Program- Or Pattern-controlled Systems Patents (Class 318/567)
  • Patent number: 11521869
    Abstract: An atmosphere-to-vacuum (ATV) transfer module for a substrate processing tool includes a first side configured to interface with at least one loading station, a transfer robot assembly arranged within the ATV transfer module, and a second side opposite the first side. The transfer robot assembly is configured to transfer substrates between the at least one loading station and at least one load lock arranged between the ATV transfer module and a vacuum transfer module (VTM). The second side is configured to interface with the at least one load lock. The transfer robot assembly is arranged adjacent to the second side, and the at least one load lock extends through the second side into an interior volume of the ATV transfer module.
    Type: Grant
    Filed: March 14, 2018
    Date of Patent: December 6, 2022
    Assignee: Lam Research Corporation
    Inventors: Richard H. Gould, Richard Blank
  • Patent number: 11518012
    Abstract: An electric tool includes a motor, an operation part provided to be operable by a user, a motor drive control unit configured to perform control of driving the motor in response to the operation part being operated, a temperature sensor, and a temperature determination unit configured to determine overheating of the motor. The temperature determination unit is configured to estimate a temperature of the motor based on a drive situation of the motor and a detection result of the temperature sensor, and to determine the overheating of the motor based on the estimated temperature.
    Type: Grant
    Filed: October 25, 2019
    Date of Patent: December 6, 2022
    Assignee: MAX CO., LTD.
    Inventors: Katsuki Takeuchi, Kohei Suto, Teruaki Ando
  • Patent number: 11516099
    Abstract: A computer of a resource monitoring system is configured to execute an application for analyzing an operation of an industrial device. A use status acquisition module is configured to acquire a use status of a resource of the computer by the application. A display control module is configured to display the use status on a resource monitoring screen.
    Type: Grant
    Filed: September 13, 2019
    Date of Patent: November 29, 2022
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Tomoyuki Nakamura
  • Patent number: 11506489
    Abstract: A contour accuracy measuring system and a contour accuracy measuring method are provided. The contour accuracy measuring system captures location coordinate data of shafts of a machine tool. The location coordinate data are calculated to obtain a first true round trajectory on an inclined plane as reference information. The contour accuracy measuring system then adjusts parameters of the locations of the shafts based on the location coordinate data of the shafts of the reference information to generate a second true round trajectory on the inclined plane, so as to get to know whether the locations of the shafts after the parameters are adjusted comply with a standard. Therefore, the overall measurement process can be speeded up by automatically measuring the parameters and automatically testing an operating status.
    Type: Grant
    Filed: July 31, 2019
    Date of Patent: November 22, 2022
    Assignee: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
    Inventors: Yu-Sheng Tseng, Po-Hsun Wu, Tsung-Yu Yang, Chien-Yi Lee
  • Patent number: 11502633
    Abstract: System, apparatus, and methods for controlling a motor by using servo-to-edge direction feedback are disclosed. An exemplary apparatus comprises: a fiber optic rotary junction (FORJ) having a rotatable portion; a motor to rotate the rotatable portion; a connector to connect the rotatable portion to a rotatable fiber of an imaging probe; a sensor positioned in close proximity to a target and configured to output a signal indicative of which one of at least two distinguishable regions of the target is proximal to the sensor; and a controller configured to control the rotational direction of the motor based on the sensor signal. In one embodiment, the motor is a servo-motor, and the rotation of the motor and/or rotatable portion is controlled by a servo-loop to change the rotation direction of the motor back-and-forth around a predetermined rotational position without the use of an encoder.
    Type: Grant
    Filed: May 1, 2020
    Date of Patent: November 15, 2022
    Assignee: Canon U.S.A., Inc.
    Inventors: Badr Elmaanaoui, Alexander Altshuler, Pierre-Yves Mabboux
  • Patent number: 11445120
    Abstract: Disclosed are an information processing method and information processing apparatus which execute an installed artificial intelligence (AI) algorithm and/or machine learning algorithm to process a spoken utterance of a user in a 5G communication environment. The information processing method according to an embodiment of the present disclosure may include receiving a spoken utterance of a user and extracting, from the spoken utterance, a demonstrative pronoun referring to a target indicated by the user, determining an image capture region to be scanned by a camera according to the type of the demonstrative pronoun, recognizing the target indicated by the user from a result of scanning the image capture region, and feeding back a result of processing the spoken utterance to the user on the basis of a result of recognizing the target indicated by the user.
    Type: Grant
    Filed: February 11, 2020
    Date of Patent: September 13, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: In Jung Yang, Mi Seon Park, Ji-Won Kim
  • Patent number: 11404975
    Abstract: An electronic control system of a frequency converter repeatedly receives one nominal base value at a time for the operation of an electrical machine, determines a respective nominal current value using the respective nominal base value, and determines respective control signals for power semiconductors of the frequency converter using the respective nominal current value. The electronic control system controls the power semiconductors according to the determined respective control signals and thereby supplies the electrical machine with electrical energy such that the electrical machine is operated according to the nominal base value. The electronic control system determines the respective nominal current value and/or the respective control signals according to an enabled determination method if and as long as a permissible extent of use for the enabled determination method is larger than 0.
    Type: Grant
    Filed: July 8, 2019
    Date of Patent: August 2, 2022
    Assignee: Siemens Aktiengesellschaft
    Inventor: Tammo Krause-Leipoldt
  • Patent number: 11397098
    Abstract: In some embodiments, a method of correcting for errors in a rotational position sensor having a sine signal and a cosine signal is presented. The method includes compiling data from the sine signal and the cosine signal over a period of rotation of a motor shaft; determining offset correction parameters from the data; correcting the data with the offset correction parameters; determining amplitude difference parameters from the data; correcting the data with the amplitude difference parameters; determining phase difference parameters from the data; correcting the data with the phase difference parameters; and using the offset correction parameters, the amplitude difference parameters, and the phase difference parameters to correct the sine signal and the cosine signal.
    Type: Grant
    Filed: October 11, 2019
    Date of Patent: July 26, 2022
    Assignee: Integrated Device Technology, Inc.
    Inventors: Josef Janisch, Erhard Muesch
  • Patent number: 11393331
    Abstract: A system for moving a barrier includes a motor with an integrated encoder operative to generate pulses as a function of rotation of the rotatable shaft of the motor. A preferred form of encoder is a rotary optical encoder to generate optical pulses as a function of rotational movement of the rotatable shaft. Both a microcontroller to determine door status and a controller to control door movement receive the pulses and separately execute methods in response thereto.
    Type: Grant
    Filed: December 31, 2018
    Date of Patent: July 19, 2022
    Assignee: GMI Holdings, Inc.
    Inventors: Tim Ikeler, Leroy G. Krupke, Brent Buescher, Brent Alan Rauscher, Gregory D. Matias, Michael Dragomier
  • Patent number: 11348269
    Abstract: A robot for perceiving a spatial representation of an environment, including: an actuator, at least one sensor, a processor, and memory storing instructions that when executed by the processor effectuates operations including: capturing a plurality of data by the at least one sensor of the robot, wherein: the plurality of data comprises first data comprising pixel characteristics indicative of features of the environment and second data indicative of depth to objects in the environment; the plurality of data is captured from different positions within the environment through which the robot moves, the plurality of data corresponding with respective positions from which the plurality of data was captured; and the plurality of data captured from different respective positions within the environment corresponds to respective fields of view; and aligning the plurality of data as it is captured to more accurately perceive the spatial representation of the environment.
    Type: Grant
    Filed: July 2, 2020
    Date of Patent: May 31, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Chen Zhang, Sebastian Schweigert, Lukas Fath
  • Patent number: 11327483
    Abstract: An autonomous cleaning robot includes a drive system to support the autonomous cleaning robot above a floor surface, an image capture device positioned on the autonomous cleaning robot to capture imagery of a portion of the floor surface forward of the autonomous cleaning robot, and a controller operably connected to the drive system and the image capture device. The drive system is operable to maneuver the autonomous cleaning robot about the floor surface. The controller is configured to execute instructions to perform operations including initiating, based on a user-selected sensitivity and the imagery captured by the image capture device, an avoidance behavior to avoid an obstacle on the portion of the floor surface.
    Type: Grant
    Filed: September 30, 2019
    Date of Patent: May 10, 2022
    Assignee: iRobot Corporation
    Inventors: Husain al-Mohssen, Zupei Li, Elena Jakubiak, Laura V. Herlant, Michael J. Halloran, Danielle O'Connor Dean
  • Patent number: 11324376
    Abstract: An autonomous floor cleaning robot includes a robot body defining a forward drive direction, a controller supported by the robot body, a drive supporting the robot body and configured to maneuver the robot across a surface in response to commands from the controller, a pad holder disposed on an underside of the robot body and configured to retain a removable cleaning pad during operation of the cleaning robot; and a pad sensor arranged to sense a feature of a cleaning pad held by the pad holder and generate a corresponding signal. The controller is responsive to the signal generated by the pad sensor, and configured to control the robot according to a cleaning mode selected from a set of multiple robot cleaning modes as a function of the signal generated by the pad sensor.
    Type: Grant
    Filed: October 25, 2019
    Date of Patent: May 10, 2022
    Assignee: iRobot Corporation
    Inventors: Ping-Hong Lu, Dan Foran, Marcus Williams, Joe Johnson, Andrew Graziani
  • Patent number: 11325258
    Abstract: To assist appropriately in performing a recovery operation of a device. A guidance information presentation apparatus includes: a guidance information receiving unit configured to acquire guidance information including access information and safety information, the access information including a moving route to reach an estimated location of a failure in an apparatus as a recovery target, and an operation procedure, the safety information indicating safety of the moving route and the operation procedure in the access information; and a guidance information displaying unit configured to perform, on a basis of the guidance information, notification for a guidance of the moving route to the estimated location of the failure in the apparatus as the recovery target, and the operation procedure, and notification that indicates the safety of the moving route and the operation procedure.
    Type: Grant
    Filed: July 25, 2019
    Date of Patent: May 10, 2022
    Assignee: FANUC CORPORATION
    Inventor: Kazuya Goto
  • Patent number: 11286113
    Abstract: Disclosed are a handling method, a handling device, and a handling system. The handling method includes: advancing toward a position of the target object at a first speed according to a navigation route; advancing toward the position of the target object at a second speed in response to the distance between a current position of the handling device and the position of the target object becoming less than or equal to a first distance, the second speed being less than the first speed; identifying a mark point on the target object when advancing at the second speed, and aligning with the target object according to the mark point of the target object in response to having identified the mark point on the target object; stopping advancing and lifting up the target object after aligning with the target object; and advancing toward a preset position after lifting up the target object.
    Type: Grant
    Filed: April 3, 2019
    Date of Patent: March 29, 2022
    Assignee: BEIJING GEEKPLUS TECHNOLOGY CO., LTD.
    Inventor: Bin Hu
  • Patent number: 11235466
    Abstract: Methods, systems, and platforms for automatic setup planning for a robot. The method includes sampling multiple poses in multiple dimensions within a robotic workspace. The method includes generating one or more candidate configurations based on the multiple poses. The method includes determining a score for each candidate configuration of the one or more candidate configurations. The score represents area coverage of a region of interest and at least one of an amount of setup time of the candidate configuration or an amount of energy used. The method includes determining a set of candidate configurations that has an overall area coverage that covers the region of interest based on the score for each candidate configuration. The method includes controlling a position and an orientation of the object based on the set of candidate configurations.
    Type: Grant
    Filed: April 23, 2019
    Date of Patent: February 1, 2022
    Assignee: UNIVERSITY OF SOUTHERN CALIFORNIA
    Inventors: Satyandra Gupta, Ariyan Kabir, Brual Shah
  • Patent number: 11220288
    Abstract: A hardware architecture for controlling a safety-relevant process having at least two microcontrollers for controlling the process in at least two control branches, wherein the respective microcontroller control the safety-relevant process. The microcontrollers process the data from at least one sensor, which detects the actual characteristic of the respective control branch. Between the two microcontrollers, the data of the respective sensor are exchanged and provided for each microcontroller and a check is made to determine whether the data from the sensors are consistent. In response to an inconsistency being detected, a majority decision is made and a model value used in forming the majority decision, is calculated in the microcontroller based on control commands so the control of the safety-relevant process by the microcontroller of the control branch, whose data were detected as erroneous in the majority decision, is disabled.
    Type: Grant
    Filed: June 13, 2019
    Date of Patent: January 11, 2022
    Inventors: Tobias Sachs, Sebastian Schmidt-Schäfer, Frank Schöttler
  • Patent number: 11209833
    Abstract: A navigation control system for an autonomous vehicle comprises a transmitter and an autonomous vehicle. The transmitter comprises an emitter for emitting at least one signal, a power source for powering the emitter, a device for capturing wireless energy to charge the power source, and a printed circuit board for converting the captured wireless energy to a form for charging the power source. The autonomous vehicle operates within a working area and comprises a receiver for detecting the at least one signal emitted by the emitter, and a processor for determining a relative location of the autonomous vehicle within the working area based on the signal emitted by the emitter.
    Type: Grant
    Filed: March 23, 2020
    Date of Patent: December 28, 2021
    Assignee: iRobot Corporation
    Inventor: Mark J. Chiappetta
  • Patent number: 11198215
    Abstract: A robotic arm assembly having an arm with at least one end effector pivotally connected to the end of the arm. The robotic arm assembly has a continuous belt driven by two motors. Manipulation of the speed and direction of the two motors controls the length of the arm and the tilt of the end effector. A third motor controls the tilt of the arm.
    Type: Grant
    Filed: August 19, 2020
    Date of Patent: December 14, 2021
    Inventors: Joshua Scott, Mark Sullivan, Matthew Werner
  • Patent number: 11141855
    Abstract: A robot system includes a robot arm, and a controller configured to control posture of the robot arm. The controller configured to obtain a first teaching point, and first data on posture of the robot arm determined when the first teaching point is created. The controller configured to move the robot arm in accordance with the first teaching point in a state where the robot arm is supporting the workpiece or nothing, and obtain second data on posture of the robot arm determined when the robot arm has been moved in accordance with the first teaching point. The controller configured to create a second teaching point by correcting the first teaching point based on a difference between the first data and the second data.
    Type: Grant
    Filed: January 7, 2019
    Date of Patent: October 12, 2021
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Takahiro Ishikawa
  • Patent number: 11130241
    Abstract: This robot includes a robot arm, a controller which controls the robot arm, an operation panel which sends a control signal to the controller, a camera which is provided in the operation panel and which captures images of an operator who operates the operation panel, a determination means which determines whether or not the operator is looking at a surface of the operation panel on which an operation portion is provided on the basis of the images captured by the camera, and a limitation means which limits motion of the robot arm when it is determined that the operator is looking at the surface or when it is determined that the operator has continuously been looking at the surface.
    Type: Grant
    Filed: June 26, 2019
    Date of Patent: September 28, 2021
    Assignee: FANUC CORPORATION
    Inventor: Hiroshi Katsuhisa
  • Patent number: 11088606
    Abstract: A linear vibration generating device installed inside a cellular phone, a vibration bell or the like to generate vibration. Right after the power applied to the ‘circuit (a circuit generating and controlling vibration)’, which is one of elements constituting the linear vibration generating device, is turned off, the ‘circuit’ is configured as a short circuit. In addition, the linear vibration generating device can be easily manufactured since an additional space inside the linear vibration generating device is not required, and there is an outstanding effect of promptly removing residual vibration by increasing the amount of vibration damping after the vibration operation of the vibration generating device including a permanent magnet is finished.
    Type: Grant
    Filed: June 18, 2018
    Date of Patent: August 10, 2021
    Assignee: MPLUS CO., LTD.
    Inventor: Tae Hoon Lee
  • Patent number: 11031269
    Abstract: A substrate transport robot includes: a base installed inside a transport chamber; an arm; a first hand and a second hand rotatable about a vertical hand axis and configured to support a substrate; and a controller. The controller performs: a first transfer process of causing the first hand to enter from the transport chamber into a storage chamber, and transferring the substrate between the first hand and a placing portion in the storage chamber; an exit process of causing the first hand to exit the storage chamber into the transport chamber; and a second transfer process of causing the second hand to enter from the transport chamber into the storage chamber. In the exit process, the hand axis moves away from a center line of an opening, such that the hand axis is farther from the center line than a reference position of the first hand is.
    Type: Grant
    Filed: August 22, 2019
    Date of Patent: June 8, 2021
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KAWASAKI ROBOTICS (USA), INC.
    Inventors: Junichi Matsuoka, Iori Kurata, Tomokazu Arita
  • Patent number: 10994427
    Abstract: A robot with a safety fence includes: a base; a movable part having a base end supported to the base so as to be rotatable about a first axis, and a tip end performing operation on an operation target; and a safety fence rotated about the first axis together with the movable part, and disposed on a rear side opposite to a front side of the robot with a safety fence where the tip end of the movable part performs operation. The safety fence is disposed in a position radially closer to the first axis than the farthest distance the tip end of the movable part travels from the first axis on the front side, and a position radially farther away from the first axis than the farthest distance a portion of the movable part travels from the first axis during operation, on the rear side.
    Type: Grant
    Filed: March 21, 2019
    Date of Patent: May 4, 2021
    Assignee: FANUC CORPORATION
    Inventor: Hideyuki Watanabe
  • Patent number: 10987775
    Abstract: A machining state display apparatus includes an achievement degree data storage (9) storing machining condition data relating to each of sets of machining conditions and achievement degree data relating to degrees of achievement of evaluation items to be obtained in machining under each of the sets of machining conditions, with the machining condition data and the achievement degree data being associated with each other, a display part (2) displaying a set of machining conditions and degrees of achievement of the evaluation items corresponding thereto on a display (5), and an input part (6) inputting a signal for selecting one from the evaluation items and a required degree of achievement for the selected evaluation item.
    Type: Grant
    Filed: March 17, 2017
    Date of Patent: April 27, 2021
    Assignee: DMG MORI CO., LTD.
    Inventors: Shizuo Nishikawa, Koji Iiyama, Hiroki Nakao
  • Patent number: 10935952
    Abstract: An automation operating and management system consolidates and analyzes inputs from multiple machines within an automated enterprise to predict failures and provide instructions for counteractions to prevent failures during machine operation, and to identify opportunities for efficiency improvement, including actions for reduction in peak power consumption demand within a facility including multiple machines. A machine can include a machine controller and at least one base layer controller, where the base layer controller acts as a low level controller to directly control the motion of elements in communication with the base layer control, according to parameters set by the machine controller. The base layer controller collects timing data for the elements under its control, compares the timing data with the parameters and sets an alarm when the timing data is outside of tolerance limits defined by the parameters.
    Type: Grant
    Filed: October 28, 2019
    Date of Patent: March 2, 2021
    Assignee: BEET, INC.
    Inventor: David Jingqiu Wang
  • Patent number: 10923101
    Abstract: A system, a computer program product, and method for controlling synthesized speech output on a voice-controlled device. The voice-controlled device recognized that speech input is being received. The voice-controlled device outputs synthesized speech based on the speech input. While outputting synthesized speech based on the audio is captured. The voice-controlled device recognized the audio input as speech and pausing the outputting of synthesized speech. Otherwise, in response to the captured audio not being recognized as speech and above a settable background noise threshold, pausing the outputting of synthesized speech. The paused output of speech based on the synthesized speech input is resumed after the pausing of the output of synthesized speech being within a settable pause timeframe.
    Type: Grant
    Filed: December 26, 2017
    Date of Patent: February 16, 2021
    Assignee: International Business Machines Corporation
    Inventors: Shang Qing Guo, Jonathan Lenchner
  • Patent number: 10915108
    Abstract: A vehicle control system for driving a vehicle toward a source while avoiding an obstacle includes a first sensor to measure a first intensity of a source signal from the source, a second sensor to detect an obstacle and a second vehicle. The system includes an interface to receive data of a second intensity of the source signal measured by the second vehicle and transmit the data of the first and second intensities via a wireless channel, a memory to store the data of the first and second intensities, an autonomous program, a leader algorithm and a follower algorithm for autonomously driving the vehicle, a processor to select and perform one of the leader algorithm and the follower algorithm and generate control signals, and a machinery control circuit to drive a machinery of the vehicle according the control signals.
    Type: Grant
    Filed: March 29, 2018
    Date of Patent: February 9, 2021
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Mouhacine Benosman, Jorge Poveda
  • Patent number: 10909153
    Abstract: Computational methods and systems that collect operational data from an intelligent controller to identify information, or correct information, about a device and system controlled by the intelligent controller are disclosed. Computational methods and systems use a set of operational data and information known about other devices and systems controlled by similar intelligent controllers to process the operational data and generate information, or correct information, about the device and system.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: February 2, 2021
    Assignee: Google LLC
    Inventor: Yoky Matsuoka
  • Patent number: 10856944
    Abstract: A triaxial motion device includes first, second and third bases, first and second power sources, and a workpiece positioning member. The first power source is disposed on the first base and has a first driving shaft. The second base is connected with the first driving shaft through a cannular rotary shaft in a way that the second base is rotatable about a first axis. The second power source is disposed on the first base and has a second driving shaft penetrating through the cannular rotary shaft. The third base is connected with the second driving shaft in a way that the third base is rotatable about a second axis perpendicular to the first axis. The workpiece positioning member is disposed on the third base and rotatable about a third axis perpendicular to the second axis. Therefore, the triaxial motion device has small volume and performs highly precise motion.
    Type: Grant
    Filed: November 5, 2018
    Date of Patent: December 8, 2020
    Assignee: Hiwin Technologies Corp.
    Inventor: Yu-Lin Chu
  • Patent number: 10836038
    Abstract: A robot is moved along a first continuous programmed path with a robot controller executing a learning path control program without performing an operation on a workpiece. The actual movement of the robot along the first continuous programmed path is recorded. The first continuous programmed path is adjusted to create a second programmed path. The robot is moved along the second continuous programmed with the robot controller executing the learning path control program without performing the operation on the workpiece. The actual movement of the robot along the second continuous programmed path is recorded. Traces of the recorded actual movements of the robot along the first continuous programmed path and the second continuous programmed path are displayed.
    Type: Grant
    Filed: May 21, 2014
    Date of Patent: November 17, 2020
    Assignee: FANUC AMERICA CORPORATION
    Inventors: Yi Sun, Jason Tsai, Laxmi Musunur, Michael Sharpe
  • Patent number: 10821491
    Abstract: In a method for monitoring a functional state of a shaping tooth arrangement on a forming tool, at measurement times which are temporally staggered with respect to each other at a plurality of measurement locations on the shaping tooth arrangement, a tooth arrangement force is measured which acts on the shaping tooth arrangement. At each of the measurement times for each of the measurement locations an instantaneous local tooth arrangement force is thereby determined. A previous instantaneous local tooth arrangement force and a subsequent instantaneous local tooth arrangement force are correlated with each other to determine a local state identification value. On the basis of the local state identification values associated with the measurement locations, information is obtained relating to the functional state of the shaping tooth arrangement.
    Type: Grant
    Filed: February 12, 2018
    Date of Patent: November 3, 2020
    Assignee: FELSS Systems GmbH
    Inventors: Serjosha Heinrichs, Dennis Beihofer, Michael Marre, Matthias Kluge
  • Patent number: 10802474
    Abstract: To simplify determination of drive parameters upon driving a motor for which circuit constants are unknown, and shorten the time required in determination. A parameter determination support device includes: an automatic measurement part which applies initial parameters, and automatically measures a revolution speed (rpm) of a synchronous motor, as well as a DC link voltage (V) and Q-phase voltage command (%) of a motor drive device, as operating information upon driving the synchronous motor at substantially constant speed based on a base speed, according to a test-run program; an estimation part which estimates a reverse voltage constant (V/krpm) and torque constant (Nm/Arms) as circuit constants of the synchronous motor based on the operating information; and a calculation part which performs calculation of optimum parameters tailored to the output specification of the synchronous motor based on the circuit constants.
    Type: Grant
    Filed: February 7, 2019
    Date of Patent: October 13, 2020
    Assignee: FANUC CORPORATION
    Inventors: Kouki Oikawa, Yuuki Morita, Tadashi Okita
  • Patent number: 10740920
    Abstract: Provided is a method including capturing a plurality of images by at least one sensor of a robot; aligning, with a processor of the robot, data of respective images based on an area of overlap between the fields of view of the plurality of images; and determining, with the processor of the robot, based on alignment of the data, a spatial model of the environment.
    Type: Grant
    Filed: October 7, 2019
    Date of Patent: August 11, 2020
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Chen Zhang, Sebastian Schweigert
  • Patent number: 10730180
    Abstract: A teleoperated robotic system that utilizes a graphical user interface (GUI) to perform work on a workpiece(s) using a robot. A coordinate system of the GUI is correlated to the tool center point (TCP) of the robot and the TCP or workspace of a teleoperated member, such as a haptic joystick. Operable manipulation of the teleoperated member is correlated to a movement at a particular location in the robot station, such as movement of the TCP of the robot. The GUI can also provide digital representations of the workpiece, which is based on inputted and/or scanned information relating to a reference workpiece and/or the particular workpiece on which the robot is performing work. The GUI can further provide indications of the various stages of assembly of the workpiece, as well as an indication of work already, or to be, performed on the workpiece.
    Type: Grant
    Filed: November 29, 2017
    Date of Patent: August 4, 2020
    Assignee: ABB Schweiz AG
    Inventors: Gregory F. Rossano, Carlos Martinez, Jianjun Wang, Biao Zhang, Thomas A. Fuhlbrigge
  • Patent number: 10712728
    Abstract: A motor control apparatus includes a memory and a setting selector. The memory is configured to store setting items each relating to a motor, and the setting sequence to sequentially set the setting items. The setting selector is connected to the memory and configured to select a newly selected item from among the setting items based on the setting sequence, a user input, and a currently selected item of the setting items.
    Type: Grant
    Filed: November 20, 2015
    Date of Patent: July 14, 2020
    Assignees: KABUSHIKI KAISHA YASKAWA DENKI, YASKAWA AMERICA, INC.
    Inventors: Yasushi Kibe, William Phillips, Christopher Jaszczolt, Micah Stuedemann
  • Patent number: 10693399
    Abstract: A ripple detection device 10 includes: a current detection part 11 that outputs a variation in an armature current as a voltage variation signal; a first smoothing circuit block 12 that extracts a current ripple component and a noise component from the voltage variation signal and outputs a first smoothing signal S1; a gain adjustment part 13 that adjusts the amplitude of the first smoothing signal S1 and outputs an adjustment signal VCA; a second smoothing circuit block 14 that corrects distortion of the adjustment signal VCA and outputs a second smoothing signal S2; a ripple detection part 15 that extracts only the current ripple component from the second smoothing signal S2 by removing the noise component therefrom and outputs a ripple component signal S0; and a digital signal conversion part 16 that converts the ripple component signal S0 into a digital signal.
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: June 23, 2020
    Assignee: MITSUBA CORPORATION
    Inventor: Yuichi Yanagita
  • Patent number: 10682758
    Abstract: Disclosed is a method for obtaining the inverse kinematics of a six-degree-of-freedom serial robot with an offset wrist. The method uses the analytical solution of the inverse kinematics of the six-degree-of-freedom serial robot with a non-offset wrist as an approximate solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist and an initial point for iteration, and obtains a numerical solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist meeting the accuracy through continuously iterative approaching. The present disclosure has faster convergence and less calculation amount relative to the traditional calculation method, reduces the computation burden for a robot controller, and improves the real-time performance.
    Type: Grant
    Filed: February 9, 2018
    Date of Patent: June 16, 2020
    Assignees: Foshan Huashu Robotics Co., Ltd., Foshan Institute of Intelligent Equipment Technology
    Inventors: Xing Zhou, Tongshu Chen, Shifeng Huang, Simin Chen, Lin Yang, Xugao Deng, Haibin Yang, Qun Wang
  • Patent number: 10684594
    Abstract: A machine learning device performs machine learning with respect to a servo motor controller that converts a three-phase current to a two-phase current of the d- and q-phase. The machine learning device includes: a state information acquisition unit configured to acquire, from the servo motor controller, state information including velocity or a velocity command, reactive current, and an effective current command and effective current or a voltage command; an action information output unit configured to output action information including a reactive current command to the servo motor controller; a reward output unit configured to output a value of a reward of reinforcement learning based on the voltage command or the effective current command and the effective current; and a value function updating unit configured to update a value function on the basis of the output value of the reward, the state information, and the action information.
    Type: Grant
    Filed: February 6, 2019
    Date of Patent: June 16, 2020
    Assignee: FANUC CORPORATION
    Inventors: Yuuki Shirakawa, Satoshi Ikai
  • Patent number: 10661184
    Abstract: A system includes one or more retro-reflective markers positioned within a ride system and a tracking system that may detect the one or more retro-reflective markers to track a position of a rider. The tracking system includes an emitter that may emit light toward the one or more retro-reflective markers, a detector that may detect reflected light from the one or more retro-reflective markers, and a controller that may determine the position of the rider relative to the one or more retro-reflective markers based on detection of the reflected light and that may provide an indication of the position of the rider.
    Type: Grant
    Filed: December 5, 2017
    Date of Patent: May 26, 2020
    Assignee: Universal City Studios LLC
    Inventor: Paula Stenzler
  • Patent number: 10613511
    Abstract: A tool machine servo control simulation device and an establishing method of structure model are provided. The tool machine servo control simulation device includes a structure model and a processor. The structure model includes a position function, a velocity function and a drive property parameter. The processor includes a control signal receiver and a simulation component. The control signal receiver is used for receiving a servo command. The simulation component, response to the servo command, generates a simulation path according to the position function, the velocity function and the drive property parameter.
    Type: Grant
    Filed: December 22, 2017
    Date of Patent: April 7, 2020
    Assignee: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
    Inventors: Jheng-Jie Lin, Jen-Ji Wang, Kuo-Hua Chou, Chien-Chih Liao, Hsiao-Chen Ho
  • Patent number: 10613516
    Abstract: A method generates a machining program defining a trajectory of a tool for a workpiece having a first portion which can be machined with only linear axes followed by a second portion requiring a machining with linear axes and one or two rotational axes. A base code is generated defining the trajectory with, for the first portion, a first path by which relative movement occurs only along the linear axes followed by, for the second portion, a second path by which relative movement occurs along the linear axes and rotational axes. Before execution, the base code is optimized to modify the previously defined trajectory, including: modifying the first path with a relative movement occurring along the axes before starting on the second path; and reconstructing a profile of a kinematic quantity of one or both of the rotational axes on the first path to eliminate discontinuities on the profile.
    Type: Grant
    Filed: April 7, 2017
    Date of Patent: April 7, 2020
    Assignee: WILLEMIN-MACODEL SA
    Inventor: Christophe Prongue
  • Patent number: 10593578
    Abstract: Provided is a technique which performs an RF initialization setting process using a data input/output terminal in an unmanned transporting device without providing a separate terminal to build an RF communication based automated material handling system while minimizing a structural change of an optical communication based unmanned transporting device which has been already provided.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: March 17, 2020
    Inventor: Hak Seo Oh
  • Patent number: 10580676
    Abstract: A robot system includes a robot including a first hand, a second hand, an arm mechanism, and an elevator. The first hand is to hold a substrate. The second hand is to hold the substrate. The arm mechanism supports the first hand and the second hand to provide a height difference between the first hand and the second hand in a height direction of the robot. The elevator is to move the arm mechanism in the height direction within a moving range larger than the height difference. Both the first hand and the second hand put the substrate in the holder. Circuitry is configured to control the robot to move the arm mechanism in the height direction by the elevator to pass the substrate from the first hand to the second hand via the holder.
    Type: Grant
    Filed: March 7, 2017
    Date of Patent: March 3, 2020
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Takashi Minami, Yoshiki Kimura
  • Patent number: 10572724
    Abstract: An activity recognition system is disclosed. A plurality of temporal features is generated from a digital representation of an observed activity using a feature detection algorithm. An observed activity graph comprising one or more clusters of temporal features generated from the digital representation is established, wherein each one of the one or more clusters of temporal features defines a node of the observed activity graph. At least one contextually relevant scoring technique is selected from similarity scoring techniques for known activity graphs, the at least one contextually relevant scoring technique being associated with activity ingestion metadata that satisfies device context criteria defined based on device contextual attributes of the digital representation, and a similarity activity score is calculated for the observed activity graph as a function of the at least one contextually relevant scoring technique, the similarity activity score being relative to at least one known activity graph.
    Type: Grant
    Filed: February 25, 2019
    Date of Patent: February 25, 2020
    Assignee: Nant Holdings IP, LLC
    Inventors: Kamil Wnuk, Nicholas J. Witchey
  • Patent number: 10569784
    Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.
    Type: Grant
    Filed: September 28, 2017
    Date of Patent: February 25, 2020
    Assignee: Waymo LLC
    Inventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Nolan McPeek-Bechtold
  • Patent number: 10547327
    Abstract: Self-configuring error control coding in a memory device provides flexibility in terms of decoding latency, mis-correct probability, and bit-error rate performance, and avoids labor-intensive trial-and-error configuration of decoding algorithm tuning parameters, such as bit flip algorithm thresholds and syndrome-weight maps. A self-configuring decoder for error control coding allows dynamic trading of error floor performance for error rate performance and vice versa based on the performance characteristics of the decoding process.
    Type: Grant
    Filed: June 23, 2017
    Date of Patent: January 28, 2020
    Assignee: INTEL CORPORATION
    Inventors: Poovaiah Manavattira Palangappa, Ravi H. Motwani
  • Patent number: 10540889
    Abstract: A system for enabling both the remote monitoring and receipt of remote change-of-door status commands, via the Internet, of the open or closed status of the garage door. The system includes an encoder generating signal pulses as a function of the motor and garage door movement. A microprocessor processes the signal pulses to generate digital pulses indicative of the open or closed status of the garage door, which status is wirelessly transmitted, via the Internet, for remote monitoring. Change-of-door status commands remotely transmitted, via the Internet, are received by the system to activate a warning and delayed change of door status.
    Type: Grant
    Filed: November 1, 2017
    Date of Patent: January 21, 2020
    Assignee: GMI Holdings, Inc.
    Inventors: Tim Ikeler, Leroy G. Krupke, Brent Buescher, Brent Alan Rauscher, Gregory D. Matias, Michael Dragomier
  • Patent number: 10536106
    Abstract: A control device capable of continuously operating an electric motor even when an abnormality occurs in a fan. The control device includes: a cooling operation information acquisition section configured to acquire cooling operation information of the fan; a cooling operation determination section configured to determine whether the cooling operation information indicates a normal cooling operation; a running information acquisition section configured to acquire running information of the electric motor; and a running control section configured to, in accordance with a determination that the cooling operation information does not indicate the normal cooling operation, control an operation of the electric motor to be in an overheat-prevented state by referring to the running information.
    Type: Grant
    Filed: June 15, 2018
    Date of Patent: January 14, 2020
    Assignee: FANUC CORPORATION
    Inventor: Masaki Miura
  • Patent number: 10528035
    Abstract: A numerical controller of the present invention includes a parameter setting unit which accepts settings of punch press parameters, an NC parameter calculating unit which calculates an axis control parameter in punch pressing based on the punch press parameters, a parameter storage unit which stores the punch press parameters and the axis control parameter, a command analyzing unit which analyzes a command block in the program to generate movement command data, an interpolating unit which generates interpolation data based on the movement command data, and an accelerating and decelerating unit which calculates a linear acceleration and deceleration time constant and a bell-shaped acceleration and deceleration time constant for use in axis control based on the punch press parameters, the axis control parameter, and a feed rate specified by the command block and performs post-interpolation acceleration or deceleration processing based on each of the calculated acceleration and deceleration time constants.
    Type: Grant
    Filed: December 21, 2016
    Date of Patent: January 7, 2020
    Assignee: Fanuc Corporation
    Inventors: Hiroki Hokazono, Takashi Satou, Takeshi Mochida
  • Patent number: 10522370
    Abstract: A substrate processing apparatus includes a substrate stage that supports a substrate, a follower stage disposed on a same plane as the substrate stage, a first driving unit that moves the follower stage in parallel with a first direction, and a second driving unit that moves the substrate stage in parallel with the first direction. The second driving unit includes a voice magnet member disposed on the substrate stage, and a voice coil member disposed on the follower stage and spaced apart from the voice magnet member.
    Type: Grant
    Filed: April 7, 2017
    Date of Patent: December 31, 2019
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Sang-Hyun Park, Kazuya Ono, Jung Jae Kim