Mobile Robot Patents (Class 318/568.12)
  • Patent number: 11020857
    Abstract: The present disclosure provides a robot distance measuring method and apparatus as well as a robot using the same. The method includes: obtaining a plurality of relative position parameters of a robot from a plurality of ranging sensors; determining an installation distance between each two of the ranging sensors based on the plurality of relative position parameters; determining a sum of the installation distance of each looping arrangement of the plurality of ranging sensors based on the installation distance between each two of the ranging sensors; and enabling the plurality of ranging sensors sequentially to perform obstacle ranging according to a preset looping rule. Since the adjacent ranging sensors are avoided to range simultaneously or sequentially, the interference of the adjacent ranging sensors can be minimized, the accuracy of measuring the distance of the surrounding obstacles can be improved, thereby improving the navigation performance of the robot.
    Type: Grant
    Filed: December 30, 2018
    Date of Patent: June 1, 2021
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Xiangbin Huang, Musen Zhang, Peng Nie, Hailang Zhou
  • Patent number: 11014014
    Abstract: A toy construction system comprising toy construction elements, comprising coupling means for releasably interconnecting the toy construction elements, 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 adapted to process a captured image of a toy construction model constructed from the toy construction elements to detect at least a presence of at least one of the marker construction elements within the captured image, and responsive to the detected marker construction element, generate a computer-generated image, wherein the marker construction element comprises a visually detectable feature and a movable element movable between a first and a second position, wherein the movable element, when positioned in the first position, causes the visually detectable feature to be visible and, when positioned in the second position, causes the visually detectable feature to be obstructed from
    Type: Grant
    Filed: January 9, 2020
    Date of Patent: May 25, 2021
    Assignee: LEGO A/S
    Inventors: Siddharth Muthyala, Harm Jan Van Beek, Nicolas David Alain Guyon, Frantz Lasorne, Mikkel Holm Jensen
  • Patent number: 11013390
    Abstract: Provided herein a vacuum cleaner capable of effectively escaping from a situation where driving wheels are in an idling state. The vacuum cleaner includes a main casing, driving wheels, a control unit and an idling detection part. The driving wheels enable the main casing to travel. The control unit controls the driving of the driving wheels to make the main casing autonomously travel. The idling detection part detects that the driving wheels are in an idling state. In the case where the idling detection part detects that the driving wheels are in an idling state, the control unit controls the operation of the driving wheels so as to, after the operation to make the main casing retreat by a certain distance, repeat consecutively for a plurality of times the operation to make the main casing turn in a specified one direction and advance by a specified distance.
    Type: Grant
    Filed: December 14, 2016
    Date of Patent: May 25, 2021
    Assignee: TOSHIBA LIFESTYLE PRODUCTS & SERVICES CORPORATION
    Inventor: Toshihiro Kayama
  • Patent number: 11008181
    Abstract: A system for transferring a substrate may adjust a suction force to a suitable level. The system may include a work table, a picker, and a pressure measuring unit. The work table may include a work area for supporting the substrate. The picker may be disposed above the work table and may include a suction unit for providing the suction force. The pressure measuring unit may overlap the suction unit and may include a pressure-sensitive element for facilitating adjustment of the suction force.
    Type: Grant
    Filed: January 24, 2019
    Date of Patent: May 18, 2021
    Inventors: Youngsoo Ko, Seungkyu Park
  • Patent number: 10990107
    Abstract: A foot of a robot includes a lower plate, a first infrared transmitting and receiving unit and a circuit board electrically connected to the first infrared transmitting and receiving unit that are arranged on the lower plate. The first infrared transmitting and receiving unit is arranged in such a way that infrared light transmitted from and received by the first infrared transmitting and receiving unit travels in paths that are inclined with respect to the lower plate toward an area in front of the foot when the lower plate is substantially horizontal, so as to detect existence of a footing.
    Type: Grant
    Filed: October 15, 2018
    Date of Patent: April 27, 2021
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Meichun Liu, Xiaopeng Wu
  • Patent number: 10966702
    Abstract: A dual-blade retractor comprising: a handle having a first end and a second end, a first blade extending from the first end of the handle, a second blade extending from the second end of the handle, and an illumination assembly including one or more first light sources provided on the first blade and one or more second light sources provided on the second blade, wherein the dual-blade retractor is configured to house therein an internal power source for supplying energy to the one or more first and second light sources.
    Type: Grant
    Filed: February 25, 2020
    Date of Patent: April 6, 2021
    Assignee: OBP MEDICAL CORPORATION
    Inventors: Jason Swift, Demetrio D. Anaya, Jeffrey Ralph Swift, Nicholas Lauder
  • Patent number: 10969778
    Abstract: A robotic cleaning device having an inertia measurement unit and a controller. The inertia measurement unit is arranged to sense a displacement of the robotic cleaning device and the controller is arranged to determine a characteristic of the displacement of the robotic cleaning device, and to set the robotic cleaning device in an operational mode being associated with the determined characteristic of the displacement.
    Type: Grant
    Filed: April 17, 2015
    Date of Patent: April 6, 2021
    Assignee: AKTIEBOLAGET ELECTROLUX
    Inventors: Magnus Lindhé, Petter Forsberg
  • Patent number: 10945577
    Abstract: A timed cleaning method includes: obtaining a topographic map of a cleaning region, wherein the topographic map identifies an obstacle in the cleaning region; based on the topographic map, determining an unclean region in the cleaning region, wherein the unclean region is occupied by the obstacle; detecting the unclean region according to a preset time interval; and if the obstacle at the unclean region is removed, cleaning the unclean region.
    Type: Grant
    Filed: August 10, 2018
    Date of Patent: March 16, 2021
    Assignee: BEIJING XIAOMI MOBILE SOFTWARE CO., LTD.
    Inventors: Yongfeng Xia, Ke Wu
  • Patent number: 10944936
    Abstract: A camera system capable of capturing images of an event in a dynamic environment includes two microphones configured to capture stereo audio of the event. The microphones are on orthogonal surfaces of the camera system. Because the microphones are on orthogonal surfaces of the camera system, the camera body can impact the spatial response of the two recorded audio channels differently, leading to degraded stereo recreation if standard beam forming techniques are used. The camera system includes tuned beam forming techniques to generate multi-channel audio that more accurately recreates the stereo audio by compensating for the shape of the camera system and the orientation of microphones on the camera system. The tuned beam forming techniques include optimizing a set of beam forming parameters, as a function of frequency, based on the true spatial response of the recorded audio signals.
    Type: Grant
    Filed: August 26, 2019
    Date of Patent: March 9, 2021
    Assignee: GoPro, Inc.
    Inventors: Zhinian Jing, Joyce Rosenbaum
  • Patent number: 10942502
    Abstract: The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference.
    Type: Grant
    Filed: September 25, 2019
    Date of Patent: March 9, 2021
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Youjun Xiong, Xi Bai, Wenhua Fan, Malin Wang, Jianxin Pang
  • Patent number: 10926407
    Abstract: Systems and methods are provided for controlling the motion of a tracked robot assembly. An exemplary method comprises disposing a mobile robot assembly proximate to a fuselage of an aircraft that is being assembled, aligning a left ranging sensor of the assembly with a left target, and aligning a right ranging sensor of the assembly with a right target. The method also includes directing the assembly to traverse to a location within the aircraft fuselage at which a robot on the assembly will perform work upon the fuselage, determining a left distance between the left ranging sensor and the left target while the assembly is moving, determining a right distance between the right ranging sensor and the right target while the assembly is moving, detecting a difference between the determined distances, and adjusting a direction of motion of the assembly based on the difference.
    Type: Grant
    Filed: August 24, 2016
    Date of Patent: February 23, 2021
    Assignee: The Boeing Company
    Inventors: Arun Ayyagari, Thi Q Nguyen, Ngoc S Le, Bally Bang, Wen Xin Wang, David H Amirehteshami
  • Patent number: 10919156
    Abstract: A robot arm having a compound joint between a first limb of the arm and a second limb of the arm, the second limb of the arm being distal of the first limb, the arm comprising: a coupler element coupled to the first limb of the arm by a first revolute joint having a first rotation axis and to the second limb of the arm by a second revolute joint having a second rotation axis; first and second rotational position sensors for sensing the configuration of the arm about the first and second joints respectively; first and second torque sensors for sensing the torque applied about the first and second joints respectively; a control unit for controlling the operation of the arm; a first communications unit borne by the arm and located proximally of the coupler and a second communications unit borne by the arm and located distally of the coupler, each communications unit being capable of encoding data received from one or more of the position and/or torque sensors in a first data format into data packets and transmit
    Type: Grant
    Filed: July 22, 2016
    Date of Patent: February 16, 2021
    Assignee: CMR Surgical Limited
    Inventors: Paul Christopher Roberts, Edward John Mottram, Andrew Murray Scholan
  • Patent number: 10886763
    Abstract: Provided is a charging device for charging a wireless manual cleaner and a robot cleaner. The charging device includes a first charger comprising a first charging terminal connected to a charging terminal of the manual cleaner, and a first transceiver configured to transmit and receive information to and from the manual cleaner; a second charger comprising a second charging terminal connected to a charging terminal of the robot cleaner, and a second transceiver configured to transmit and receive information to and from the robot cleaner; and a communication line configured to electrically connect the first transceiver and the second transceiver to each other.
    Type: Grant
    Filed: February 25, 2020
    Date of Patent: January 5, 2021
    Assignee: LG ELECTRONICS INC.
    Inventor: Sangdoo Ha
  • Patent number: 10887195
    Abstract: Provided are a computer system, a remote control notification method and a program. This computer system acquires an image of an IoT device, determines, from the acquired image, the IoT device which is capable of being remotely controlled by a user who visually confirms the image, and, in a position where the image of the IoT device determined to be remotely controllable is captured, displays with augmented reality that remote control is possible. Further, the computer system pre-stores images of the remotely controllable IoT device, and, on the basis of the pre-stored images of the IoT device, determines that the IoT device is remotely controllable through image recognition which involves comparing the pre-stored images with the acquired image.
    Type: Grant
    Filed: April 28, 2017
    Date of Patent: January 5, 2021
    Assignee: OPTIM CORPORATION
    Inventor: Shunji Sugaya
  • Patent number: 10874277
    Abstract: A cleaning robot having an improved structure capable of improving a user convenience and method for controlling the same are disclosed herein. A cleaning robot includes a main body to form an outer appearance and having an inlet port provided to suck a foreign matter present in a cleaning area, an operation unit detachably coupled to the main body and provided to be gripped, at least one motion sensor provided to detect a motion of the operation unit, and a control unit electrically connected to the at least one motion sensor to drive a driving motor of the main body based on the motion of the operation unit detected by the at least one motion sensor.
    Type: Grant
    Filed: September 15, 2015
    Date of Patent: December 29, 2020
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Dong Hun Lee, Heum Yong Park, Chang Yeong Kim, Jae Youl Jeong, Young Do Kwon, Jin Wook Yoon
  • Patent number: 10850927
    Abstract: Provided is a work system including: a conveying apparatus that conveys an object; a moving platform that can be moved; a work portion that is secured to the moving platform and that performs work on the object being conveyed by the conveying apparatus; a visual sensor that is secured to the moving platform and that successively acquires visual information about the object being conveyed by the conveying apparatus or a mark formed on the conveying apparatus; a detecting portion that successively detects at least positions of the object or the mark by processing the visual information acquired by the visual sensor; a calculating portion that calculates a conveying velocity of the conveying apparatus on the basis of the positions of the object or the mark successively detected by the detecting portion; and a drive control unit that drives the work portion by using the conveying velocity.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: December 1, 2020
    Assignee: FANUC CORPORATION
    Inventor: Masafumi Ooba
  • Patent number: 10821604
    Abstract: The present disclosure is applicable to robot technology. A method for robot posture detection and a robot are provided. The method includes: obtaining a position parameter of each of nodes of a robot; obtaining a first weighted value of each of the nodes corresponding to the position parameter of the corresponding node; calculating a weighted value of each of body parts of the robot based on the first weighted value of the node of the corresponding body part; and correcting an original parameter of a center of gravity of the robot according to a body gravity center influence factor of each of the body parts, and the weighted value of each of the body parts.
    Type: Grant
    Filed: December 22, 2017
    Date of Patent: November 3, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Haiwu Su
  • Patent number: 10815067
    Abstract: Provided is a work system including: a conveying apparatus that conveys an object; a moving platform that can be moved; a work portion that is secured to the moving platform and that performs work on the object being conveyed by the conveying apparatus; a visual sensor that is secured to the moving platform and that successively acquires visual information about the object being conveyed by the conveying apparatus or a mark formed on the conveying apparatus; a detecting portion that successively detects at least positions of the object or the mark by processing the visual information acquired by the visual sensor; a calculating portion that calculates a conveying velocity of the conveying apparatus on the basis of the positions of the object or the mark successively detected by the detecting portion; and a drive control unit that drives the work portion by using the conveying velocity.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: October 27, 2020
    Assignee: FANUC CORPORATION
    Inventor: Masafumi Ooba
  • Patent number: 10788836
    Abstract: Provided is a method including capturing, by an image sensor disposed on a robot, images of a workspace; obtaining, by a processor of the robot or via the cloud, the captured images; comparing, by the processor of the robot or via the cloud, at least one object from the captured images to objects in an object dictionary; identifying, by the processor of the robot or via the cloud, a class to which the at least one object belongs using an object classification unit; and instructing, by the processor of the robot, the robot to execute at least one action based on the object class identified.
    Type: Grant
    Filed: March 27, 2020
    Date of Patent: September 29, 2020
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 10782686
    Abstract: Embodiments disclosed include methods for controlling the behavior of autonomously navigating delivery robots when items cannot be delivered. Methods can include receiving a request to proceed to a delivery location when a robot is at a first location. Attempting to deliver an item at a delivery location. If the robot determines delivery is successful, it autonomously navigates back to the first location. If the robot determines delivery of the item is not successful, it autonomously navigates to another location different from the first location.
    Type: Grant
    Filed: January 30, 2017
    Date of Patent: September 22, 2020
    Assignee: Savioke, Inc.
    Inventors: Tessa Lau, Philipp Herget
  • Patent number: 10783793
    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: February 14, 2018
    Date of Patent: September 22, 2020
    Assignee: Verizon Patent and Licensing Inc.
    Inventors: X, Jonathan Evans, Andrew McCollough, Dana Maher, Jake Nylund, Eric Miller, Chase Fiedler
  • Patent number: 10773377
    Abstract: Disclosed is a robot structure, comprising: a cylindrical body, a hemispherical top portion and a bottom portion; an accommodation chamber provided inside the body; a main board horizontally arranged in the top portion; a pickup module horizontally arranged in the top portion and located above the main board, a connecting wire connects the main board and pickup board; a fixing bracket arranged in the middle of the accommodation chamber and close to one side of the body; a projection module arranged on the fixing bracket and located below the main board, and connected to the main board through a connecting wire; a pair of speakers arranged in the bottom portion and respectively connected to the main board through a connecting wire; and a power module in the bottom portion below the pair of speakers, and connected to the main board through a connecting wire.
    Type: Grant
    Filed: February 20, 2017
    Date of Patent: September 15, 2020
    Assignee: YUTOU TECHNOLOGY (HANGZHOU) CO., LTD.
    Inventors: Jian Xu, Gangying Du, Chengkan Lv, Yi Chen, Da Wei
  • Patent number: 10758104
    Abstract: A debris monitoring system includes a receptacle, a first and a second emitter, and a first receiver. The receptacle defines an opening to receive debris into the receptacle. The first and second emitter are each arranged to emit a signal across at least a portion of the opening. The first receiver is proximate to the first emitter to receive reflections of the signal emitted by the first emitter, and the first receiver is disposed toward the opening to receive an unreflected portion of the signal emitted by the second emitter across at least a portion of the opening.
    Type: Grant
    Filed: March 29, 2019
    Date of Patent: September 1, 2020
    Assignee: iRobot Corporation
    Inventors: Mark Steven Schnittman, Michael Todd Rosenstein
  • Patent number: 10754318
    Abstract: Techniques described herein relate to using reduced-dimensionality embeddings generated from robot sensor data to identify predetermined semantic labels that guide robot interaction with objects. In various implementations, sensor data obtained from one or more sensors of a robot includes data indicative of an object observed in an environment in which the robot operates. The sensor data is processed utilizing a first trained machine learning model to generate a first embedded feature vector that maps the data indicative of the object to an embedding space. Nearest neighbor(s) of the first embedded feature vector is identified in the embedding space. Semantic label(s) are identified based on the nearest neighbor(s). A given grasp option is selected from enumerated grasp options previously associated with the semantic label(s). The robot is operated to interact with the object based on the pose and using the given grasp option.
    Type: Grant
    Filed: December 21, 2017
    Date of Patent: August 25, 2020
    Assignee: X DEVELOPMENT LLC
    Inventor: Umashankar Nagarajan
  • Patent number: 10717193
    Abstract: Disclosed is an artificial intelligence moving robot including: a travel unit configured to move a main body based on a navigation map including a plurality of local maps; an image acquisition unit configured to acquire a plurality of images in regions corresponding to the plurality of local maps during movement; a storage unit configured to store the plurality of images acquired by the image acquisition unit; and a controller configured to recognize an attribute of a local map in which an N number of images photographed in multiple directions is acquired among the plurality of local maps, store the attribute recognition result in the storage, generate a semantic map composed of a predetermined number of neighboring local maps, and recognize a final attribute of a region corresponding to the semantic map based on attribute recognition results of the local maps included in the semantic map.
    Type: Grant
    Filed: June 7, 2018
    Date of Patent: July 21, 2020
    Assignee: LG ELECTRONICS INC.
    Inventors: Dongki Noh, Hoyoung Lee, Seungmin Baek
  • Patent number: 10712158
    Abstract: Navigation systems and methods are provided. A classifier is configured to transform a received image of a terrain into a classified image in which patches of pixels from the received image are represented as being in one of a specified number of material classes, each associated with respective terrain parameters. A physical traversability module is configured to determine, for the material parameters, a terrain topography and given vehicle parameters, a degree of traversability of the vehicle through the terrain as represented by the received image, to yield a traversability map. A routing module is configured to derive traversability measure(s) for route(s) through the classified image and with respect to the traversability map, between a given origin and a given destination or within a region with respect to a user-defined mission. A graphical user interface is configured to display the route(s) according to the traversability measure(s).
    Type: Grant
    Filed: September 11, 2016
    Date of Patent: July 14, 2020
    Assignee: Elbit Systems Land and C4I Ltd.
    Inventors: David Zaphir, Ido Ariav, Benny Goldman
  • Patent number: 10705528
    Abstract: A method of visual navigation for a robot includes integrating a depth map with localization information to generate a three-dimensional (3D) map. The method also includes motion planning based on the 3D map, the localization information, and/or a user input. The motion planning overrides the user input when a trajectory and/or a velocity, received via the user input, is predicted to cause a collision.
    Type: Grant
    Filed: August 26, 2016
    Date of Patent: July 7, 2020
    Assignee: QUALCOMM Incorporated
    Inventors: Casimir Matthew Wierzynski, Bardia Fallah Behabadi, Sarah Paige Gibson, Aliakbar Aghamohammadi, Saurav Agarwal
  • Patent number: 10702112
    Abstract: A self-propelled electronic device including: at least one drive wheel disposed at a bottom of a housing, the drive wheel traveling the housing while being displaced in a vertical direction in accordance with undulations of a floor surface; a drive wheel sensor for detecting a position of the drive wheel relative to the housing; a floor detection sensor for detecting a distance between the bottom of the housing and the floor surface; and a travel control unit for determining and deciding a course of the housing based on the determination that there exists a step on the floor surface if the distance detected by the floor detection sensor is longer than a predetermined reference distance, or, otherwise, the position of the drive wheel detected by the drive wheel sensor is lower than a predetermined reference position, by successively referring to output of the drive wheel sensor and the floor detection sensor, wherein, if the position of the drive wheel detected by the drive wheel sensor is lower than a predete
    Type: Grant
    Filed: August 2, 2016
    Date of Patent: July 7, 2020
    Assignee: SHARP KABUSHIKI KAISHA
    Inventors: Masanori Tsuboi, Toshihiro Senoo
  • Patent number: 10675765
    Abstract: Systems and methods are provided for an automation system. The systems and methods calculate a motion trajectory of a manipulator and an end-effector. The end-effector is configured to grasp a target object. The motion trajectory defines successive positions of the manipulator and the end-effector along a plurality of via-points toward the target object. The systems and methods further acquire force/torque (F/T) data from an F/T sensor associated with the end-effector, and adjusts the motion trajectory based on the F/T data.
    Type: Grant
    Filed: March 4, 2019
    Date of Patent: June 9, 2020
    Assignee: GENERAL ELECTRIC COMPANY
    Inventors: Huan Tan, John Michael Lizzi, Douglas Forman, Charles Burton Theurer, Omar Al Assad, Romano Patrick, Balajee Kannan, Yonatan Gefen
  • Patent number: 10661788
    Abstract: The present invention relates to a vehicle control device for a vehicle, comprising a number of first control devices which are independent of each other and are arranged in a first logical level and designed to calculate predetermined first vehicle control functions and to output first calculation results, a number of further control devices which are independent of each other, are arranged in a number which is superordinate from the first logical level and hierarchically arranged among each other and are designed to calculate further predetermined vehicle control functions and to output further calculation results. According to the invention, the further control devices are designed to use calculation results only of those control devices as input variables for the corresponding vehicle control functions which are arranged in logical levels hierarchically below the logical level of the respective control device.
    Type: Grant
    Filed: July 31, 2017
    Date of Patent: May 26, 2020
    Assignee: CONTINENTAL TEVES AG & CO. OHG
    Inventor: Ralph Grewe
  • Patent number: 10661985
    Abstract: A single-button control method of an induction actuated container, wherein the method comprises the steps of activating the control system of the container to enable the IR sensor operate in a normally-detecting state; detecting an object within a detecting area of the IR sensor; actuating, in responsive to a click of the control button, the cover panel to move to its opened position, when the control system is in the power-on state and the cover panel is in the closed position; normally retaining, in responsive to a click of the control button, the cover panel in the opened position, when the cover panel is moved to its opened position in responsive to an object detection; and actuating, in responsive to a click of the control button, the cover panel to move to its closed position, when the cover panel is in the normally-opened position.
    Type: Grant
    Filed: July 17, 2017
    Date of Patent: May 26, 2020
    Assignees: NINE STARS GROUP (U.S.A.) INC., FUJIAN NASHIDA ELECTRONIC INCORPORATED COMPANY
    Inventors: Xin Wang, Jiangqun Chen, Zhou Lin
  • Patent number: 10646086
    Abstract: Embodiments of the present disclosure relate to a cleaning robot and a method of controlling the same, and more particularly, to a cleaning robot docking to a station based on a radio frequency (RF) signal and a method of controlling the same. An aspect of the present disclosure, there is provided a cleaning robot comprising a cleaning robot antenna unit configured to receive a radio frequency (RF) signal transmitted from a station; and a controller configured to extract a received signal strength indicator (RSSI) value by processing the RF signal received by the cleaning robot antenna unit and control movement of the cleaning robot to dock to the station based on the extracted RSSI value.
    Type: Grant
    Filed: October 12, 2017
    Date of Patent: May 12, 2020
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Min Woo Ryu, Dong Hun Lee, Jae Yoon Jeong, Young Do Kwon
  • Patent number: 10635115
    Abstract: The present disclosure relates to a recharging alignment method of a robot and a robot thereof. The recharging alignment method includes adjusting a signal receiver of the robot to a first critical point to obtain position information of the first critical point, adjusting the signal receiver from the first critical point to a second critical point to obtain position information of the second critical point, determining a mid-point of the first critical point arid the second critical point according to the position information of the first critical point and the second critical point, and adjusting the signal receiver to the mid-point to align with the recharging dock, so as to accurately align with the recharging dock.
    Type: Grant
    Filed: September 30, 2017
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Jiawen Hu, Gaobo Huang
  • Patent number: 10627828
    Abstract: An autonomous movement device includes an obstacle detector, a map creator, an obstacle canceller, and a router. The obstacle detector detects an obstacle. The map creator records information about the obstacle detected by the obstacle detector on an environment map. The obstacle canceller cancels the information about the obstacle recorded by the map creator from the environment map. The router sets a moving route based on the information recorded on the environment map.
    Type: Grant
    Filed: May 17, 2018
    Date of Patent: April 21, 2020
    Assignee: CASIO COMPUTER CO., LTD.
    Inventor: Yasushi Maeno
  • Patent number: 10612929
    Abstract: Provided is a process that includes: obtaining a first version of a map of a workspace; selecting a first undiscovered area of the workspace; in response to selecting the first undiscovered area, causing the robot to move to a position and orientation to sense data in at least part of the first undiscovered area; and obtaining an updated version of the map mapping a larger area of the workspace than the first version.
    Type: Grant
    Filed: October 17, 2018
    Date of Patent: April 7, 2020
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Sebastian Schweigert, Chen Zhang, Lukas Fath
  • Patent number: 10603796
    Abstract: A companion robot includes a body, a sensing unit, a positioning unit, a network unit, an input unit, a storage device, and at least one processor. The processor controls the companion robot to receive a destination, generate a walking path of the companion robot according to the destination and a current location of the companion robot, obtain a walking direction and a walking speed of a user, and control the companion robot to walk along the walking path according to the walking direction and the walking speed.
    Type: Grant
    Filed: September 26, 2017
    Date of Patent: March 31, 2020
    Assignees: Fu Tai Hua Industry (Shenzhen) Co., Ltd., HON HAI PRECISION INDUSTRY CO., LTD.
    Inventor: Xue-Qin Zhang
  • Patent number: 10585935
    Abstract: A method for producing an image content and electronic devices supporting the same are provided. The method includes receiving state information of a second electronic device from the second electronic device and an image photographed by at least one camera installed in the second electronic device, obtaining first data based on at least one of the received state information of the second electronic device or movement information of the second electronic device, obtaining second data based on drive information of the at least one camera, and producing an image content by reflecting the first data and the second data to the received image.
    Type: Grant
    Filed: August 9, 2017
    Date of Patent: March 10, 2020
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Hyeongchan Seo, Ilkwon Park, Sungki Jin
  • Patent number: 10564646
    Abstract: An autonomous mobile robot includes: a sensor that acquire sensing information by sensing at least one of a situation around the autonomous mobile robot and a state of the autonomous mobile robot; storage that stores a first condition; a transmitter; and a processor that, in operation, performs operations including: judging whether the sensing information satisfies the first condition; and controlling the transmitter to output a collision preventing signal to a predetermined range outside of the autonomous mobile robot when it is judged that the sensing information satisfies the first condition. The collision preventing signal is a signal that inhibits a different autonomous mobile robot from entering the predetermined range.
    Type: Grant
    Filed: August 4, 2017
    Date of Patent: February 18, 2020
    Assignee: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA
    Inventor: Shunsuke Kuhara
  • Patent number: 10549209
    Abstract: A toy construction system comprising a plurality of toy construction elements each comprising coupling means for releasably interconnecting the toy construction elements, one or more marker construction elements comprising such coupling means, configured to interconnect with the toy construction elements, and each having a visual appearance recognizable by an image processing system representing a distinct toy object, and a data processing system comprising a digital processor configured to process a captured image of a toy construction model to detect a position of the composite marker construction element within the captured image, and responsive to the detected position of the composite marker construction element, generate a computer-generated image. Direct or indirect interconnection of two or more of marker construction elements with each other or toy construction elements creates a composite marker construction element representing a combination of said distinct toy objects.
    Type: Grant
    Filed: October 25, 2017
    Date of Patent: February 4, 2020
    Assignee: LEGO A/S
    Inventors: Siddharth Muthyala, Harm Jan Van Beek, Nicolas David Alain Guyon, Frantz Lasorne, Mikkel Holm Jensen
  • Patent number: 10545074
    Abstract: A method includes receiving, from an imaging device associated with a robotic apparatus, an image signal including an object of interest represented in the image signal; receiving, by the robotic apparatus from an external agent, a task indication related to the object of interest, the task indication representative of a task to be performed by the robotic apparatus with respect to the object of interest; and responsive to receipt of the task indication: detecting salient features of the object of interest within the image; storing, by the robotic apparatus, a task context, the task context comprising data pertaining to the salient features and data pertaining to the task indication; and commencing, by the robotic apparatus, the task with respect to the object of interest.
    Type: Grant
    Filed: December 24, 2018
    Date of Patent: January 28, 2020
    Assignee: GoPro, Inc.
    Inventor: Philip Meier
  • Patent number: 10537733
    Abstract: Functional electrical stimulation (FES) cycling devices and associated methods are generally described. An FES cycling device may comprise a crank, two or more pedals connected to the crank, one or more sensors adapted to measure position and/or velocity of the crank, and one or more electrodes configured to deliver electrical stimulation to a person associated with the cycling device. In some cases, the FES cycling device further comprises a controller configured to receive input signals from the one or more sensors and deliver output signals to the one or more electrodes. In certain cases, the controller may dynamically generate a control signal to deliver an amount of electrical stimulation to a muscle group (e.g., quadriceps femoris, gluteal muscles, hamstring muscles) based on the value of a determined torque transfer ratio between a joint of the person and the crank of the cycling device. The electrical stimulation may, in some cases, cause the person to pedal the cycling device.
    Type: Grant
    Filed: June 5, 2015
    Date of Patent: January 21, 2020
    Assignee: University of Florida Research Foundation, Incorporated
    Inventors: Warren Dixon, Matthew J. Bellman
  • Patent number: 10531928
    Abstract: A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along
    Type: Grant
    Filed: July 22, 2016
    Date of Patent: January 14, 2020
    Assignee: CMR SURGICAL LIMITED
    Inventors: Thomas Bates Jackson, Luke David Ronald Hares, Keith Marshall, Steven James Randle
  • Patent number: 10529380
    Abstract: A method of analyzing and presenting at least one video of a user in a comprehensive personal clip of the user's participation in an event, the method comprises providing users of the event with an identification sign, the identification sign comprises at least one unique two-dimensional (2D) barcode pattern and at least one predesigned common pattern; creating a lookup table of users' IDs, each user's ID being associated with the user's unique 2D barcode pattern; receiving at least one video of the event; extracting sample frames from the at least one video of the event in an initial predetermined rate; detecting and identifying at least one unique 2D barcode pattern in the sample frames and creating a time appearance index representing at least one user's at least one video segment, according to the at least one identified unique 2D barcode pattern; editing at least one of the at least one video segment that features at least one of the users based on the time appearance index; and integrating the at least
    Type: Grant
    Filed: November 23, 2016
    Date of Patent: January 7, 2020
    Inventor: Nir Hazan
  • Patent number: 10485124
    Abstract: A cable management structure for managing a connection cable in a robot includes a head structure, a waist structure and a base. The waist structure includes a rotating member, a rotating assembly and a fixed assembly. The rotating assembly is rotatably connected to the fixed assembly. The rotating member, the rotating assembly and the fixed assembly are coaxial. The rotating member defines a through hole. The rotating assembly is connected to the head structure and defines a passage communicating with the through hole. The fixed assembly is connected to the base. The base includes a main circuit board, and the main circuit board is located below the through hole. The connection cable includes a first end connected to the main circuit board and a second, opposite end passing through the through hole and the passage and extending into the head structure.
    Type: Grant
    Filed: July 3, 2017
    Date of Patent: November 19, 2019
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Wenhua Yu, Youjun Xiong
  • Patent number: 10471591
    Abstract: An example robotic device may include an arm having a palm and fingers, a depth sensor disposed within the palm, and a control system. The control system may be configured to detect an indication to receive an object from an actor, and in response, cause the robotic device to enter a receive-object mode. When the robotic device is in the receive-object mode, the control system is further configured to: receive, from the depth sensor, depth data indicating a distance between the palm and the object; when the distance is greater than a first threshold and less than a second threshold, cause the arm to move towards the object; when the distance exceeds the second threshold, maintain the arm in a fixed position; and when the distance drops below the first threshold, cause the two or more fingers to close to grasp the object.
    Type: Grant
    Filed: June 1, 2018
    Date of Patent: November 12, 2019
    Assignee: X Development LLC
    Inventor: Paige Hinkle
  • Patent number: 10471595
    Abstract: A robot system is provided that includes a base, an articulable arm, a visual acquisition unit, and at least one processor. The articulable arm extends from the base and is configured to be moved toward a target. The visual acquisition unit is mounted to the arm or the base, and acquires environmental information. The at least one processor is operably coupled to the arm and the visual acquisition unit, the at least one processor configured to: generate an environmental model using the environmental information; select, from a plurality of planning schemes, using the environmental model, at least one planning scheme to translate the arm toward the target; plan movement of the arm toward the target using the selected at least one planning scheme; and control movement of the arm toward the target using the at least one selected planning scheme.
    Type: Grant
    Filed: October 14, 2016
    Date of Patent: November 12, 2019
    Assignee: GE GLOBAL SOURCING LLC
    Inventors: Huan Tan, Balajee Kannan, Yonatan Gefen, Romano Patrick, Omar Al Assad, Douglas Forman, Charles Theurer, John Lizzi
  • Patent number: 10466061
    Abstract: Systems of an electrical vehicle and the operations thereof are provided. As vehicles become self-driven, safety should be improved. In the rare occurrence that a vehicle is performing an incorrect function or in an incorrect manner, the passengers need to be able to shut down the car and evacuate the vehicle in a safe manner. Highlighted by this is ride sharing vehicle that picks random passengers up. Inside the vehicle would be an override switch. When initiated, the override switch would send a lower level command to the vehicle control unit overriding any upper level signals, alert any near cars of the issue and immediately pull over and bring to a complete stop (unlocking all doors as well) the vehicle. This could optionally be coupled with one or more mechanical/electrical shut down/disconnect mechanisms.
    Type: Grant
    Filed: December 30, 2016
    Date of Patent: November 5, 2019
    Assignee: NIO USA, Inc.
    Inventor: Austin L. Newman
  • Patent number: 10466795
    Abstract: A mobile input device and a command input method using the same are disclosed. The mobile input device capable of moving using a driving motor includes a command recognition unit configured to recognize at least one of a voice command and a gesture command, a command transmitting unit configured to transmit a command signal corresponding to at least one of the voice command and the gesture command input to the command recognition unit to an external electronic device, a moving unit including the driving motor, and a controller configured to control recognition of at least one of the voice command and the gesture command, transmission of the command signal to the external electronic device, and movement of the mobile input device.
    Type: Grant
    Filed: March 29, 2013
    Date of Patent: November 5, 2019
    Assignee: LG ELECTRONICS INC.
    Inventor: Wonhee Lee
  • Patent number: 10466708
    Abstract: A method for controlling a walk of a robot and robot are provided. The method includes: controlling the robot to walk along walls of a room to obtain a structure and size of the room; dividing an area of the room into a plurality of regular sweeping areas and a plurality of irregular sweeping areas according to the structure and size of the room; controlling the robot to sweep the plurality of regular sweeping areas in a clip shaped sweeping walk mode; and controlling the robot to sweep each irregular sweeping area according to a size of each irregular sweeping area after sweeping the plurality of regular sweeping areas. The robot cleans the regular cleaning areas and the irregular cleaning areas separately, thus increasing a cleaning coverage rate, and effectively improving cleaning performance and user experiences.
    Type: Grant
    Filed: August 12, 2015
    Date of Patent: November 5, 2019
    Inventors: Qinghao Yu, Yongzhe Piao, Qiang Shen
  • Patent number: 10442082
    Abstract: Methods for automated robotic movement for a robotic device using an electronic computing device are presented, the methods including: causing the electronic computing device to establish a working zone; measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone; establishing a coverage path that accounts for all detected obstacles; executing the coverage path such the robotic device covers the working zone at least once; if a new obstacle is detected, establishing an adapted coverage path that accounts for the new obstacle; and executing the adapted coverage path. In some embodiments, methods further include: bypassing the new obstacle; and returning to the coverage path.
    Type: Grant
    Filed: August 14, 2017
    Date of Patent: October 15, 2019
    Assignee: Al Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Masih Ebrahimi Afrouzi, Soroush Mehrnia, Amin Ebrahimi Afrouzi, Azadeh Afshar Bakooshli