drive unit is additionally capable of determining a location of the inventory holder and calculating a difference between the location of the inventory holder and the first point. The mobile drive unit is then capable of determining whether the difference is greater than a predetermined tolerance. In response to determining that the difference is greater than the predetermined tolerance, the mobile drive unit is also capable of moving to a second point based on the location of the inventory holder, docking with the inventory holder, and moving the mobile drive unit and the inventory holder to the first point.Type: GrantFiled: April 14, 2014Date of Patent: September 6, 2016Assignee: Amazon Technologies, Inc.Inventors: Raffaello D'Andrea, Peter K. Mansfield, Michael Cordell Mountz, Dennis Polic, Patrick R. Dingle
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Patent number: 9430950Abstract: A plurality of transportation vehicles travel with power from an energy storage member along a predetermined travel route under control of a ground controller. A charging area having charging equipment for charging the energy storage member of the transportation vehicle is provided in the travel route, and the transportation vehicles report a position and remaining capacity of the energy storage member to the ground controller. The ground controller controls a transportation vehicle having remaining capacity of a threshold value or less to travel to the charging area for charging the energy storage member, and controls transportation vehicles in the charging area to travel to positions outside the charging area in accordance with transportation requests.Type: GrantFiled: December 9, 2013Date of Patent: August 30, 2016Assignee: MURATA MACHINERY, LTD.Inventor: Takao Hayashi
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Patent number: 9428163Abstract: A method for autonomous emergency braking in a road vehicle to avoid or reduce the severity of an accident includes measuring the speed of the vehicle during autonomous emergency braking and additionally determining vehicle speed independent of the wheel rotational speeds of the vehicle. In this way, the vehicle speed can be determined sufficiently accurately even in the cases in which, as a result of sharp autonomous braking, the vehicle speed is higher than the wheel rotational speeds.Type: GrantFiled: May 3, 2010Date of Patent: August 30, 2016Assignee: WABCO GmbHInventors: Karsten Breuer, Thomas Dieckmann, Guido Hoffmann
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Patent number: 9420741Abstract: A method of mapping an area to be mowed with an autonomous mowing robot comprises receiving mapping data from a robot lawnmower, the mapping data specifying an area to be mowed and a plurality of locations of beacons positioned within the area to be mowed, and receiving at least first and second geographic coordinates for first and second reference points that are within the area and are specified in the mapping data. The mapping data is aligned to a coordinate system of a map image of the area using the first and second geographic coordinates. The map image is displayed based on aligning the mapping data to the coordinate system.Type: GrantFiled: December 15, 2014Date of Patent: August 23, 2016Assignee: iRobot CorporationInventors: Paul C. Balutis, Andrew Beaulieu, Brian Yamauchi, Karl Jeffrey Karlson, Dominic Hugh Jones
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Patent number: 9421973Abstract: A system and method of autonomously steering a vehicle responsively to failure of a lane-centering system through time-dependent steering angle correction to reduce jerk resulting from transition of steering control from a lane-centering system to a lane-keeping system or vise-versa.Type: GrantFiled: February 28, 2014Date of Patent: August 23, 2016Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventor: Jin-Woo Lee
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Patent number: 9403526Abstract: A vehicle control device 50, a controller 100, an inverter control device 30 and a steering control device 32 constitute a control device that executes control to give a yaw moment to a vehicle 1 so as to make the vehicle 1 travel while meandering around the center of trolley wires 3R and 3L based on image information acquired by a camera 15. The control device converts an image acquired by the camera 15 into coordinate information, calculates at least one representative point of the vehicle 1 and at least one target point situated on the trolley wire 3R/3L based on the coordinate information, sets a fluctuating point which fluctuates with reference to the target point, and executes control to give a yaw moment to the vehicle 1 so that the representative point approaches the fluctuating point. With this configuration, uneven wear of the sliders can be prevented and the operating load on the driver during the trolley traveling can be lightened considerably.Type: GrantFiled: June 11, 2012Date of Patent: August 2, 2016Assignee: Hitachi Construction Machinery Co., Ltd.Inventors: Shinjiro Saito, Kichio Nakajima
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Patent number: 9406234Abstract: A method is provided for automatically activating a car's side view camera during lane changes and displaying the camera feed on a dashboard mounted display, thereby eliminating blind spots and making the maneuver safer. The system can be configured to anticipate an upcoming lane change based on use of the turn signal alone, or the turn signal in combination with vehicle speed and/or determination of a second vehicle located in the primary car's blind spot. The display of the camera's data feed is terminated after completion of the lane change, where lane change completion is typically based on deactivation of the turn signal or the vehicle crossing over the lane markers.Type: GrantFiled: January 2, 2015Date of Patent: August 2, 2016Assignee: ATIEVA, INC.Inventors: Yadunandana Yellambalase, Philip R. Graham
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Patent number: 9393999Abstract: Disclosed is a vehicle movement path system and method for a vehicle. The vehicle movement path system includes: a camera input configured to receive at least one photographic image from a camera installed in the vehicle; at least one module configured to analyze the photographic image to identify a line marked on a road, compute an angle between the line and an axis of the vehicle, compute a distance between the line and a point associated with the vehicle, and generate, using the computed angle and the computed distance, a movement path along which to move the vehicle; and a movement path output configured to output the movement path to the vehicle such that the vehicle automatically steers itself using the movement path or provides a driver with guidance to move the vehicle along the movement path.Type: GrantFiled: November 11, 2015Date of Patent: July 19, 2016Assignee: HYUNDAI MOBIS CO., LTD.Inventor: Seong Soo Lee
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Patent number: 9396661Abstract: A platoon travel system organizes and performs a platoon travel of plural vehicles along a preset travel route. The system has a grouping unit that divides the plural vehicles into a top group and a tail end group based on projection area information of the vehicles, and groups vehicles with a projection area in a first range to the top group and vehicles with a projection area in a second range to the tail end group, which is less than the first range. A final position determination unit determines a position of each of the plural vehicles in the vehicle groups based on the depart point information, positions the top group vehicles in an ascending order of depart point distances, and positions the tail end group vehicles in a descending order of depart point distances, thereby preventing deterioration of whole platoon energy consumption.Type: GrantFiled: April 10, 2014Date of Patent: July 19, 2016Assignee: DENSO CORPORATIONInventor: Kazuya Okamoto
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Patent number: 9387838Abstract: A vehicle braking apparatus, system and method is provided including electromagnetic signals emitted from an electromagnetic loop positioned on or under a roadway, wherein the signals emitted from the electromagnetic loop correspond to the status of a traffic control zone. The braking apparatus receives signals emitted by the loop and interprets the signals to facilitate remotely directed operation of a brake. A manual actuator is also configured to operate the brake and override remote braking directives.Type: GrantFiled: April 12, 2006Date of Patent: July 12, 2016Assignee: KRAYON SYSTEMS INC.Inventor: Ronald Christopher Reisner
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Patent number: 9389614Abstract: An autonomous transporting tool is adapted to travel along a guiding line. The tool comprises two transporting elements. Each of the transporting elements comprise autonomous propulsion means, a control system and an optical system. The optical system comprises two cameras and two lighting units. The system is adapted to identify the location of the image of a guiding line within a received image of the floor and to provide steering commands adapted to steer the transporting tool so that the image of the guiding line is located substantially in the center of the received image.Type: GrantFiled: April 8, 2014Date of Patent: July 12, 2016Assignee: UNITRONICS AUTOMATED SOLUTIONS LTDInventor: Haim Shani
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Patent number: 9380737Abstract: A steering system and method are described for a vehicle having steerable wheels. A steering device may be coupled to one or more of the wheels. A parked state of the vehicle and a present orientation of the hydraulic steering device may be determined. The present orientation of the steering device may be compared with a neutral orientation of the steering device. Based upon a determined parked state of the vehicle and the comparing of the present and neutral orientations of the steering device, the steering device may be moved from the present orientation toward the neutral orientation.Type: GrantFiled: August 8, 2014Date of Patent: July 5, 2016Assignee: Deere & CompanyInventors: Thomas D. Bebernes, Benjamin C. Potter
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Patent number: 9380742Abstract: An autonomous implement comprising at least one drive unit including at least one drive wheel, at least one sensor unit configured to detect at least one characteristic value, at least one location-determining unit configured to detect at least one characteristic value, and at least one evaluating unit. The at least one evaluating unit is configured to determine a slip of the at least one drive wheel from the at least one characteristic value detected by the at least one sensor unit and the at least one characteristic value detected by the at least one location-determining unit.Type: GrantFiled: November 20, 2012Date of Patent: July 5, 2016Assignee: Robert Bosch GmbHInventors: Peter Biber, Steffen Petereit, Christoph Koch, Amos Albert
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Patent number: 9376971Abstract: An energy management system and method for a vehicle system operate the vehicle system according to a current trip plan as the vehicle system travels along a route during a trip. The current trip plan designates operational settings of the vehicle system. The system and method also revise the current trip plan into a revised trip plan responsive to current, actual operation of the vehicle system differing from the current trip plan by at least a designated threshold amount. The revised trip plan designates operational settings of the vehicle system and includes an initial designated operational setting that matches the current, actual operation of the vehicle system.Type: GrantFiled: April 24, 2015Date of Patent: June 28, 2016Assignee: General Electric CompanyInventors: Juli-Ann Luther, Jeffrey Twichel, Brian Nedward Meyer, Joseph Daniel Wakeman, Swapna Rameshbabu Gaikwad, John William Brand, James Brooks, David Allen Eldredge, Robert James Foy, Kevin Kapp, Ajith Kuttannair Kumar, William Martin, James Andrew Napolitano, Saravanan Thiyagarajan, Eric Vorndran
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Patent number: 9372484Abstract: The present invention relates to automated guided vehicles, hereinafter referred to as AGVs, and specifically to AGVs used for entertainment purposes. More specifically, the present invention relates to a safety system for a passenger carrying AGV used for entertainment purposes. The present invention acts to prevent a passenger carrying automated guided vehicle from deviating from its intended path.Type: GrantFiled: May 27, 2014Date of Patent: June 21, 2016Assignee: RoboCoaster LimitedInventor: Gino Daniel De-Gol
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Patent number: 9358685Abstract: Robots have the capacity to perform a broad range of useful tasks, such as factory automation, cleaning, delivery, assistive care, environmental monitoring and entertainment. Enabling a robot to perform a new task in a new environment typically requires a large amount of new software to be written, often by a team of experts. It would be valuable if future technology could empower people, who may have limited or no understanding of software coding, to train robots to perform custom tasks. Some implementations of the present invention provide methods and systems that respond to users' corrective commands to generate and refine a policy for determining appropriate actions based on sensor-data input. Upon completion of learning, the system can generate control commands by deriving them from the sensory data. Using the learned control policy, the robot can behave autonomously.Type: GrantFiled: February 3, 2014Date of Patent: June 7, 2016Assignee: BRAIN CORPORATIONInventors: Philip Meier, Jean-Baptiste Passot, Borja Ibarz Gabardos, Patryk Laurent, Oleg Sinyavskiy, Peter O'Connor, Eugene Izhikevich
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Patent number: 9327407Abstract: A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.Type: GrantFiled: July 7, 2015Date of Patent: May 3, 2016Assignee: iRobot CorporationInventors: Joseph L. Jones, Philip R. Mass
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Patent number: 9329599Abstract: An automatic guided vehicle includes a vehicle body and a positioning identification module which being furnished in the vehicle body further includes a three-axis magnetic signal sensing unit and a logic operation processing unit. The logic operation processing unit is connected to the three-axis magnetic signal sensing unit by signal transmitted therefrom. A magnetic pointer unit is furnished adjacent to the marching route of the automatic guided vehicle. The three-axis magnetic signal sensing unit senses the magnetic field of magnetic pointer unit and generates a magnetic field information that transmits to the logic operation processing unit.Type: GrantFiled: December 26, 2014Date of Patent: May 3, 2016Assignee: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTEInventors: Kuan-Chun Sun, Meng-Ju Han, Jwu-Sheng Hu, Cheng-Hua Wu
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Patent number: 9321441Abstract: A global positioning signal based learned control event prediction method and apparatus includes a learning auxiliary module connected to a communication bus of a vehicle. The arrangement stores events and event locations using global positioning signals for a vehicle traveling along a path. When the vehicle travels the same path a second time, the detected events and event locations are determined. When the events match at the same event locations, a predictive action is determined for a future occurrence of the vehicle approaching the event location. Thus, as the vehicle approaches the event location, the predictive action, for example pre-filling of the vehicle brakes or pre-tensioning of the seat belts occurs.Type: GrantFiled: November 19, 2014Date of Patent: April 26, 2016Assignee: Robert Bosch GmbHInventors: Ankit Shah, Troy McCormick, Anthony Farrell, Hirak Chanda, Kenneth Brochu
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Patent number: 9317774Abstract: A method for locating an object by a reference grid, the object moving in a plane parallel to or identical to that of the grid. When crossing of a line of the grid is detected by the object, its heading is determined and, as a function of the detection, probabilities of the thus crossed line being a horizontal line and a vertical line respectively are obtained. Displacement of the object is assessed from the probabilities obtained and a horizontal and vertical pitch of the grid. A position of the object is then updated from a position of the object determined during a last line crossing of the grid and the displacement thus assessed.Type: GrantFiled: August 22, 2012Date of Patent: April 19, 2016Assignee: Commissariat à l'énergie atomique et aux énergies alternativesInventor: Christophe Villien
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Patent number: 9310806Abstract: A localization and obstacle detection system includes a first signal projector configured to project a first signal into an environment and a robot configured to move in the environment. The robot includes a second signal projector configured to project a second signal into the environment; a signal receiver configured to receive the first signal and the second signal; a localizer configured to determine a location of the robot in the environment based at least in part on the received first signal; and a detector configured to determine the presence of an obstacle in the environment based at least in part on the intensity and bearing of the received second signal and without touching the obstacle; wherein the second signal is distinct from the first signal in at least one characteristic.Type: GrantFiled: January 5, 2011Date of Patent: April 12, 2016Assignee: iRobot CorporationInventors: Nikolai Romanov, James Philip Case, Michael Dooley
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Patent number: 9275549Abstract: An in-vehicle apparatus and method generates a pseudo-travel locus that is used to perform a driving support control. The in-vehicle apparatus has a pseudo-locus generator for generating the pseudo-travel locus of a subject vehicle and a communication controller for controlling a transmitter to transmit the pseudo-travel locus of the subject vehicle. The pseudo-travel locus is generated from a travel locus of a lead vehicle and a current position of the subject vehicle. Therefore, a portion of the travel locus of the subject vehicle is similar to an actual travel locus of the subject vehicle. Thus, when the pseudo-travel locus is transmitted as a travel locus of the subject vehicle, nearby vehicles may perform a driving support control based on the pseudo-travel locus of the subject vehicle. As a result, the actual travel locus of the subject vehicle is not disclosed.Type: GrantFiled: November 25, 2013Date of Patent: March 1, 2016Assignee: DENSO CORPORATIONInventor: Motonori Ando
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Patent number: 9268334Abstract: A method of operating an automated guided cart may include directing, using a controller, the cart on a production operation path; automatically detecting a state-of-charge in an on-board battery pack; signaling to a remote station the state-of-charge; and when the state-of-charge is below a predetermined charge limit, the remote station automatically signaling the cart to automatically veer from the production operation path to a low battery charge path and stop at a battery station.Type: GrantFiled: August 12, 2014Date of Patent: February 23, 2016Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventor: Paul H. Vavrick
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Patent number: 9250081Abstract: Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.Type: GrantFiled: November 9, 2012Date of Patent: February 2, 2016Assignee: iRobot CorporationInventors: Jens-Steffen Gutmann, Dhiraj Goel, Mario E. Munich
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Patent number: 9233314Abstract: A method and apparatus for controlling the position of a vehicle on a track so as to provide a slotless racing vehicle game is described. The method involves generating within a primary feedback loop a first input signal for a steering servo of the vehicle so as to minimize an error signal produced by comparing a measured lateral position of the vehicle on the track with its desired position. The method further comprises generating within a secondary feedback loop a second input signal for the steering servo so as minimize a measured angle of orientation of the vehicle on the track. It is found to be advantageous for the stability of the vehicle on the track if responsivity (Klf2) of the secondary feedback loop is set to be equal to the reciprocal of the responsivity (Kss) of the steering servo.Type: GrantFiled: November 5, 2014Date of Patent: January 12, 2016Assignee: China Industries LimitedInventors: David Alan Keating, James Edward Alexander Wyatt
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Patent number: 9228845Abstract: Navigation systems, methods, and programs acquire deviated point information regarding a deviated point where a vehicle traveling a set route has deviated the route, and acquire post-deviation travel history information regarding a travel history after a deviated vehicle has deviated the route at the deviated point. The systems, methods, and programs determine based on the post-deviation travel history information for each of the deviated vehicles whether the deviated vehicle has traveled along a reroute set after deviating the route at the deviated point, and judges whether a rate of the deviated vehicles which were determined as having traveled along the reroute is a first predetermined value or more. If the rate of the deviated vehicles which were determined as having traveled along the reroute is the first predetermined value or more, the systems, methods, and programs determine that guidance of the route is not appropriate.Type: GrantFiled: December 5, 2011Date of Patent: January 5, 2016Assignees: ASIN AW CO., LTD., TOYOTA JIDOSHA KABUSHIKI KAISHA, DENSO CORPORATION, FUJITSU LIMIED, FUJITSU TEM LIMITEDInventors: Hirokazu Nomoto, Ichiro Usami, Kensuke Hanaoka, Sayaka Yoshizu, Hironobu Sugimoto, Takao Suzuki, Hiroshi Takeuchi, Shohji Ueoka, Hideaki Miyazaki, Toshifumi Obayashi, Takayuki Suzumiya
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Patent number: 9224053Abstract: A vehicle is provided that may combine multiple estimates of an environment into a consolidated estimate. The vehicle may receive first data indicative of the region of interest in an environment from a sensor of the vehicle. The first data may include a first accuracy value and a first estimate of the region of interest. The vehicle may also receive second data indicative of the region of interest in the environment, and the second data may include a second accuracy value and a second estimate of the region of interest. Based on the first data and the second data, the vehicle may combine the first estimate of the region of interest and the second estimate of the region of interest.Type: GrantFiled: July 31, 2013Date of Patent: December 29, 2015Assignee: Google Inc.Inventors: David Ian Franklin Ferguson, David Harrison Silver
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Patent number: 9211910Abstract: A device for keeping a vehicle in its lane, including a reference model, which obtains geometric data regarding the position of the vehicle in the lane as well as data relating to the course of the lane from a lane detection system, and from these calculates a setpoint variable for controlling the vehicle position. In order to allow for corners to be cut, the guiding behavior of the control system is modified in such a way when cornering that, in the event of a deviation of the path of motion of the vehicle from the setpoint path of motion in the direction of the inside of the curve, no or only low steering forces are applied to the steering system.Type: GrantFiled: September 19, 2006Date of Patent: December 15, 2015Assignee: ROBERT BOSCH GMBHInventors: Lutz Buerkle, Michael Weilkes, Michael Scherl, Tobias Rentschler
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Patent number: 9204594Abstract: A lawn mower robot includes a body including a mowing device; a sensor disposed in the body and sensing light signal produced from a signal producing unit in the outside; a moving device disposed in the body; and a controller controlling the moving device based on information sensed from the sensor, wherein the controller controls the moving device so that the lawn mower robot is moved along the light signal.Type: GrantFiled: August 2, 2012Date of Patent: December 8, 2015Assignee: LG ELECTRONICS INC.Inventors: Geunbae Hwang, Jongjin Woo, Dongkyun Nam
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Patent number: 9145116Abstract: Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver assist navigation system may include at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the vehicle; a data interface; and at least one processing device. The at least one processing device may be configured to: receive the plurality of images via the data interface; identify, based on analysis of the plurality of images, a trigger for stopping the vehicle; and based on the identified trigger, cause the vehicle to stop according to a braking profile including a first segment associated with a first deceleration rate, a second segment which includes a second deceleration rate less than the first deceleration rate, and a third segment in which a level of braking is decreased as a target stopping location is approached, as determined based on the analysis of the plurality of images.Type: GrantFiled: December 4, 2014Date of Patent: September 29, 2015Assignee: Mobileye Vision Technologies Ltd.Inventors: Anna Clarke, Gali Nir, Eyal Bagon
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Patent number: RE45917Abstract: Provided is a throw-type compact reconnaissance robot, which is used for military purposes or counter-terrorism and is capable of ensuring a long operational time as well as drop safety by efficient spatial layout of a battery. The throw-type compact reconnaissance robot includes a cylindrical body (100) with a camera (140), drivers (200) made up of two tires (270) that are disposed on opposite sides of the body (100) and is drivable individually, and battery units (300) supplying power used to operate the robot and disposed in inner spaces of the tires (270) of the drivers (200) on the opposite outermost sides of the robot.Type: GrantFiled: February 27, 2014Date of Patent: March 8, 2016Assignees: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, DUKSAN MECASYS INC.Inventors: Soohyun Kim, Kyung-Soo Kim, Jeehyoung Kim, Wonsuk Jung, Chulyoung Kim, Yunsic Hong, Hyunsoo Park, Kyuje Yoo, Seoung Ho Lee, Min-Gu Lee, Doo-Yeol Koh, Bong Soo Kang