Mobile Robot Patents (Class 318/568.12)
  • Patent number: 11455472
    Abstract: The present disclosure relates to a method, device and computer readable storage medium for presenting an emotion. The method for presenting the emotion includes obtaining a first emotion presentation instruction, wherein the first emotion presentation instruction includes at least one first emotion presentation modality and at least one emotional style, and the at least one first emotion presentation modality includes a text emotion presentation modality; and presenting an emotion corresponding to one or more of the at least one emotional style according to each of the at least one first emotion presentation modality. The present disclosure can realize text-based multi-modal emotion presentation modes, and thus user experience can be improved.
    Type: Grant
    Filed: August 13, 2020
    Date of Patent: September 27, 2022
    Assignee: SHANGHAI XIAOI ROBOT TECHNOLOGY CO., LTD.
    Inventors: Hui Wang, Yuning Wang, Pinpin Zhu
  • Patent number: 11412907
    Abstract: A cleaner performing autonomous traveling includes a main body, first and second cameras photographing the periphery of the main body, and a controller controlling the first and second cameras to capture an image according to preset order, wherein a direction in which the first camera is directed and a direction in which the second camera is directed form a predetermined angle, and the controller generates three-dimensional (3D) coordinate information related to an object located near the main body using images obtained in the first and second cameras.
    Type: Grant
    Filed: May 29, 2018
    Date of Patent: August 16, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Yongmin Shin, Ilsoo Cho
  • Patent number: 11415590
    Abstract: A processor-implemented posture determination method includes: estimating a rotational acceleration of a timepoint based on an angular velocity measured by a first sensor at the timepoint and a determined center of rotation of a previous timepoint; correcting an acceleration measured by a second sensor at the timepoint based on the rotational acceleration; and determining a center of rotation of the timepoint and a posture of the timepoint based on the corrected acceleration and an estimated posture of the timepoint.
    Type: Grant
    Filed: December 9, 2019
    Date of Patent: August 16, 2022
    Assignees: Samsung Electronics Co., Ltd., SNU R&DB FOUNDATION
    Inventors: Hyun Cheol Jeon, Chan Gook Park, Keechang Lee, Jungmin Park, So Young Park
  • Patent number: 11403891
    Abstract: A computing device receives a setup command and signals mobile robots to move sensor targets into positions within a predetermined range of a turntable. Each mobile robot may be coupled to a sensor target. Once the sensor targets are moved into the positions, calibration may be initiated, in which a vehicle is rotated using the turntable, and sensors coupled to the vehicle are calibrated based on detection of the sensor targets. The computing device may signal the mobile robots to adjust the sensor targets as needed, or, after calibration, to move into storage or charging positions.
    Type: Grant
    Filed: November 1, 2019
    Date of Patent: August 2, 2022
    Assignee: GM Cruise Holdings LLC
    Inventor: James Matthew Nee
  • Patent number: 11398235
    Abstract: The disclosed embodiments disclose methods, apparatuses, systems, devices and computer-readable storage media for processing speech signals. The method comprises: acquiring a real-time image by using an image capturing device, performing facial recognition by using the real-time image, and detecting a period during which a target user makes speech sounds based on a facial recognition result; locating a sound source in an audio signal received by a microphone array, and determining the orientation information of a sound source in the audio signal; and based on the period during which the target user in the real-time image makes the speech sounds and the orientation information of the sound source, performing a speech sound start and end point analysis to determine start and end time points of the speech sounds in the audio signal.
    Type: Grant
    Filed: August 28, 2019
    Date of Patent: July 26, 2022
    Assignee: ALIBABA GROUP HOLDING LIMITED
    Inventors: Biao Tian, Zhaowei He, Tao Yu
  • Patent number: 11375924
    Abstract: A walking state measurement device according to the present invention includes: at least one memory storing a set of instructions; and at least one processor configured to execute the set of instructions to: estimate a floor reaction force by use of at least either of motion data and lower limb vertical load data of a walker, and outputting the floor reaction force as floor reaction force data; and calculate a walking state of the walker by use of at least either of the motion data and the floor reaction force data, and outputting the walking state.
    Type: Grant
    Filed: November 17, 2017
    Date of Patent: July 5, 2022
    Assignee: NEC CORPORATION
    Inventors: Kenichiro Fukushi, Takeo Nozaki
  • Patent number: 11375162
    Abstract: A mobile robot including an image pickup unit, further includes an accumulation unit configured to accumulate imaging data taken in the past, a reception unit configured to receive designation of a spatial area from a remote terminal, and a processing unit configured, when it is possible to shoot the spatial area received by the reception unit by the image pickup unit, to perform shooting and transmit obtained imaging data to the remote terminal, and when the shooting is impossible, to transmit imaging data including an image of the spatial area accumulated in the accumulation unit to the remote terminal and start a moving process in order to shoot the spatial area by the image pickup unit.
    Type: Grant
    Filed: July 22, 2020
    Date of Patent: June 28, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Takashi Yamamoto
  • Patent number: 11357372
    Abstract: A vacuumed material collection station for receiving vacuumed material from a vacuum cleaning apparatus includes a vacuumed material collection container and an interface for connecting the vacuum cleaning apparatus to the vacuumed material collection station. The vacuumed material collection station comprises a receptacle space for receiving a filter chamber of a vacuum cleaning apparatus connected to the vacuumed material collection station and a feed device for feeding the filter chamber into the receptacle space. The receptacle space is designed for completely encompassing the filter chamber and/or at the most not encompassing a chamber side facing the interface with the vacuum cleaning apparatus. The receptacle space forms a partial volume within the housing of the vacuumed material collection station, and the feed device is designed for removing the filter chamber from the vacuum cleaning apparatus and displacing the filter chamber into the receptacle space.
    Type: Grant
    Filed: February 25, 2020
    Date of Patent: June 14, 2022
    Assignee: Vorwerk & Co. Interholding GmbH
    Inventors: Thomas Buening, Benjamin Fleczok, Robert Frielinghaus, Martin Helmich, Lorenz Hillen, Christian Holz, Gerhard Isenberg, Andrej Mosebach, Roman Ortmann, Kevin Schmitz, Fabian Vitz, Niklas Van Teeffelen, Georg Hackert
  • Patent number: 11345024
    Abstract: Provided is a drive device that can remove the influence of static friction by driving two drive axes with three drive units. A drive device includes: a first drive unit; a second drive unit; a third drive unit; a first differential unit connected to the first drive unit and the second drive unit; a second differential unit connected to the second drive unit and the third drive unit; and a control unit that controls the first to third drive units. The control unit controls the second drive unit at a constant speed, and controls a speed of each of the first drive unit and the third drive unit relative to that of the second drive unit.
    Type: Grant
    Filed: December 19, 2018
    Date of Patent: May 31, 2022
    Assignee: SONY CORPORATION
    Inventors: Shunsuke Yajima, Kazuo Hongo, Masaya Kinoshita
  • Patent number: 11318609
    Abstract: A control device includes a control unit which executes a control force to a movable unit according to an output of a force detection unit. The control unit executes a stop control of the movable unit when a predetermined stop condition is satisfied. The stop control includes a second control which continues the force control to control the movable unit when the stop condition is satisfied during the execution of a first control including a force control.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: May 3, 2022
    Inventors: Kaoru Takeuchi, Nobuhiro Karito, Isamu Sejimo
  • Patent number: 11297991
    Abstract: A cleaner includes a cleaner body, a power supply including a first battery and a second battery that are accommodated in the cleaner body, and a power supply circuit configured to operate in a charge mode for receiving power from the outside to recharge the first and second batteries or in a discharge mode for supplying the power recharged in the first and second batteries to a load, a charging terminal connected to an external charging stand and configured to supply direct current (DC) power to the first and second batteries in the charge mode, and a controller configured to control an operation of the power supply in the discharge mode and the charge mode.
    Type: Grant
    Filed: March 13, 2019
    Date of Patent: April 12, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Sangik Lee, Jaeheon Chung, Seaunglok Ham
  • Patent number: 11269343
    Abstract: The present invention relates to a moving robot and a control method thereof, and includes a sensor unit configured to detect an obstacle located in a traveling direction; a camera configured to photograph the obstacle, when the obstacle is detected by the sensor unit; a controller configured to control a certain operation to be performed in accordance with the obstacle. The controller analyzes a plurality of image data of the obstacle inputted from the camera to determine whether the obstacle can be identified and filters the image data, transmits the filtered image data among the plurality of image data to the server through the communication unit, and controls the traveling unit in accordance with obstacle information received from the server. Hence, by transmitting only recognizable image, unnecessary data transmission is reduced, and accordingly, transmission traffic is reduced and the load of image processing of the server is reduced.
    Type: Grant
    Filed: March 2, 2018
    Date of Patent: March 8, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Sangyeol Park, Jaewon Song
  • Patent number: 11259677
    Abstract: A cleaner includes a cleaner body, a power supply including a first battery and a second battery that are accommodated in the cleaner body, and a power supply circuit configured to operate in a charge mode for receiving power from the outside to recharge the first and second batteries or in a discharge mode for supplying the power recharged in the first and second batteries to a load, a charging terminal connected to an external charging stand and configured to supply direct current (DC) power to the first and second batteries in the charge mode, and a controller configured to control an operation of the power supply in the discharge mode and the charge mode.
    Type: Grant
    Filed: March 13, 2019
    Date of Patent: March 1, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Sangik Lee, Jaeheon Chung, Seaunglok Ham
  • Patent number: 11254004
    Abstract: Embodiments of the present invention provide automated robotic system identification and stopping time and distance estimation, significantly improving on existing ad-hoc methods of robotic system identification. Systems and methods in accordance herewith can be used by end users, system integrators, and the robot manufacturers to estimate the dynamic parameters of a robot on an application-by-application basis.
    Type: Grant
    Filed: August 28, 2019
    Date of Patent: February 22, 2022
    Assignee: VEO ROBOTICS, INC.
    Inventors: Scott Denenberg, Brad C. Mello, Matthew Galligan, Clara Vu, Patrick Sobalvarro, Marek Wartenberg, Alberto Moel
  • Patent number: 11247668
    Abstract: The present invention makes it possible to appropriately grasp a stop cause when a vehicle stops. An ECU 5, which controls a vehicle including wheels and a vehicle body connected to the wheels includes: a wheel stop detection unit 138 that detects a stop of the wheels; a vehicle body stop detection unit 133 that detects a stop of the vehicle body; and a stop cause determination unit 141 that determines a stop cause of the vehicle based on a stop timing of the wheels detected by the wheel stop detection unit 138 and a stop timing of the vehicle body detected by the vehicle body stop detection unit 133. The stop cause determination unit 141 may determine that the stop cause is contact of the vehicle body with an obstacle when the stop timing of the vehicle body is earlier than the stop timing of the wheels.
    Type: Grant
    Filed: March 2, 2018
    Date of Patent: February 15, 2022
    Assignee: HITACHI ASTEMO, LTD.
    Inventor: Tatsunori Harai
  • Patent number: 11247334
    Abstract: A method includes: executing judgment processing for judging whether a site to carry out a first task assigned to a first robot and a site to carry out a second task assigned to a second robot are likely to overlap each other; executing comparison processing for comparing first end time with second end time when the sites to carry out the first task and the second task are likely to overlap each other; and executing determination processing for selecting the first task order when the first end time is earlier than the second end time, and selecting the second task order when the second end time is earlier than the first end time.
    Type: Grant
    Filed: April 30, 2019
    Date of Patent: February 15, 2022
    Assignee: FUJITSU LIMITED
    Inventors: Sachio Kobayashi, Hiroki Kobayashi, Daichi Shimada, Ryo Murakami
  • Patent number: 11230001
    Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.
    Type: Grant
    Filed: September 17, 2019
    Date of Patent: January 25, 2022
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Youjun Xiong, Ligang Ge, Yizhang Liu, Chunyu Chen, Zheng Xie, Jianxin Pang
  • Patent number: 11227497
    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: April 18, 2019
    Date of Patent: January 18, 2022
    Assignee: Starship Technologies OÜ
    Inventors: Ahti Heinla, Risto Reinpõld, Kristjan Korjus
  • Patent number: 11192600
    Abstract: A robot leg (125) comprises an upper link (101) and a lower link (111). The upper link (101) operates nominally in a first vertical plane, for example the sagittal plane, while the lower link (111) operates nominally in a second vertical plane, nominally orthogonal to the first plane, for example the coronal plane. The leg (125) may also comprise a twist joint in the knee, and may comprise four-bar linkages (102a-b, 103a-d, 112a-b, 113a-d), such that the foot (106) stays parallel to the hip (102a). The leg (125) may be used in a robot to allow the construction of a robot capable of three dimensional movement, using a small number of actuators per leg.
    Type: Grant
    Filed: May 25, 2016
    Date of Patent: December 7, 2021
    Assignee: Robotical Ltd.
    Inventor: Alexander Michael Enoch
  • Patent number: 11188069
    Abstract: A method of conducting preventative maintenance on a robotic surgical system is provided. The method includes sensing an audio output generated by one or more components of a robotic surgical system with a sensor coupled to the robotic surgical system, converting the audio output into audio output data, comparing the audio output data to a predefined audio data stored in a memory device that is coupled to the robotic surgical system, and selectively outputting a preventative maintenance signal based on a comparison of the audio output data and the predefined audio data.
    Type: Grant
    Filed: August 16, 2018
    Date of Patent: November 30, 2021
    Assignee: COVIDIEN LP
    Inventor: Jaimeen Kapadia
  • Patent number: 11175194
    Abstract: A load detection device capable of preventing deterioration of the accuracy of a load detection with the lapse of time is provided. A first exemplary aspect is a load detection device, including: a load detection part including a curved surface; an application member comprising a flat surface; and a transmission member located between the load detection part and the application member. The curved surface of the load detection part and a first surface of the transmission member come into point contact with each other, and the flat surface of the application member and a second surface opposite to the first surface of the transmission member come into surface contact with each other.
    Type: Grant
    Filed: January 27, 2020
    Date of Patent: November 16, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Takahiro Takeda
  • Patent number: 11172646
    Abstract: The invention relates to a system to carry out a floor related action. The system comprises an animal enclosure for detaining at least one animal and provided with an enclosure floor surface, a first autonomous vehicle configured to navigate over the floor surface to carry out the floor related action, and a feed providing device to provide feed to the animal. The system comprises a communication signal configured to transmit a communication signal representative for an actual or planned feeding action of the feed providing device to the first vehicle, which action influences the position of animals with the animal enclosure. In order to move the first vehicle more efficiently over the stable floor, in particular to avoid interference with animals on the stable floor, the first vehicle is capable to adapt its navigation based on the communication signal representative for the actual or planned feeding action.
    Type: Grant
    Filed: April 12, 2016
    Date of Patent: November 16, 2021
    Assignee: Lely Patent N.V.
    Inventors: Karel Van Den Berg, Dik-Jan Wisse
  • Patent number: 11167419
    Abstract: A transfer robot includes one arm, another arm, and a motor. The one arm has a first connection portion. The other arm has a second connection portion that is connected to the first connection portion of the one arm via a shaft such that the other arm is rotatable relatively with respect to the one arm around a shaft axis of the shaft. The motor is provided inside the first connection portion of the one arm. The motor includes a rotor rotatable around the shaft axis to rotate the one arm or the other arm around the shaft axis.
    Type: Grant
    Filed: June 10, 2019
    Date of Patent: November 9, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Osamu Harada, Toshiyuki Harada, Kentaro Yotsuji
  • Patent number: 11163301
    Abstract: In a method for operating a self-traveling floor treatment apparatus, a recording device of the floor treatment apparatus records a recording of an environment of the floor treatment apparatus, which concerns a time period, and the recording is displayed for a user of the floor treatment apparatus on a screen. In order to allow correction of error conditions, the recording is stored and, in case of a defined environmental event and/or apparatus condition of the floor treatment apparatus, a time-defined partial sequence is subsequently extracted from the stored recording and displayed on the screen.
    Type: Grant
    Filed: March 14, 2018
    Date of Patent: November 2, 2021
    Assignee: Vorwerk & Co. Interholding GmbH
    Inventors: Roman Ortmann, Gerhard Isenberg
  • Patent number: 11154008
    Abstract: In one aspect, a system for operating an agricultural harvester may include a sensor assembly configured to detect a parameter indicative of an operating line of the harvester. The system may also include a controller configured to monitor the operating line of the harvester based on measurement signals received from the sensor assembly when the harvester is operated in a first operating mode. The controller may also be configured to determine a differential between the operating line and a predetermined guidance line of the harvester. Furthermore, the controller may be configured to update a stored correction value based on the determined differential. Additionally, when the harvester is switched from the first operating mode to a second operating mode, the controller may be configured to adjust a location of the predetermined guidance line based on the stored correction value.
    Type: Grant
    Filed: August 20, 2018
    Date of Patent: October 26, 2021
    Assignee: CNH Industrial America LLC
    Inventors: Peter J. Dix, Yaseen Suleman
  • Patent number: 11144062
    Abstract: Disclosed are a method and device for selecting a to-be-cleaned area.
    Type: Grant
    Filed: December 26, 2017
    Date of Patent: October 12, 2021
    Assignee: SHEN ZHEN 3IROBOTICS CO., LTD
    Inventors: Yong Yang, Zexiao Wu, Yuhui Song
  • Patent number: 11120909
    Abstract: A smartphone or other mobile computer device, general purpose or specialized, wherein the smartphone device is configured to actively control the configuration of one or more bladders, compartments, chambers or internal sipes and one or more sensors located in either one or both of a sole or a removable inner sole insert of the footwear of the user and/or located in an apparatus worn or carried by the user, glued unto the user, or implanted in the user. The one or more bladders, compartments, chambers, or sipes, and one or more sensors are configured for computer control. A sole and/or a removable inner sole insert for footwear, including one or more bladders, compartments, chambers, internal sipes and sensors in the sole and/or in a removable insert; or on an insole; all being configured for control by a smartphone or other mobile computer device, general purpose or specialized.
    Type: Grant
    Filed: January 22, 2020
    Date of Patent: September 14, 2021
    Inventor: Frampton E. Ellis
  • Patent number: 11109734
    Abstract: A combined robot includes a self-moving robot and a functional module, in which the functional module is detachably combined into the self-moving robot through a connecting piece. Driving wheels and a driven wheel are disposed at a bottom of a machine body of the self-moving robot. By taking an advancing direction when the self-moving robot operates as a forward direction, the driving wheels are located on a left side and a right side of the bottom of the machine body. The driven wheel is located at a front end or a rear end of the bottom of the machine body. A control center is disposed in the combined robot and controls the combined robot to operate. One end away from the driven wheel of the bottom of the machine body of the self-moving robot is a supporting end, and floating supporting mechanisms are disposed at the supporting end.
    Type: Grant
    Filed: May 19, 2017
    Date of Patent: September 7, 2021
    Assignee: ECOVACS ROBOTICS CO., LTD.
    Inventor: Fanming Meng
  • Patent number: 11099554
    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: August 24, 2021
    Assignee: AKTIEBOLAGET ELECTROLUX
    Inventors: Magnus Lindhé, Petter Forsberg
  • 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: 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: 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: 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