Program- Or Pattern-controlled Systems Patents (Class 318/567)
  • 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: 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: 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: 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: 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: 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: 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: 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: 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: 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
  • Patent number: 10513032
    Abstract: A method of controlling a robotic arm with human-computer interaction, and terminal and system for the same are provided. The method of controlling the robotic arm with human-computer interaction includes: virtualizing a robotic arm to provide a virtual robotic arm having at least two movable nodes on a screen, and designating a distal movable node of the at least two movable nodes as a target node; when the target node is triggered, responding to a drag-and-drop operation by a user and generating a moving path according to a path of the drag-and-drop operation on the target node; and generating a controlling signal for controlling a motion of the robotic arm based on the moving path, and controlling the robotic arm to move according to a motion of the virtual robotic arm based on control of the controlling signal.
    Type: Grant
    Filed: August 4, 2017
    Date of Patent: December 24, 2019
    Assignee: Shenzhen XiaoR Geek Technology Co., Ltd
    Inventors: Hui Liu, Xing Huang
  • Patent number: 10500722
    Abstract: A method includes maneuvering a robot in (i) a following mode in which the robot is controlled to travel along a path segment adjacent an obstacle, while recording data indicative of the path segment, and (ii) in a coverage mode in which the robot is controlled to traverse an area. The method includes generating data indicative of a layout of the area, updating data indicative of a calculated robot pose based at least on odometry, and calculating a pose confidence level. The method includes, in response to the confidence level being below a confidence limit, maneuvering the robot to a suspected location of the path segment, based on the calculated robot pose and the data indicative of the layout and, in response to detecting the path segment within a distance from the suspected location, updating the data indicative of the calculated pose and/or the layout.
    Type: Grant
    Filed: March 7, 2017
    Date of Patent: December 10, 2019
    Assignee: iRobot Corporation
    Inventor: Jasper Vicenti
  • Patent number: 10496072
    Abstract: A temperature of a portion of which the temperature is difficult to directly measure is accurately estimated in a simple method. In S1, information about a coolant discharging/stopping state is obtained. As the information about the coolant discharging/stopping state, a flag is used such that the flag represents 1 for the discharging state and the flag represents 0 for the stopping state. Next, in S2, temperature data is obtained from temperature sensors provided in components of a machine tool, a machining space, and a coolant tank. Next, in S3, lag process is performed for the coolant discharging/stopping state flag, and coefficients for measured temperatures of the coolant and the structure are calculated. Next, in S4, the measured temperatures are multiplied by the coefficients, and an estimated temperature of a portion to which the temperature sensor is not attached is calculated.
    Type: Grant
    Filed: November 3, 2017
    Date of Patent: December 3, 2019
    Assignee: Okuma Corporation
    Inventor: Yuji Mizoguchi
  • Patent number: 10493992
    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: December 3, 2019
    Assignee: Waymo LLC
    Inventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash
  • Patent number: 10488869
    Abstract: Various embodiments provide for platooning control via accurate synchronization that will not result in string instability. Some embodiments provide a distributed control scheme for platoon motion control that provides a decentralized implementation of the leader information controller. These control techniques are able to manage the performance of the string of vehicles by maintaining a desired spacing distance between any two successive vehicles in the presence of communications induced delays. In order to regulate the spacing between a vehicle and its predecessor in the string, every vehicle (with the exception of the leader vehicle) uses the relative distance from itself to its predecessor (e.g., as measured using a laser ranging sensor) and a control signal of the predecessor (e.g., received via a wireless link). Various embodiments are capable of dealing with non-homogeneous strings of vehicles and non identical controllers for each vehicle in the string.
    Type: Grant
    Filed: April 21, 2017
    Date of Patent: November 26, 2019
    Inventor: Serban Sabau
  • Patent number: 10478970
    Abstract: An object is prevented from being sandwiched between robot arms without the occurrence of unintentional operating restrictions of the robot arms. Provided is a robot system including: a robot body that is provided with at least two links that are relatively moved by at least one joint; a sensor that detects the distances from mutually opposed surfaces of the at least two links to an object inserted between the surfaces; and a control unit that performs an interference avoidance operation if the distances detected by the sensor are less than a predetermined threshold.
    Type: Grant
    Filed: February 26, 2018
    Date of Patent: November 19, 2019
    Assignee: FANUC CORPORATION
    Inventors: Tsuyoshi Hannya, Hiroaki Yamamoto, Takatoshi Iwayama
  • Patent number: 10444256
    Abstract: The invention pertains to a device and system which uses printed circuit board metrology to accurately measure relative motion between surfaces in one or more dimensions. The invention comprises a system on a chip (SOC) to periodically measure, log, and transmit relative motion data in an automated fashion either wired or wirelessly, allowing long term measurement of moving surfaces such as foundation movement, bridge movement, concrete movement, structural system movement, excavation movement, slope monitoring or tree growth monitoring.
    Type: Grant
    Filed: August 7, 2015
    Date of Patent: October 15, 2019
    Assignee: Structural Health Data Systems
    Inventors: Ottis Charles Foster, Scott Miles Langerman, John Edward Fitch
  • Patent number: 10444737
    Abstract: A numerical controller operates a machine tool based on a plurality of parameters and a machining program. A user is allowed to refer to a parameter that has not been set, in other words, a parameter not falling within the range of recommended setting values, among parameters that may influence the shortening of a cycle time of the operation of the machining program on a display screen. For this reason, the user can use the parameter as a reference for reviewing the parameter setting for the purpose of shortening the cycle time or the like.
    Type: Grant
    Filed: November 3, 2015
    Date of Patent: October 15, 2019
    Assignee: FANUC Corporation
    Inventors: Takuya Saitou, Koichi Murata, Mamoru Kubo
  • Patent number: 10439520
    Abstract: According to an aspect of the invention, a motor stop control method of a motor stop control apparatus which includes an arithmetic control unit and a detection unit. The arithmetic control unit has a stop start position at which a stop control is started from a position which is a predetermined angle before a target position at which a motor stops. The arithmetic control unit calculates a rotational speed of the motor at the stop start position on the basis of a detection value of the detection unit, and a stop time at which the rotational speed of the motor reaches zero from the stop start position on the basis of a deceleration line indicating a change in the rotational speed of the motor, the rotational speed of the motor, and the predetermined angle.
    Type: Grant
    Filed: January 17, 2018
    Date of Patent: October 8, 2019
    Assignees: NIDEC CORPORATION, NIDEC COPAL CORPORATION
    Inventors: Osamu Okazaki, Yuji Tanaka
  • Patent number: 10434642
    Abstract: A mechanical arm and an operation method thereof, a mechanical arm device and a manufacturing equipment of a display panel are disclosed. The mechanical arm includes an arm main body, a bearing section and a first driver. The bearing section is arranged at a first end of the arm main body, and is movably connected with the first end of the arm main body, the bearing section includes a first bearing surface; and the first driver is arranged at the first end of the arm main body, and is connected with the bearing section to drive the bearing section at least to rotate parallel to the first bearing surface.
    Type: Grant
    Filed: November 30, 2017
    Date of Patent: October 8, 2019
    Assignees: BOE Technology Group Co., Ltd., Hefei Xinsheng Optoelectronics Technology Co., Ltd.
    Inventors: Aihua Lei, Erqing Zhu, Jun Zhang, Wei Shang
  • Patent number: 10409256
    Abstract: Provided is a tool-path generating device that includes a point-sequence generating unit that generates a point sequence that represents a tool path on the basis of a machining program, and a smoothing unit that smooths the generated point sequence. The smoothing unit includes a filter-length setting unit that sets filter lengths that are applied to the points such that a pre/post-smoothing divergence amount of each point in the point sequence is equal to or less than a first threshold, a filter-length changing unit that changes the set filter lengths such that an absolute value of a difference between the filter lengths applied to adjacent points in the point sequence is equal to or less than a second threshold, and a filter processing unit that performs filter processing on the basis of the changed filter lengths.
    Type: Grant
    Filed: October 20, 2017
    Date of Patent: September 10, 2019
    Assignee: FANUC CORPORATION
    Inventors: Hiroki Murakami, Souichirou Ide, Osamu Hanaoka
  • Patent number: 10401835
    Abstract: A numerical controller for performing table-format-data-based operation control includes a reading unit that analyzes a command block read from table format data to acquire a reference value and a coordinate value of a control point and outputs the reference value and the coordinate value, a segment distinction unit that divides movement to the control point into acceleration/deceleration segments and a constant speed segment, a feed speed calculation unit that calculates a feed speed in the constant speed segment, and a distribution process unit that calculates the travel of a controlled axis for each control cycle so that acceleration/deceleration is applied in the acceleration/deceleration segments and the feed speed calculated by the feed speed calculation unit is achieved, and delay in the coordinate value with respect to the reference value based on the acceleration/deceleration control is corrected by using the feed speed calculated by the feed speed calculation unit.
    Type: Grant
    Filed: June 23, 2016
    Date of Patent: September 3, 2019
    Assignee: FANUC CORPORATION
    Inventor: Akira Kanemaru
  • Patent number: 10394246
    Abstract: Embodiments provide a plurality of personalized, user selectable styles. Each style is determined by a combination of dimensions. Each style, except the default balanced style, prioritizes one of the dimensions over the other cleaning dimensions. In one embodiment, the styles are cleaning styles and the cleaning dimensions are cleaning time, coverage and obstacle avoidance. The cleaning styles are gentle, fast, thorough and balanced. The gentle style protects expensive furniture, with obstacle avoidance prioritized over cleaning time and coverage. The fast style cleans quickly, prioritizing cleaning time over coverage and obstacle avoidance. The thorough style prioritizes coverage over cleaning time and obstacle avoidance. The balanced style prioritizes all three cleaning dimensions substantially the same. The prioritization is achieved through adjustments to the autonomous robot navigation. User selection of a style can be achieved directly or automatically based on various mechanisms, such as user history.
    Type: Grant
    Filed: March 31, 2017
    Date of Patent: August 27, 2019
    Assignee: Neato Robotics, Inc.
    Inventors: Lilia Moshkina-Martinson, Kristen Holtz
  • Patent number: 10379542
    Abstract: The invention relates to a location and mapping device intended for being installed in a mobile vehicle in an environment comprising a plurality of zones, with: a receiving module (11) designed to receive data of the position (d(a)) of obstacles relative to the vehicle; a processing module (12, 14) designed to determine, in accordance with the data received (d(a)) and for a plurality of zones positioned relative to the vehicle, measurement values (M_SCANt,i) that respectively represent a likelihood of occupation of the zone in question, a likelihood of non-occupation of the zone in question and a likelihood of not knowing the zone in question; a mapping module (18, 20) designed to build, for each zone of said plurality of zones of the environment, values (M_GRIt,k) which respectively represent a likelihood of occupation of the zone in question, a likelihood of non-occupation of the zone in question and a likelihood of not knowing the zone in question; and a location module (16) designed to determine the posit
    Type: Grant
    Filed: August 28, 2015
    Date of Patent: August 13, 2019
    Assignee: Valeo Schalter und Sensoren GmbH
    Inventors: Guillaume Trehard, Evangeline Pollard, Fawzi Nashashibi, Benazouz Bradai
  • Patent number: 10379723
    Abstract: A machining program editing apparatus that enables a machining program to be edited accurately in a short time, and a machine tool having the same, are provided. A machining program editing apparatus 1 for editing a machining program of a machine tool 10 includes a control means 5 for controlling the display content of a display means 3 for displaying the machining program. When a preset NC code, among the NC codes included in the machining program, is selected on the display means 3, the control means 5 allows an edit window 7 for inputting an editing content, according to the type of the NC code, to be displayed near the display position of the NC code.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: August 13, 2019
    Assignee: DMG MORI CO., LTD.
    Inventors: Hironari Sakamoto, Takashi Yamamoto
  • Patent number: 10363639
    Abstract: A lifting device for transporting a component from a first position to a second position is provided. The second position is defined relative to a destination datum feature. The lifting device includes a computing device and an arm having a clamp mechanism and a locator mechanism. The arm is selectively movable to engage the component, removably couple the component to the arm using the clamp mechanism, and facilitate transport of the component to the second position. The locator mechanism includes a datum feature that interacts with the destination datum feature to transmit a signal to the computing device to indicate the component is at the second position.
    Type: Grant
    Filed: October 23, 2015
    Date of Patent: July 30, 2019
    Assignee: Honda Motor Co., Ltd.
    Inventors: Benjamin Barton MacArthur, Sasha Begovic, Robert Johan Mogensen
  • Patent number: 10339233
    Abstract: Systems and a method for calculating thickness values of a coating material applied by a coating gun on object surfaces in industrial processes include measuring, on real test surfaces, the thickness values of coating material samples applied by the coating gun on the real test surfaces. The measured thickness values are used to generate 3D virtual objects modeling the coating dispersions of the coating gun at given angles formed between the coating gun and the test surface. The thickness values of the coating material applied on the surface of a simulated object by a simulated gun at a certain angle are calculated by detecting the collision between the 3D virtual object mounted on the simulated coating gun and surface elements of the simulated object surface.
    Type: Grant
    Filed: July 27, 2015
    Date of Patent: July 2, 2019
    Assignee: Siemens Industry Software Ltd.
    Inventors: Dror Davidi, Moshe Hazan, Rahav Madvil
  • Patent number: 10278310
    Abstract: An assistance apparatus according to the disclosure generates monitor area data on the basis of dimension data of rack rows that are each constituted by a plurality of racks and that are arranged in a first direction in a three-dimensional space, the dimension data including the length of each rack row in the first direction and the height thereof in a second direction perpendicular to the first direction, interval data that includes an interval, in a third direction, between the rack rows adjacent to each other in the third direction, the third direction being perpendicular to the first and second directions, field-of-view angle data that includes the field-of-view angle of each temperature sensor, and temperature sensor position data that indicates certain temperature sensor positions; and includes a display control unit that displays monitor coverage information on a display device on the basis of the monitor area data.
    Type: Grant
    Filed: March 27, 2017
    Date of Patent: April 30, 2019
    Assignee: AZBIL CORPORATION
    Inventor: Kei Koga