Mobile Robot Patents (Class 318/568.12)
  • Patent number: 10383497
    Abstract: A robot and a controlling method thereof are provided. The robot includes a driver unit configured to move a location of the robot, a sensor unit configured to sense an environment around the robot, and a controller configured to, in response to the location of the robot being changed by a user, check a current location of the robot by using the environment of the changed location sensed by the sensor unit and pre-stored map information, determine a task to be performed, based on the checked location and the environment of the changed location, and control the driver unit according to the determined task.
    Type: Grant
    Filed: April 13, 2016
    Date of Patent: August 20, 2019
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Seung-beom Han, Myung-sik Kim, Jong-hoon Lim
  • Patent number: 10354150
    Abstract: According to one embodiment, an apparatus for generating an occupancy grid map constituted with a two-dimensional grid around a first moving body includes processing circuitry configured to acquire data of a distance from the first moving body to an obstacle lying in surroundings of the first moving body; acquire first information indicating the movement status of the first moving body at current time and determine an operation mode of the first moving body; set a range of interest in a grid of a resolution higher than a resolution of the grid of the occupancy grid map, from the operation mode; and align the occupancy grid map to the range of interest and generate the occupancy grid map in such a manner that the obstacle exists in the grid of the occupancy grid map and the grid of the range of interest with respect to a position corresponding to the distance data.
    Type: Grant
    Filed: September 8, 2016
    Date of Patent: July 16, 2019
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Masaki Yamazaki, Tsuyoshi Tasaki, Rie Katsuki, Tomoki Watanabe, Masahiro Sekine, Manabu Nishiyama
  • Patent number: 10335949
    Abstract: Disclosed are a system for operating a mobile robot based on cleaning area information and a method thereof. A mobile robot based on cleaning area information according to an exemplary embodiment of the present invention includes a memory which stores a plurality of cleaning area information in which at least a part of a cleaning available area is changed; and a controller which controls to select one cleaning area information among the plurality of stored cleaning area information, recognize a position on a cleaning area map which configures the selected cleaning area information and perform cleaning on the cleaning available area from the recognized position.
    Type: Grant
    Filed: January 19, 2017
    Date of Patent: July 2, 2019
    Inventors: Kyung Chul Shin, Seong Ju Park, Yeong il Choe, Jae Young Lee, Byung Kwon Moon, Myung Kyo Jeong
  • Patent number: 10307199
    Abstract: The present invention relates to robotic surgical devices. More specifically, the present invention relates to robotic surgical devices that can be inserted into a patient's body and can be positioned within the patient's body.
    Type: Grant
    Filed: February 9, 2015
    Date of Patent: June 4, 2019
    Assignee: Board of Regents of the University of Nebraska
    Inventors: Shane Farritor, Amy Lehman, Nathan A. Wood, Mark Rentschler, Jason Dumpert, Dmitry Oleynikov
  • Patent number: 10304105
    Abstract: A shopping guide robot system and an associated customer identification notification method. The system comprises the shopping guide robot and a background service terminal. A body of the shopping guide robot has a control unit, a movement unit, a communication module and a camera unit that collect images. The control unit has a customer identification module, which identifies a human face in an image and sends a first signal after determining that the human face is a customer. The control unit receives the first signal and sends a second signal to the background service terminal through the communication module. The background service terminal receives the second signal and sends a notification signal. In this manner, background personnel does not need to stare at a monitoring screen constantly to view whether a customer needs to be served. A background automatically prompts whether a customer enters or needs help, reducing work strength.
    Type: Grant
    Filed: December 31, 2014
    Date of Patent: May 28, 2019
    Assignee: ECOVACS ROBOTICS CO., LTD.
    Inventor: Jinju Tang
  • Patent number: 10303166
    Abstract: Among other things, a command is received expressing an objective for operation of a vehicle within a denominated travel segment of a planned travel route. The objective spans a time series of (for example, is expressed at a higher or more abstract level than) control inputs that are to be delivered to one or more of the brake, accelerator, steering, or other operational actuator of the vehicle. The command is expressed to cause operation of the vehicle along a selected man-made travel structure of the denominated travel segment. A feasible manner of operation of the vehicle is determined to effect the command. A succession of control inputs is generated to one or more of the brake, accelerator, steering or other operational actuator of the vehicle in accordance with the determined feasible manner of operation.
    Type: Grant
    Filed: May 23, 2016
    Date of Patent: May 28, 2019
    Assignee: nuTonomy Inc.
    Inventor: Karl Iagnemma
  • Patent number: 10282593
    Abstract: Intelligent systems capable of automatic localization and methods using the same are disclosed. An intelligent system includes an intelligent robot and a plurality of face recognition devices each in a wireless connection with the intelligent robot. Each face recognition device is disposed at the entrance of a room, and is configured to identify face information of people in the room and transmit the face information to the intelligent robot. The intelligent robot thus updates a database according to the face information and automatically identifies a location of a subject to be served based on the database. Thus, the present disclosure can automatically identify the location of the subject to be served.
    Type: Grant
    Filed: April 18, 2016
    Date of Patent: May 7, 2019
    Assignee: HUIZHOU TCL MOBILE COMMUNICATION CO., LTD
    Inventors: Yu Zheng, Ling Ma
  • Patent number: 10282995
    Abstract: A collision avoidance method and system for a mobile robot crossing a road. When a mobile robot approaches a road, it senses road conditions via at least one first sensor, and initiates road crossing if the road conditions are deemed suitable for crossing. As it crosses the road, the mobile robot senses, via at least one second sensor, a change in the road conditions indicating the presence of at least one hazardous moving object. In response to determining that at least one hazardous object in present, the mobile robot initiates a collision avoidance maneuver. A mobile robot configured to avoid collisions while crossing a road includes: at least one first sensor configured to sense road conditions, at least one second sensor configured to sense road conditions, and a processing component configured to carry out one or more collision avoidance maneuvers.
    Type: Grant
    Filed: September 5, 2017
    Date of Patent: May 7, 2019
    Assignee: Starship Technologies OÜ
    Inventors: Ahti Heinla, Risto Reinpõld, Kristjan Korjus
  • Patent number: 10160505
    Abstract: An example implementation may involve a robot foot having a bottom surface and an edge portion extending around at least a portion of a perimeter of the foot, where the edge portion meets the bottom surface at the perimeter, where the edge portion surrounds a volume extending from the bottom surface of the foot to a top surface of the edge portion, and where the edge portion of the foot is composed of a first material. The foot may also include an interior portion located adjacent to the edge portion, where the interior portion of the foot fills the volume, and where the interior portion is composed of a second material that is more compliant than the first material.
    Type: Grant
    Filed: April 6, 2016
    Date of Patent: December 25, 2018
    Assignee: Schaft Inc.
    Inventors: Junichi Urata, Masaki Hamafuji
  • Patent number: 10150215
    Abstract: A robot control device controls the operation of a robot including a base; a robot arm that has at least three links, at least three joint portions, and at least three drive sources; an inertia sensor; and at least three angle sensors. The robot control device includes a first coordinate system vibration calculation unit; a second coordinate system vibration calculation unit; a weighting unit; a third coordinate system vibration calculation unit; a correction value calculation unit that obtains correction values for correcting the respective drive commands of the drive sources based on vibration information in a third coordinate system, and the respective detected results of the angle sensors; and a drive source control unit that controls the operations of the drive sources based on the respective drive commands of the drive sources, the correction values, and the respective detected results of the angle sensors.
    Type: Grant
    Filed: July 11, 2016
    Date of Patent: December 11, 2018
    Assignee: Seiko Epson Corporation
    Inventor: Masaki Motoyoshi
  • Patent number: 10118298
    Abstract: A lower body supporting robot system includes a lower body mechanism being worn on a user's lower body, the lower body mechanism including a plurality of joints and links and a drive device, a distance calculator for measuring a first distance that is a vertical distance to an object located therebelow and a second distance that is a vertical distance to a ground surface, a memory for storing a limit distance that is a vertical distance between the distance calculator and the ground surface when the lower body mechanism is in a lowest sitting posture, and a controller for calculating a tolerance distance that is a difference between the second distance and the limit distance, comparing the first distance with the tolerance distance, and controlling the drive device so that the distance calculator moves by the first distance when the first distance is less than the tolerance distance.
    Type: Grant
    Filed: November 3, 2016
    Date of Patent: November 6, 2018
    Assignee: HYUNDAI MOTOR COMPANY
    Inventors: Sang In Park, Kyung Mo Jung, Dong Jin Hyun, Hyun Seop Lim
  • Patent number: 10114373
    Abstract: A method of operation of a navigation system includes: determining detected information for representing a maneuverable object detected using a device; identifying a directional portion based on the detected information for representing directional portion controlling an object travel vector of the maneuverable object; and calculating with a control circuit an estimated trajectory profile based on the directional portion for predicting movement of the maneuverable object.
    Type: Grant
    Filed: May 17, 2016
    Date of Patent: October 30, 2018
    Assignee: Telenav, Inc.
    Inventor: Alexander G. Glebov
  • Patent number: 10112306
    Abstract: An auto re-directing robot able to adjust its moving paths automatically and a method thereof are disclosed in present invention. The auto re-directing robot has a control module, which may generate a signal standard value according to the bounced-back signals from an obstacle. Then, the control module determines a keep-away distance between the robot and the obstacle. In the case, the robot needs not to touch the obstacle repeatedly for determining whether it should change its moving path. In addition, when the robot encounters obstacles with different properties, the robot can adapt to change its paths automatically based on the properties of the obstacles.
    Type: Grant
    Filed: October 13, 2015
    Date of Patent: October 30, 2018
    Inventor: Jason Yan
  • Patent number: 10092850
    Abstract: A robot with an elastic, spherically-shaped body with controlled bouncing locomotion. This robot may be called “a robotic bouncing ball.” The robotic bouncing ball can be used to provide a new class of robotic characters that are ball-like, and these new robotic characters bounce in place and from one location to another. The spherical body will typically be formed with a thin wall of elastic material such as a rubber or the like, and a drive or actuator assembly along with a local controller and a power source are positioned in the interior space of the hollow body. The controller controls the drive assembly to cause the spherical body to bounce up and down vertically and to provide horizontal/lateral movement of the spherical body through the applications of deforming and/or reforming forces on the elastic outer wall.
    Type: Grant
    Filed: July 12, 2017
    Date of Patent: October 9, 2018
    Assignees: Disney Enterprises, Inc., The California Institute of Technology
    Inventors: Lanny S. Smoot, Gunter D. Niemeyer, Aaron D. Ames, David Loyal Christensen
  • Patent number: 10071484
    Abstract: A remote control station that controls a robot through a network. The remote control station transmits a robot control command that includes information to move the robot. The remote control station monitors at least one network parameter and scales the robot control command as a function of the network parameter. For example, the remote control station can monitor network latency and scale the robot control command to slow down the robot with an increase in the latency of the network. Such an approach can reduce the amount of overshoot or overcorrection by a user driving the robot.
    Type: Grant
    Filed: August 29, 2016
    Date of Patent: September 11, 2018
    Assignee: INTOUCH TECHNOLOGIES, INC.
    Inventors: Amante Mangaser, Jonathan Southard, Marco Pinter, John Cody Herzog, Charles Steve Jordan, Yulun Wang, James Rosenthal
  • Patent number: 10065314
    Abstract: A manipulation platform includes a navigation system, manipulation arm, and one or more area sensors. The navigation unit locates a position of the manipulation platform, and a manipulation arm has a device or a collection sensor. The area sensors acquire data representative of at least a portion of an area in which the manipulation platform is located. Processors determine or predict a presence of an external object within a manipulation range of the manipulation arm using the data acquired by the one or more area sensors. The processors respond to a determination of the external body being, or being predicted to be, within the manipulation range by controlling one or more of the manipulation arm or the manipulation platform.
    Type: Grant
    Filed: July 21, 2016
    Date of Patent: September 4, 2018
    Assignee: GENERAL ELECTRIC COMPANY
    Inventors: Tai-Peng Tian, Charles Theurer, Balajee Kannan, Huan Tan, Arpit Jain, Guiju Song
  • Patent number: 10059393
    Abstract: An anti-falling method during power outage includes: transmitting first controlling signals to a first leg mechanism and a second leg mechanism to control a first leg and a second leg of the robot to be perpendicular to ground upon determining a power outage condition; transmitting second controlling signals to the first leg mechanism and/or the second leg mechanism to control the first leg and/or the second leg of the robot; controlling the first leg and/or the second leg to move the center of gravity of the robot close to the ground; transmitting third controlling signals to the first leg mechanism and the second leg mechanism to stop movements of the first leg mechanism and the second leg mechanism upon determining a stop condition.
    Type: Grant
    Filed: June 26, 2017
    Date of Patent: August 28, 2018
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Xiongxing Zha
  • Patent number: 10055108
    Abstract: An example implementation may involve a device of a multi-zone media playback system displaying a control interface that is associated with a first zone of the media playback system, where the media playback system further includes a second zone. The implementation may also involve the device determining that it is outside of a threshold proximity to the first zone. The method may further involve displaying (i) an indication that the first zone is under control of the device, and (ii) an indication that the device is outside of the threshold proximity to the first zone.
    Type: Grant
    Filed: April 8, 2015
    Date of Patent: August 21, 2018
    Assignee: Sonos, Inc.
    Inventor: Paul Andrew Bates
  • Patent number: 10031524
    Abstract: A method and a device for controlling a gait of a biped robot. The method includes: selecting gait controlling parameters, and acquiring a movement trajectory of a center of mass when a zero moment point of the biped robot is located within a steady area; obtaining first numerical values of each of the gait controlling parameters of the center of mass and second numerical values of the center of mass; setting a first constraint condition when the step starting phase ends by using the first numerical values, and setting a second constraint condition when the step ending phase starts by using the second numerical values; calculating the movement trajectories of the center of mass in the step starting phase and the step ending phase on the basis of the first constraint condition and the second constraint condition, respectively; and controlling a walking of the biped robot.
    Type: Grant
    Filed: September 5, 2016
    Date of Patent: July 24, 2018
    Assignee: GOERTEK INC.
    Inventor: Pengcheng Su
  • Patent number: 10031527
    Abstract: A robotic work tool system (200) comprising a robotic work tool (100) comprising a collision detection sensor (190), said collision detection sensor (190) comprising a first sensor element (191) and a plurality of second sensor elements (192), wherein said first sensor element (191) is movably arranged with respect to said plurality of second sensor elements (192), wherein said robotic work tool (100) is configured to detect that said first sensor element (191) is proximate a peripheral second sensor element (192) and in response thereto determine that a collision has been detected, and detect that said first sensor element (191) is not proximate any peripheral second sensor element (192) and in response thereto determine that a lift has been detected.
    Type: Grant
    Filed: February 3, 2014
    Date of Patent: July 24, 2018
    Assignee: HUSQVARNA AB
    Inventor: Jonathan Björn
  • Patent number: 9980842
    Abstract: Intentions of a user are read from movements of the joints of the user without the use of a myoelectric sensor, and a force to support motions of the user is generated. Even if there is friction that is difficult to model in a gear portion of a joint actuator, the friction is compensated for, and joint units are controlled to follow an idealized mathematical model. In this manner, the force to support motions is generated, without giving any uncomfortable feeling to the joints of the user wearing the device. When motions of the user are supported, a mathematically-determined torque is applied to the joint units, so that a natural supporting force is constantly provided to the user in various circumstances.
    Type: Grant
    Filed: July 3, 2012
    Date of Patent: May 29, 2018
    Assignee: SONY CORPORATION
    Inventor: Kenichiro Nagasaka
  • Patent number: 9965962
    Abstract: An Aerial Robotics Network (ARN) Management Infrastructure (MI) (also referred to as ARNMI) that provides a mechanism for the management of aerobots.
    Type: Grant
    Filed: November 12, 2015
    Date of Patent: May 8, 2018
    Assignee: Skyward IO, Inc.
    Inventors: X, Jonathan Evans, Andrew McCollough, Dana Maher, Jake Nylund, Eric Miller, Chase Fiedler
  • Patent number: 9962148
    Abstract: A system and method for performing surgical procedures within a body cavity, e.g. abdomen, uses a magnetized device is utilized to allow a surgeon to control intra-abdominal organs and objects. The system and method allows a surgeon to perform an intra-abdominal procedure without the need to position surgical tools inside of the body cavity. Additional surgical ports are not necessary as the magnetized device allows the surgeon to retract or position various objects within the abdomen.
    Type: Grant
    Filed: October 21, 2015
    Date of Patent: May 8, 2018
    Assignee: Attractive Surgical, LLC
    Inventor: Todd Deutch
  • Patent number: 9914218
    Abstract: In one embodiment, a method for responding to a detected event by a robot is provided. The method includes using a sensor to detect an event within an operational space of a robot. The event includes a movement of an object or a person within the operational space. The method also includes using a processor to predict an action to occur within the operational space of the robot based upon the detected event. The method also identifies at least one correlated robot action to be taken in response to the detected event and compares the predicted action to a movement plan of the robot. The method further selects at least one of the correlated robot actions and modifies a movement plan of a robot to include at least one of the identified correlated robot actions in response to the detected event.
    Type: Grant
    Filed: January 30, 2015
    Date of Patent: March 13, 2018
    Assignee: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.
    Inventor: Yasuhiro Ota
  • Patent number: 9899025
    Abstract: Non-acoustic data from a vicinity of speech input is obtained. A subject speaker is identified as the source of the speech input from the obtained non-acoustic data by detecting mouth motion on one or more faces segmented from the non-acoustic data by comparing a first pixel intensity associated at a first time with a second pixel intensity at a second time, and selecting a face corresponding to the subject speaker from the one or more faces in response to a determination that a number of significantly changed pixels between the first pixel intensity and the second pixel intensity exceeds a threshold. A demographic is assigned to the subject speaker based on an analysis of one or more non-acoustic attributes of the subject speaker extracted from the non-acoustic data. The speech input is processed using a speech recognition system adjusted using a model selected based on the demographic.
    Type: Grant
    Filed: July 2, 2015
    Date of Patent: February 20, 2018
    Assignee: International Business Machines Corporation
    Inventors: Jonathan H. Connell, II, Etienne Marcheret
  • Patent number: 9895815
    Abstract: A multiple joint robot includes a movable body, a motor for generating power to actuate the movable body, a motor housing for accommodating the motor, and a cooling structure for dissipating heat generated from the motor. The cooling structure includes a heat conductor in the motor housing, and the heat conductor forms a heat conductive path for transmitting heat from the motor to the motor housing. The heat conductor has a first surface in contact with a heat generating surface of the motor and a second surface in contact with an inner surface of the motor housing. A position of the heat conductor can be adjusted to form the heat conductive path by sliding the first surface and/or the second surface along the opposed heat generating surface or inner surface.
    Type: Grant
    Filed: May 12, 2016
    Date of Patent: February 20, 2018
    Assignee: FANUC CORPORATION
    Inventor: Hideyuki Watanabe
  • Patent number: 9889566
    Abstract: A robot system and method are provided that move an articulable arm relative to a target object. Perception information corresponding to a position of the arm relative to the target object is acquired at an acquisition rate. Movement of the arm is controlled at a control rate that is at least one of faster than or unsynchronized with the acquisition rate. Predicted position information representative of a predicted positioning of the arm is provided using the perception information. The arm is controlled using the perception information and the predicted position information.
    Type: Grant
    Filed: May 1, 2015
    Date of Patent: February 13, 2018
    Assignee: General Electric Company
    Inventors: Huan Tan, John Michael Lizzi, Charles Theurer, Tai-Peng Tian, Balajee Kannan
  • Patent number: 9881610
    Abstract: Non-acoustic data from a vicinity of speech input is obtained. A subject speaker is identified as the source of the speech input from the obtained non-acoustic data by detecting mouth motion on one or more faces segmented from the non-acoustic data by comparing a first pixel intensity associated at a first time with a second pixel intensity at a second time, and selecting a face corresponding to the subject speaker from the one or more faces in response to a determination that a number of significantly changed pixels between the first pixel intensity and the second pixel intensity exceeds a threshold. A demographic is assigned to the subject speaker based on an analysis of one or more non-acoustic attributes of the subject speaker extracted from the non-acoustic data. The speech input is processed using a speech recognition system adjusted using a model selected based on the demographic.
    Type: Grant
    Filed: November 13, 2014
    Date of Patent: January 30, 2018
    Assignee: International Business Machines Corporation
    Inventors: Jonathan H. Connell, II, Etienne Marcheret
  • Patent number: 9868443
    Abstract: A method of adaptively re-generating a planned path for an autonomous driving maneuver. An object map is generated based on the sensed objects in a road of travel. A timer re-set and actuated. A planned path is generated for autonomously maneuvering the vehicle around the sensed objects. The vehicle is autonomously maneuvered along the planned path. The object map is updated based on sensed data from the vehicle-based devices. A safety check is performed for determining whether the planned path is feasible based on the updated object map. The planned path is re-generated in response to a determination that the existing path is infeasible, otherwise a determination is made as to whether the timer has expired. If the timer has not expired, then a safety check is re-performed; otherwise, a return is made to re-plan the path.
    Type: Grant
    Filed: April 27, 2015
    Date of Patent: January 16, 2018
    Assignee: GM Global Technology Operations LLC
    Inventors: Shuqing Zeng, Rouhollah Jafari, Nikolai K. Moshchuk, Bakhtiar B. Litkouhi
  • Patent number: 9862095
    Abstract: The present invention provides a control device for a mobile robot. While a mobile robot 1 is in a predetermined motion state, if a load evaluation amount, which is either the magnitude of a load detected on a particular joint or an estimated temperature value of a joint actuator for driving the joint, exceeds a predetermined threshold value, then a desired displacement amount of each joint of the mobile robot 1 is determined with a requirement that the load evaluation amount remains to be the threshold value or less, and the joint actuator is controlled on the basis of the determined desired displacement amount.
    Type: Grant
    Filed: July 17, 2015
    Date of Patent: January 9, 2018
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Yutaka Takagi, Chiaki Tanaka
  • Patent number: 9854956
    Abstract: A robot cleaner includes a main body traveling along a floor surface and removing foreign substances in a cleaning travel mode, a sensor unit sensing obstacles around the main body, brush units sweeping foreign substances on a floor surface through rotation, and a controller reducing the traveling velocity of the main body and causing the main body to approach a front obstacle, if an area where a plurality of obstacles contacts each other is sensed by the sensor unit.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: January 2, 2018
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Jeong Gon Song, Joo Sung Moon, Kyung Hwan Yoo, Yeon Woo Lim
  • Patent number: 9840007
    Abstract: Example implementations relate to robotic operations libraries. An example library may include sets of operation instructions and other information for robotic devices to use to complete desired tasks. For instance, a respective set of operation instructions is determined based on successive simulations in which a virtual robotic device comprising an adjustable configuration initially based on the given configuration of a robotic device performs operations related to a task in an adjustable virtual environment until one or more simulations result in the virtual robotic device performing respective operations that complete the task at a success level that satisfies a predefined threshold. The library may provide a set of instructions for performing operations to a robotic device based on a query received from the robotic device that includes information indicative of a configuration and an environment of the robotic device.
    Type: Grant
    Filed: August 24, 2015
    Date of Patent: December 12, 2017
    Assignee: X Development LLC
    Inventor: James Joseph Kuffner
  • Patent number: 9829890
    Abstract: A robotic device receives a first signal from a positioning hardware device that is worn by a user. The first signal describes a relative location between the user and the robotic device. A second signal describes a relative location between the user and the robotic device. Based on the first signal, the second signal, and a record of object positions of objects within a predefined area of the user, the identification and location of the user-selected object is determined. A determination is made regarding whether or not the robotic device is authorized to perform a specific task on the user-selected object based on the location of the user-selected object. If authorized, the robotic device performs the specific task on the user-selected object.
    Type: Grant
    Filed: March 9, 2017
    Date of Patent: November 28, 2017
    Assignee: International Business Machines Corporation
    Inventors: James E. Bostick, John M. Ganci, Jr., Sarbajit K. Rakshit, Craig M. Trim
  • Patent number: 9827507
    Abstract: A toy construction system comprising toy construction elements, the toy construction elements comprising coupling means for releasably interconnecting the toy construction elements, comprising one or more marker construction elements comprising such coupling means and each having a visual appearance recognizable by an image processing means, and a data processing system comprising image capturing means, image processing means, and display means, wherein the data processing system is adapted to capture an image of a toy construction model constructed from the toy construction elements, to process the captured image to detect at least a presence of at least one of the marker construction elements within the captured image; responsive to the detected marker construction element, to generate a computer-generated image; and to display on said display means a composite image comprising the captured image having superimposed the generated computer-generated image.
    Type: Grant
    Filed: May 22, 2012
    Date of Patent: November 28, 2017
    Assignee: LEGO A/S
    Inventors: Siddharth Muthyala, Harm Jan Van Beek, Nicolas David Alain Guyon, Frantz Lasorne, Mikkel Holm Jensen
  • Patent number: 9815198
    Abstract: Systems and methods are disclosed for determining work offset data for a robot in a work environment. In an embodiment, a robot operating in a work environment receives an indication to determine a work offset. The work offset describes the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot identifies the working plane. The robot is controlled to contact one or more points of the working plane. The robot determines respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot determines the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.
    Type: Grant
    Filed: July 23, 2015
    Date of Patent: November 14, 2017
    Assignee: X Development LLC
    Inventor: Benjamin M. Davis
  • Patent number: 9804602
    Abstract: Described embodiments include a system, method, and apparatus. A system includes a package management system for operating a robotic vehicle configured to transport consumer items selected by a human shopper from a consumer shopping environment and placed in the robotic vehicle. The package management system includes circuitry for recognizing an individual human shopper. The system includes circuitry for receiving data indicative of a location of the individual human shopper in the consumer shopping environment. The system includes circuitry for routing the robotic vehicle to the location of the individual human shopper in the consumer shopping environment. In an embodiment, the package management system includes circuitry for issuing an alarm upon detection of an unauthorized removal or attempted unauthorized removal of a consumer item from the secure portion of the robotic vehicle.
    Type: Grant
    Filed: February 18, 2016
    Date of Patent: October 31, 2017
    Inventors: Alistair K. Chan, Jesse R. Cheatham, III, Hon Wah Chin, William David Duncan, Roderick A. Hyde, Lowell L. Wood, Jr.
  • Patent number: 9799198
    Abstract: Method includes executing a dynamic decision-making process that includes (a) receiving environmental data and (b) determining a fused ensemble based on the environmental data and a state parameters of a current state of a machine assembly. The fused ensemble includes communications from a system interface to the operator for the state parameters. The communications inform an operator about the state parameters and includes at least one of a visual signal, an audible signal, or a tactile signal from the system interface. The decision-making process also includes (c) communicating the fused ensemble to the operator through the system interface and (d) repeating (a)-(c) while the machine assembly is in the current state. The fused ensemble is configured to change based on changes in the environmental data.
    Type: Grant
    Filed: March 2, 2016
    Date of Patent: October 24, 2017
    Assignee: General Electric Company
    Inventors: Huan Tan, John Michael Lizzi, Douglas Forman, Charles Burton Theurer, Omar Al Assad, Romano Patrick, Viktor Holovashchenko, Balajee Kannan, Yonatan Gefen
  • Patent number: 9798327
    Abstract: Described herein a robot assisted method of deploying sensors in a geographic region. The method of deploying sensors is posed as a Markovian decision process. The robot assigns each grid cell in a map of the geographic region a reward value based on a surface elevation of the geographic region and a soil hardness factor. Further, the robot determines an action for each grid cell of the plurality of grid cells, wherein the action corresponds to an expected direction of movement of the robot in the grid cell. The robot computes a global path as a concatenation of actions starting from a first grid cell and terminating at a second grid cell. The method monitors the movement of the robot on the computed global path and computes a second path based on a deviation of the robot from the global path.
    Type: Grant
    Filed: January 8, 2016
    Date of Patent: October 24, 2017
    Assignee: King Fahd University of Petroleum and Minerals
    Inventors: Anas Mohammed Albaghajati, Mohammad Tariq Nasir, Lahouari Ghouti, Sami El Ferik
  • Patent number: 9789610
    Abstract: Disclosed herein are methods and systems for determining a safe path for movement of an object by a robotic system. According to these implementations, the robotic system may determine a safety level for each of a plurality of relative orientations of an object. Each such relative orientation may define a spatial orientation of the object relative to direction of movement of the object. Based on the determined safety levels, the robotic system may then determine, for each of the plurality of relative orientations, a velocity limit for movement of the object with a particular relative orientation. Based at least in part on the determined velocity limits, the robotic system may then determine a path for moving the object from a first location to a second location. As such, the robotic system may move the object from the first location to the second location based on the determined path.
    Type: Grant
    Filed: September 2, 2015
    Date of Patent: October 17, 2017
    Assignee: X Development LLC
    Inventor: Kevin William Watts
  • Patent number: 9776332
    Abstract: Various interfaces allowing users to directly manipulate an automatic moving apparatus manually, thus enhancing user convenience and efficiency, are provided. An automatic moving apparatus includes: a storage unit configured to store a traveling method; an image detection unit configured to acquire a captured image; a driving unit having one or more wheels and driving the wheels according to a driving signal; and a control unit configured to extract a traveling direction from the traveling method stored in the storage unit in a first mode, extract a traveling direction indicated by a sensing target from the captured image acquired by the image detection unit in a second mode, and generate a driving signal for moving the automatic moving apparatus in the extracted traveling direction.
    Type: Grant
    Filed: December 8, 2011
    Date of Patent: October 3, 2017
    Assignee: LG ELECTRONICS INC.
    Inventors: Seokbyung Oh, Jiwoon Hwang, Kwonyul Choi, Hyungshin Park
  • Patent number: 9737371
    Abstract: Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.
    Type: Grant
    Filed: September 30, 2015
    Date of Patent: August 22, 2017
    Assignee: Auris Surgical Robotics, Inc.
    Inventors: Enrique Romo, Frederic H. Moll, David S. Mintz, Mark Lown, Siddarth Oli, Allen Jiang
  • Patent number: 9724823
    Abstract: A computer program and a system for controlling walking of a mobile robot, notably a humanoid robot moving on two legs. Conventionally, control was guided by driving a zero moment point. Such driving was performed within a fixed coordinate system connected to a progression surface and assumed knowledge of the characteristics of said surface and the creation of a provisional trajectory. Such driving encountered significant limitations due to the nature of the progression surfaces on which walking can effectively be controlled and an obligation to have a perfect knowledge of their geometry; and also in respect to the necessary computing power, and the appearance of the walk which bore little resemblance to an actual human walk. The invention overcomes such limitations by providing a walk which includes a pseudo-free or ballistic phase, an impulse phase imparted by the heel of the robot, and a landing phase.
    Type: Grant
    Filed: January 20, 2015
    Date of Patent: August 8, 2017
    Assignee: Softbank Robotics Europe
    Inventors: Bruno Maisonnier, Pascal Lafourcade, Alain Berthoz
  • Patent number: 9717384
    Abstract: An apparatus controls operations of a cleaner. The apparatus comprises a network interface unit for receiving first information regarding external conditions through an external network, and a controller for setting up operating schedules of the cleaner based on the first information.
    Type: Grant
    Filed: December 21, 2011
    Date of Patent: August 1, 2017
    Assignee: SAMSUNG ELECTRONICS CO., LTD
    Inventors: Jong-Gyu Ham, Hee-Jun Song
  • Patent number: 9707146
    Abstract: A wearable robot includes a mechanism unit for assisting an wearer of the wearable robot in walking motion; a detection unit equipped on the wearer's body for detecting a moving direction of an arm of the wearer; and a controller for determining a walking intent of the wearer based on the moving direction of the arm of the wearer detected by the detection unit, and controlling the mechanism unit to produce auxiliary torque corresponding to the determined walking intent.
    Type: Grant
    Filed: December 2, 2014
    Date of Patent: July 18, 2017
    Assignee: Samsung Electronics Co., Ltd.
    Inventor: Sunggu Kwon
  • Patent number: 9680405
    Abstract: There is provided an onboard motor controller that starts a failsafe process in short time at a vehicle collision. A control circuit in the motor controller acquires an acceleration detected by an acceleration sensor. When the acceleration is equal to or higher than a prescribed value, the control circuit determines that a collision of the vehicle has occurred, and executes a switching process of a control mode of a motor. The control circuit immediately switches the control mode of a motor from voltage phase control to current vector control when the collision is detected. The control circuit reads current values from current detectors. When an overcurrent is detected, the control circuit executes a failsafe process to turn off the MOSFETs of an inverter. The control circuit stops a supply of electricity to the inverter by turning off a power supply relay, thereby stopping the rotation of the motor.
    Type: Grant
    Filed: July 14, 2014
    Date of Patent: June 13, 2017
    Assignee: JTEKT CORPORATION
    Inventor: Takuya Yanagi
  • Patent number: 9661477
    Abstract: A method for enabling communication and collaboration between robotic device. Robotic devices exchange wireless signals to connect to one another and enter an authentication phase. After authenticating, robotic devices add new devices to a network containing all authenticated robotic devices. Robotic devices within a network may send or receive information or instructions to and from other robotic devices in the network. Robotic devices that are out of direct signal range of other robotic devices may communicate them via other robotic devices within the network that form a bridge to forward the signals to the intended target.
    Type: Grant
    Filed: February 19, 2016
    Date of Patent: May 23, 2017
    Assignee: AI Incorporated
    Inventor: Ali Ebrahimi Afrouzi
  • Patent number: 9625579
    Abstract: An interference system for a robot cleaner which generates a detection signal and receives a feedback signal corresponding to the detection signal is disclosed. The interference system includes a fixing module, for stably fixing the interference system onto the robot cleaner; a monitor module, for obtaining a real-time imaging information of the robot cleaner; a transmission module, for transmitting the real-time imaging information to a computer system and correspondingly receiving a control signal from the computer system; and an interference module, coupled to the fixing module, for reflecting the detection signal to be the feedback signal according to the control signal, so as to process an interference operation to change a moving direction of the robot cleaner.
    Type: Grant
    Filed: November 3, 2014
    Date of Patent: April 18, 2017
    Assignee: Wistron Corporation
    Inventors: Mang-Chia Ho, Jia-Cyuan Fan, Chi-Hsiang Yeh
  • Patent number: 9557739
    Abstract: The inventive system comprises an autonomous robot device, a base station and a method operating the same. The autonomous robot device includes a sensor means, e.g. an optical sensor, and a propulsion means. The base station includes a cleaning means specifically adapted for cleaning the sensor means of the autonomous robot device. In a preferred embodiment the propulsion means of the autonomous robot device is configured to move the autonomous robot device in a manner suitable to generate a relative movement of the autonomous robot device with respect to the passive cleaning means arranged at the stationary base station to effect the cleaning of the sensor means of the autonomous robot device.
    Type: Grant
    Filed: December 9, 2014
    Date of Patent: January 31, 2017
    Assignee: HONDA RESEARCH INSTITUTE EUROPE GMBH
    Inventors: Nils Einecke, Mathias Franzius, Bernhard Sendhoff
  • Patent number: 9538892
    Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.
    Type: Grant
    Filed: October 5, 2013
    Date of Patent: January 10, 2017
    Assignee: iRobot Corporation
    Inventors: Philip Fong, Jason Meltzer, Steffen Gutmann, Vazgen Karapetyan, Mario E. Munich
  • Patent number: 9528461
    Abstract: To prevent a decrease in detection accuracy of an obstacle that occurs when an obstacle detection distance of an infrared beam at the center is set longer than an infrared beam of at least one of the left or the right, an obstacle detection device for a vehicle which detects an obstacle in front includes an effective-range control part 19 which controls the maximum effective distance of obstacle detection. The effective-range control part 19 extends the maximum effective distance of the second emitting-and-receiving parts 11b, 11c disposed on at least one of the left or the right from an initial value L1 to an extended value L2, when the first emitting-and-receiving part 11a at the center detects an obstacle 5.
    Type: Grant
    Filed: November 27, 2015
    Date of Patent: December 27, 2016
    Assignee: MITSUBISHI JIDOSHA KOGYO KABUSHIKI KAISHA
    Inventors: Hiroshi Izumi, Ayaka Kobayashi, Muneyuki Maeda, Yohei Nagakura