Robot Control Patents (Class 700/245)
  • Patent number: 10784693
    Abstract: A charging device includes a case, a first connector, a first communication device, a processing device, and a driving device. The first communication device is configured to communicate with a second communication device of an electrical device and send a control signal to the processing device after communicating with the second communication device. The processing device is configured to output a driving signal to the driving device after receiving the control signal. The driving device is configured to provide a pushing force to push the first connector to extend from the case to couple to a second connector of the electrical device after receiving the driving signal. The first connector is further configured to charge the electrical device after couple to the second connector. A charging system is also provided.
    Type: Grant
    Filed: September 12, 2016
    Date of Patent: September 22, 2020
    Assignee: Cloud Network Technology Singapore Pte. Ltd.
    Inventors: Chuang-Wei Tseng, Yu-Ching Chien, Yu-Wen Chen, Kuang-Yu Liu
  • Patent number: 10782670
    Abstract: A method for implementing machining tasks for an object. The method identifies location coordinates for a plurality of holes. A task file contains the machining tasks. The robotic devices use the task files to perform the machining tasks. A minimum number of positioning stations is determined where a portion of the machining tasks will be performed by the robotic devices. An ordered sequence for performing the machining tasks is calculated and path a path with the near-minimum distance is determined. Robotic control files are created that cause the robotic devices to perform the machining tasks. The robotic control files are output to the robotic devices to perform the machining tasks to form the plurality of holes.
    Type: Grant
    Filed: December 14, 2016
    Date of Patent: September 22, 2020
    Assignee: The Boeing Company
    Inventors: Michelle Crivella, Philip L. Freeman, Joshua D. Kalin, Robert Stephen Strong, Patrick Joel Michaels
  • Patent number: 10779898
    Abstract: Systems, devices and methods are provided in which an instrument can translate along an insertion axis. Rather than relying primarily on a robotic arm for instrument insertion, the instruments described herein have novel instrument based insertion architectures that allow portions of the instruments themselves to translate along an insertion axis. For example, an instrument can comprise a shaft, an end effector on a distal end of the shaft, and a handle coupled to the shaft. The architecture of the instrument allows the shaft to translate relative to the handle along an axis of insertion. The translation of the shaft does not interfere with other functions of the instrument, such as end effector actuation.
    Type: Grant
    Filed: September 30, 2019
    Date of Patent: September 22, 2020
    Assignee: Auris Health, Inc.
    Inventors: Aren Calder Hill, Travis Michael Schuh, Nicholas J. Eyre
  • Patent number: 10780577
    Abstract: A machine learning device for learning operations of a robot and a laser scanner, includes a state observation unit observing a state of a tip end of the robot where the laser scanner is mounted and a state of an optical component in the laser scanner as a state data; a determination data obtaining unit receiving at least one of a machining time of the robot where the laser scanner is mounted, a drive current driving the robot, a command path of the laser scanner, a passing time in a processable area where the laser scanner performs processing, and a distance between the robot and a part where the laser scanner performs processing as a determination data; and a learning unit learning operations of the robot and the laser scanner based on an output of the state observation unit and an output of the determination data obtaining unit.
    Type: Grant
    Filed: December 5, 2017
    Date of Patent: September 22, 2020
    Assignee: FANUC CORPORATION
    Inventors: Yoshinori Murakami, Toshimichi Aoki
  • Patent number: 10782501
    Abstract: A medical observation device includes an imaging unit configured to photograph an image of an operation site, and a holding unit configured to be connected with the imaging unit and have rotary shafts which are operable with at least six degrees of freedom. Among the rotary shafts, at least two shafts are active shafts whose driving is controlled based on states of the rotary shafts, and at least one shaft is a passive shaft which is rotated according to direct external manipulation accompanying contact.
    Type: Grant
    Filed: July 23, 2015
    Date of Patent: September 22, 2020
    Assignees: SONY OLYMPUS MEDICAL SOLUTIONS INC., SONY CORPORATION
    Inventors: Kenji Hirose, Tetsuharu Fukushima, Atsushi Miyamoto, Wataru Kokubo, Toshimitsu Tsuboi
  • Patent number: 10780578
    Abstract: A method of operating a robot includes driving a robot to approach a reach point, extending a manipulator arm forward of the reach point, and maintaining a drive wheel and a center of mass of the robot rearward of the reach point by moving a counter-balance body relative to an inverted pendulum body while extending the manipulator arm forward of the reach point. The robot includes the inverted pendulum body, the counter-balance body deposed on the inverted pendulum body, the manipulator arm connected to the inverted pendulum body, at least one leg having a first end prismatically coupled to the inverted pendulum body, and the drive wheel rotatably coupled to a second end of the at least one leg.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: September 22, 2020
    Assignee: Boston Dynamics, Inc.
    Inventors: Kevin Blankespoor, John Aaron Saunders, Steven D. Potter, Vadim Chernyak, Shervin Talebinejad
  • Patent number: 10779899
    Abstract: Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.
    Type: Grant
    Filed: June 22, 2018
    Date of Patent: September 22, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Paul W. Mohr, Brandon D. Itkowitz, Thomas R. Nixon, Roman Devengenzo
  • Patent number: 10773386
    Abstract: A robot setting apparatus includes a grip reference point setting unit, a grip direction setting unit that defines a grip direction in which the end effector model grips the workpiece model, a workpiece side grip location designation unit that designates a grip position at which the end effector model grips the workpiece model in a state in which at least the workpiece model is displayed in an image display region, and a relative position setting unit that sets a relative position between the end effector model and the workpiece model such that the grip direction defined in the grip direction setting unit is orthogonal to a workpiece plane representing an attitude of the workpiece model displayed in the image display region, and the grip reference point is located at the grip position along the grip direction.
    Type: Grant
    Filed: March 5, 2018
    Date of Patent: September 15, 2020
    Assignee: KEYENCE CORPORATION
    Inventors: Masato Shimodaira, Ippei Yamauchi
  • Patent number: 10775880
    Abstract: A system includes an animated character head having one or more processors configured to receive an input, to make an animation selection based on the input, and to provide a first control based on the animation selection. The animated character head also includes a display configured to provide an indication of the animation selection for visualization by a performer operating the animated character head.
    Type: Grant
    Filed: April 13, 2017
    Date of Patent: September 15, 2020
    Assignee: Universal City Studios LLC
    Inventors: Anisha Vyas, Caitlin Amanda Correll, Sean David McCracken, William V. McGehee
  • Patent number: 10766139
    Abstract: A method for avoiding collisions between two robots providing first movement information related to a first robot movement; determining for a plurality of second robot movements whether they involve a risk for collision between the first and second robots; and executing one of the second robot movements. Information about a movement of one robot enables a robot controller of another robot with an overlapping work area to select among available robot movements an appropriate one that does not involve a risk for collision between the two robots.
    Type: Grant
    Filed: February 13, 2015
    Date of Patent: September 8, 2020
    Assignee: ABB Schweiz AG
    Inventor: Anders Lager
  • Patent number: 10767675
    Abstract: A mechanism is hereby disclosed that, when activated in the linear direction of its axis, will expand and contract radially. The novel nature of the device is that of compliant methods and materials used in its design. Compliant members, referred to as dyads, translate the motion and imply resistance in a single structure. Thus eliminating the need for separate members, hinges, pins, springs and the associated assembly. When these compliant dyads are combined in the novel configurations hereby disclosed, a device is created that expands (or contracts) in multiple directions from its primary axis of actuation. Furthermore, one or more actuation dyad sets could be arranged at various angles relative to the global vertical axis. The radial expansion/contraction can be 2D or 3D by adding more primary activation dyad sets. Such a device can be applied to many applications and industries. One such application is for gripping the inside of a tube or object for moving manually or in automation.
    Type: Grant
    Filed: May 2, 2017
    Date of Patent: September 8, 2020
    Assignee: FLEXSYS, INC.
    Inventors: Sridhar Kota, Robert Schartow
  • Patent number: 10771923
    Abstract: This disclosure provides methods and systems for locating wireless mobile devices in an area, for example, using an unmanned aerial vehicle. An unmanned aerial vehicle may receive a wireless signal with identification information from a mobile device. The unmanned aerial vehicle may fly in wireless communication range with the mobile device; measuring, representative parameters related to the received wireless signal and associating the value of measured representative parameters with the mobile device identification and with the location of the unmanned aerial vehicle at the time the wireless signal was received and estimating, the location of the mobile device in the area based on the value of measured representative parameters and the location of the unmanned aerial vehicle at the time it received the wireless signal.
    Type: Grant
    Filed: July 10, 2017
    Date of Patent: September 8, 2020
    Inventor: Daniel Aljadeff
  • Patent number: 10762186
    Abstract: Provided is a method for establishing and maintaining a user loyalty metric to accesses a plurality of robotic device functions including: receiving biometric data associated with a user; authenticating the user; providing a time access memory, wherein the time access memory comprises a plurality of memory cells; assigning a predetermined time slot to each of the plurality of memory cells, wherein each of the plurality of memory cells is available for writing only during the predetermined time slot, after which each memory cell is made read-only; storing the biometric data of the user if the user is authenticated within a currently available memory cell of the time access memory; increasing the user loyalty metric if the user is authenticated; and, providing access to the plurality of robotic device functions in accordance with the user loyalty metric.
    Type: Grant
    Filed: December 14, 2018
    Date of Patent: September 1, 2020
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Amin Ebrahimi Afrouzi, Masih Ebrahimi Afrouzi, Soroush Mehrnia, Azadeh Afshar Bakooshli
  • Patent number: 10763868
    Abstract: In one embodiment, a distributed oscillator computes a first error value based on a first state value for the distributed oscillator and first state values for other distributed oscillators, and computes a second error value based on a second state value for the distributed oscillator and second state values for the other distributed oscillators. The distributed oscillator computes a new first state value for the distributed oscillator based on the first error value, the first state value for the distributed oscillator, and the second state value for the distributed oscillator, and computes a new second state value for the distributed oscillator based on the second error value, the first state value for the distributed oscillator, and the second state value for the distributed oscillator. The distributed oscillator transmits the new first state value and the new second state value to the other distributed oscillators.
    Type: Grant
    Filed: June 28, 2019
    Date of Patent: September 1, 2020
    Assignee: Intel Corporation
    Inventors: Jose I. Parra Vilchis, Anthony K. Guzman Leguel, David Gomez Gutierrez, Leobardo E. Campos Macias, Rafael de la Guardia Gonzalez, Rodrigo Aldana Lopez
  • Patent number: 10759049
    Abstract: A service providing system is equipped with a robot, a robot time zone management unit configured to specify a time zone in which there is no action plan for the robot itself, an activity specifying unit configured to specify an activity that has yet to be experienced by the robot itself or a subject and that is of high priority, and a location specifying unit configured to specify a location where the activity is performed. In the specified time zone, the robot moves to the specified location, performs the specified activity, and provides information obtained through the activity, to the subject.
    Type: Grant
    Filed: June 5, 2018
    Date of Patent: September 1, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Makoto Yuzawa, Atsushi Nishi, Miyuki Shimota, Takaichi Sano, Seiichi Yamamoto, Keiichi Iguchi
  • Patent number: 10761526
    Abstract: An asset inspection system includes a robot and a server. The server receives a request for data from the robot, wherein the requested data comprises an algorithm, locates the requested data in a database stored on the server, encrypts the requested data, and transmits the requested data to the robot. The robot is configured to collect inspection data corresponding to an asset based at least in part on the requested data and transmit the collected inspection data to the server.
    Type: Grant
    Filed: November 6, 2017
    Date of Patent: September 1, 2020
    Assignee: GENERAL ELECTRIC COMPANY
    Inventors: Huan Tan, Li Zhang, Romano Patrick, Viktor Holovashchenko, Charles Burton Theurer, John Michael Lizzi, Jr.
  • Patent number: 10759048
    Abstract: A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: September 1, 2020
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Toru Nagata, Takayuki Ogawara, Masaru Ogata
  • Patent number: 10761539
    Abstract: A method and system for docking a robot with a charger docking station, including receiving an initial pose and receiving a mating pose associated with the robot charger docking station, performing a first navigation from a location to the initial pose, and performing a second navigation of the robot from the initial pose to the mating pose. The second navigation may proceed substantially along an arc path from the initial pose to the mating pose, thereby, upon arriving at the mating pose, an electrical charging port of the robot mates with an electrical charging assembly. The arc path may be associated with a section of a unique circle having a radius and a center equidistant from the initial pose and the mating pose. Controlling for error may include a proportional control and/or weighted control or switching between the controls to maintain an error below a threshold.
    Type: Grant
    Filed: November 22, 2017
    Date of Patent: September 1, 2020
    Inventors: Thomas Moore, Bradley Powers, Hian Kai Kwa
  • Patent number: 10751876
    Abstract: A moving robot including: actuators at least including a motor for movement; a reading unit configured to read a tag installed in an environment, at least one of information on an allowable operation time of the actuators and information on an allowable operation amount of the actuators being described in the tag; and a controller configured to prohibit or limit execution of a predetermined task whose execution has already been accepted, the predetermined task being operated using at least one of the actuators, until the time when the reading unit reads the tag, and release the prohibition or the limitation and execute the task in such a way that an operation time and an operation amount do not exceed the allowable operation time and the allowable operation amount described in the tag after the reading unit has read the tag is provided.
    Type: Grant
    Filed: January 8, 2018
    Date of Patent: August 25, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yoshiaki Asahara, Hideki Kajima
  • Patent number: 10754328
    Abstract: A device intelligence architecture configures and controls on-site devices and performs environment monitoring to facilitate effective device functionality. The architecture facilitates efficient use of devices (e.g., robotics) in an unstructured and dynamic environment, which will allow deployments in many more environments than is currently possible. The architecture stores and shares information between segregated devices to avoid the silo effect of vendor specific stacks. The architecture also models capabilities of devices and maps actions to intelligence packages to deploy a specific intelligence package to the device. The architecture also implements distributed processing. For instance, computationally intensive tasks may be offloaded to the back end processing, with action updates resulting from the processing pushed to the devices.
    Type: Grant
    Filed: September 3, 2015
    Date of Patent: August 25, 2020
    Assignee: Accenture Global Solutions Limited
    Inventors: Pramila Mullan, Michael Mui, Anuraag Chintalapally, Cindy Au
  • Patent number: 10750652
    Abstract: An implement operating apparatus has a U-shaped drive frame supported on drive wheels, each pivotally mounted about a vertical wheel pivot axis. A steering control selectively pivots each drive wheel. A power source is connected through a drive control to rotate the drive wheels in either direction. First and second implements are configured to perform implement operations and to rest on the ground and when the drive frame is maneuvered to an implement loading position with respect to each implement, the implement is connectable to the drive frame and movable to an operating position supported by the drive frame. When the implement is in the operating position, the steering and drive controls are operative to move and steer the drive frame and implement along a first travel path or a second travel path oriented generally perpendicular to the first travel path.
    Type: Grant
    Filed: February 16, 2017
    Date of Patent: August 25, 2020
    Assignee: DOT Technology Corp.
    Inventor: Norbert Beaujot
  • Patent number: 10755960
    Abstract: A semiconductor wafer transport apparatus includes a frame, a transport arm movably mounted to the frame and having at least one end effector movably mounted to the arm so the at least one end effector traverses, with the arm as a unit, in a first direction relative to the frame, and traverses linearly, relative to the transport arm, in a second direction, and an edge detection sensor mounted to the transport arm so the edge detection sensor moves with the transport arm as a unit relative to the frame, the edge detection sensor being a common sensor effecting edge detection of each wafer simultaneously supported by the end effector, wherein the edge detection sensor is configured so the edge detection of each wafer is effected by and coincident with the traverse in the second direction of each end effector on the transport arm.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: August 25, 2020
    Assignee: Brooks Automation, Inc.
    Inventors: Anthony C. Bonora, Justo Graciano
  • Patent number: 10743058
    Abstract: A system that incorporates teachings of the subject disclosure may include, for example, a method that identifies first and second gestures of first and second viewers in a proximity of a media center and associates the first and second gestures with first and second command A conflict is determined between the first and second commands and in response a notification is provided via the media center. The notification requests a resolution to the conflict. A cue is detected from a viewer responsive to the presenting of the notification. The cue identifies a selected one of the first viewer or the second viewer and control of the media center is assigned to one of the first viewer or the second viewer responsive to the cue. Other embodiments are disclosed.
    Type: Grant
    Filed: January 4, 2019
    Date of Patent: August 11, 2020
    Assignee: AT&T Intellectual Property I, L.P.
    Inventors: Dimitrios Dimitriadis, Horst Juergen Schroeter
  • Patent number: 10739858
    Abstract: The purpose is to provide a tactile information conversion device, a tactile information conversion method, and a tactile information conversion program, which are usable for general purposes by presenting or sensing an arbitrary tactile feeling. In order to provide tactile information to an output unit capable of outputting physical quantities including electricity, force, temperature, vibration, and/or time and space, at least two or more of the physical quantities are selected according to a tactile feeling to be presented, tactile information for presenting the predetermined tactile feeling is generated based on the physical quantities that have been selected, and the tactile information that has been generated is output to the output unit.
    Type: Grant
    Filed: October 5, 2018
    Date of Patent: August 11, 2020
    Assignee: JAPAN SCIENCE AND TECHNOLOGY AGENCY
    Inventors: Susumu Tachi, Masashi Nakatani, Katsunari Sato, Kouta Minamizawa, Hiroyuki Kajimoto
  • Patent number: 10737388
    Abstract: A method for controlling a human-robot collaboration (HRC) system wherein the HRC system includes at least one manipulator having an end effector. The method includes using the end effector in a first operating mode, wherein the end effector is operated with reduced power; monitoring whether a desired object is manipulated when the end effector is used in the first operating mode; and increasing the power used to operate the end effector in order to use the end effector in a second operating mode when the monitoring indicates that the desired object is being manipulated.
    Type: Grant
    Filed: October 20, 2016
    Date of Patent: August 11, 2020
    Assignee: KUKA Systems GmbH
    Inventor: Patrick Goerg
  • Patent number: 10739143
    Abstract: Provided are methods and control units for building a database and for predicting a route of a vehicle, and estimating length of the predicted route. The method comprises determining geographical position of the vehicle; detecting a cell border of a cell in a grid-based representation of a landscape, in a database, corresponding to the geographical position; determining that the vehicle is entering the cell at the cell border; extracting a stored driving direction at the cell border from the database; detecting a cell border of a neighbor cell, in the driving direction at the cell border; repeating step and; predicting the route of the vehicle; and estimating the length of the predicted route by adding an estimated distance through each cell of the predicted route.
    Type: Grant
    Filed: June 30, 2016
    Date of Patent: August 11, 2020
    Assignee: Scania CV AB
    Inventors: Per Sahlholm, Oskar Ekstrand, Patrik Pivén
  • Patent number: 10730182
    Abstract: To provide an action information learning device, robot control system and action information learning method for facilitating the performing of cooperative work by an operator with a robot. An action information learning device includes: a state information acquisition unit that acquires a state of a robot; an action information output unit for outputting an action, which is adjustment information for the state; a reward calculation section for acquiring determination information, which is information about a handover time related to handover of a workpiece, and calculating a value of reward in reinforcement learning based on the determination information thus acquired; and a value function update section for updating a value function by way of performing the reinforcement learning based on the value of reward calculated by the reward calculation section, the state and the action.
    Type: Grant
    Filed: March 26, 2018
    Date of Patent: August 4, 2020
    Assignee: FANUC CORPORATION
    Inventors: Tomoyuki Yamamoto, Yuusuke Kurihara
  • Patent number: 10730627
    Abstract: The invention relates mainly to a seat module intended to be installed in an aircraft cabin comprising: a seat, a cushion positioned near the seat, and an armrest that can move between a lowered position, and a raised position, wherein the armrest comprises an upper wall and a lower wall, such that the upper wall extends in line with the cushion when the armrest is in the lowered position, and the lower wall extends in line with the cushion when the armrest is in the raised position.
    Type: Grant
    Filed: April 5, 2016
    Date of Patent: August 4, 2020
    Assignee: Safran Seats
    Inventors: Christophe Ducreux, Charles Ehrmann, Benjamin Foucher
  • Patent number: 10730397
    Abstract: A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.
    Type: Grant
    Filed: July 5, 2017
    Date of Patent: August 4, 2020
    Assignee: iRobot Corporation
    Inventors: Nikolai Romanov, Michael J. Dooley, Paolo Pirjanian
  • Patent number: 10735902
    Abstract: Method for controlling movement of a mobile device includes obtaining an analyzeable video from an imager on the device during its movement by obtaining at least one video from the imager, and analyzing, using a processor, each video to determine presence of a fixed-in-position object in multiple sequentially obtained frames until a video is obtained including at least one fixed-in-position object in multiple sequentially obtained frames which constitutes the analyzeable video. This video is analyzed on a frame by frame basis to determine distance and direction moved by the device, which is analyzed relative to predetermined distance and direction intended for movement of the device to determine any differences, which result in changes in movement of the device. Relocation of the device is achieved by recognizing a previously imaged, fixed object in subsequent frames and comparing the position of the device at both times, with a deviation resulting in relocation.
    Type: Grant
    Filed: December 17, 2018
    Date of Patent: August 4, 2020
    Assignee: Accuware, Inc.
    Inventors: Cyril Houri, Denis Girard
  • Patent number: 10723029
    Abstract: The present invention discloses a safety protection method of dynamic detection for mobile robots. The mobile robot is provided with a sensor. Said sensor obtains the obstacle information in the detection areas in front of a mobile robot, and the mobile robot is caused to progressively slow down and dynamically adjust the detection area when an obstacle appears in the detection area. If no obstacle is detected in the detection area after adjusting, then the mobile robot is caused to keep on moving, and if an obstacle is still detected in the detection area after adjusting, then the mobile robot is caused to keep on decelerating until they are stopped. The sensor sets different detection areas according to the traveling speed and traveling direction of the mobile robot, or presets the detection area according to the path and dynamically adjusts it when the mobile robot is running.
    Type: Grant
    Filed: October 8, 2016
    Date of Patent: July 28, 2020
    Assignee: ZHEJIANG GUOZI ROBOT TECHNOLOGY CO., LTD.
    Inventors: Meng Ding, Yikun Tao, Xia Wang, Xudong Mi, Lingfen Zhu, Hongbo Zheng, Xinfeng Du, Jizhong Shen
  • Patent number: 10726568
    Abstract: A method for map constructing, applicable for real-time mapping of a to-be-localized area provided with at least one laser device, includes taking a position of a mobile electronic as a coordinate origin of a map coordinate system, when a center of a mark projected by a first laser device coincides with central point of CCD/CMOS; moving the mobile electronic device with the coordinate origin as a starting point to traverse the entire to-be-localized area, calculating and recording coordinate values of a position of one of obstacles each time when it is detected by the mobile electronic device; and constructing a map based on recorded information of mark and corresponding coordinate values and the coordinate values of the position of each said obstacle after the traversing process is finished.
    Type: Grant
    Filed: September 6, 2018
    Date of Patent: July 28, 2020
    Assignee: GUANGZHOU AIROB ROBOT TECHNOLOGY CO., LTD.
    Inventors: Yujie Jiang, Beichen Li
  • Patent number: 10716446
    Abstract: A wet cleaning apparatus has a cleaning element for mechanically wet cleaning an area to be cleaned and a device section that supports the wet cleaning apparatus relative to the area. The wet cleaning apparatus comprises a displacement device that is designed for automatically causing a displacement of the cleaning element relative to the device section or vise versa in dependence on a state of motion and/or an error status of the wet cleaning apparatus such that the cleaning element can be displaced from an operating position, in which it is lowered onto the area, into a distant position, in which it is lifted off the area. A detection device is assigned to the displacement device and is designed for distinguishing between a standstill of the wet cleaning apparatus and a motion of the wet cleaning apparatus.
    Type: Grant
    Filed: November 9, 2018
    Date of Patent: July 21, 2020
    Assignee: VORWERK & CO. INTERHOLDING GMBH
    Inventors: Gerhard Isenberg, Roman Ortmann
  • Patent number: 10712293
    Abstract: Methods for characterizing living plants, wherein one or more beams of penetrating radiation such as x-rays are scanned across the plant under field conditions. Compton scatter is detected from the living plant and processed to derive characteristics of the living plant such as water content, root structure, branch structure, xylem size, fruit size, fruit shape, fruit aggregate volume, cluster size and shape, fruit maturity and an image of a part of the plant. Ground water content is measured using the same technique. Compton backscatter is used to guide a robotic gripper to grasp a portion of the plant such as for harvesting a fruit.
    Type: Grant
    Filed: October 18, 2019
    Date of Patent: July 14, 2020
    Assignee: American Science and Engineering, Inc.
    Inventors: Aaron Couture, Calvin Adams, Rafael Fonseca, Jeffrey Schubert, Richard Mastronardi
  • Patent number: 10710243
    Abstract: A method and device for the control and regulation of actuators of a robot, taking environmental contacts into consideration, wherein the robot comprises at least two parts, which are connected by an articulated joint drivable by an actuator. The method comprises: by way of a sensor system, ascertaining and storing a time-dependent variable, as a function of the time, of one or more external contact forces and/or of one or more external moments on the parts, providing a condition for the variable, classifying the feature vector based on predefined categories, which each indicate a contact type between one of the parts or the articulated joint and an object in a surrounding environment, which are each imparted by corresponding external contact forces and/or external contact moments, to generate a classification result, and open-loop and/or closed-loop control of the actuator as a function of the classification result.
    Type: Grant
    Filed: May 10, 2016
    Date of Patent: July 14, 2020
    Assignee: Cavos Bagatelle Verwaltungs GmbH & Co. KG
    Inventor: Sami Haddadin
  • Patent number: 10706549
    Abstract: A system and method that performs iterative foreground detection and multi-object segmentation in an image is disclosed herein. A new background prior is introduced to improve the foreground segmentation results. Three complimentary methods detect and segment foregrounds containing multiple objects. The first method performs an iterative segmentation of the image to pull out the salient objects in the image. In a second method, a higher dimensional embedding of the image graph is used to estimate the saliency score and extract multiple salient objects. A third method uses a metric to automatically pick the number of eigenvectors to consider in an alternative method to iteratively compute the image saliency map. Experimental results show that these methods succeed in accurately extracting multiple foreground objects from an image.
    Type: Grant
    Filed: December 19, 2017
    Date of Patent: July 7, 2020
    Assignee: KODAK ALARIS INC.
    Inventors: Alexander Loui, David Kloosterman, Michal Kucer, Nathan Cahill, David Messinger
  • Patent number: 10703476
    Abstract: An approach is provided for intelligent inspection and interaction between a vehicle and a drone. The approach, for example, involves retrieving vehicle specification data for the vehicle. The vehicle specification data identifies one or more sensors of the vehicle, one or more sensor locations on the vehicle corresponding to the one or more sensors, or a combination thereof. The approach also involves configuring the drone device to move from a docked location to the one or more sensor locations on the vehicle based on the vehicle specification data. The approach further involves initiating an inspection function, an interaction function, or a combination thereof between the drone device and the vehicle when the drone device is positioned in proximity to the one or more sensor locations.
    Type: Grant
    Filed: August 17, 2017
    Date of Patent: July 7, 2020
    Assignee: HERE Global B.V.
    Inventors: Ryan Allard, Frank Kozak
  • Patent number: 10705537
    Abstract: Techniques are provided for discovery and monitoring of an environment using a plurality of robots. A plurality of robots navigate an environment by determining a navigation buffer for each of the robots; and allowing each of the robots to navigate within the environment while maintaining a substantially minimum distance from other robots, wherein the substantially minimum distance corresponds to the navigation buffer, and wherein a size of each of the navigation buffers is reduced over time based on a percentage of the environment that remains to be navigated. The robots can also navigate an environment by obtaining a discretization of the environment to a plurality of discrete regions; and determining a next unvisited discrete region for one of the plurality of robots to explore in the exemplary environment using a breadth-first search. The plurality of discrete regions can be, for example, a plurality of real or virtual tiles.
    Type: Grant
    Filed: January 11, 2017
    Date of Patent: July 7, 2020
    Assignee: Daedalus Blue LLC
    Inventors: Shang Q. Guo, Canturk Isci, Jonathan Lenchner, Maharaj Mukherjee
  • Patent number: 10707786
    Abstract: A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.
    Type: Grant
    Filed: June 27, 2018
    Date of Patent: July 7, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Amir Chaghajerdi, Pushkar Hingwe
  • Patent number: 10702350
    Abstract: A robot system includes a robot main body, memory part configured to store information for causing robot main body to perform given operation, as saved operational information, motion controller configured to control operation of robot main body by using saved operational information as automatic operational information for causing robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting operation of robot main body during operation. Motion controller controls robot main body to perform an operation corrected from operation related to automatic operational information in response to a reception of the manipulating information while robot main body is operating by using automatic operational information. Memory part is configured to be storable of corrected operational information for causing robot main body to perform corrected operation as saved operational information, when robot main body performs corrected operation.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: July 7, 2020
    Assignee: KAWASAKI JUKOGYO KABUSHIK KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Tsuyoshi Maehara, Masayuki Kamon, Yasushi Kurosawa, Shigetsugu Tanaka
  • Patent number: 10706318
    Abstract: Methods, apparatus, systems, and articles of manufacture are disclosed to improve robot object recognition. An example apparatus includes a visual object recognizer to obtain a visual identifier associated with a target object, and a recognizable object model generator to generate a model of the target object based on mapping an image of the target object to classifier information corresponding to the visual identifier.
    Type: Grant
    Filed: December 12, 2017
    Date of Patent: July 7, 2020
    Assignee: INTEL CORPORATION
    Inventor: Oleg Pogorelik
  • Patent number: 10694910
    Abstract: A management device that controls an autonomous cleaner includes a processing circuitry that obtains an electronic floor plan of a predetermined space, the predetermined space being a cleaning range of the autonomous cleaner. The management device estimates a person-present position at which a person is present in the predetermined space, and divides the predetermined space into a plurality of cleaning target areas to be individually cleaned by the autonomous cleaner. The management device further identifies a cleaning target area including the person-present position where the person is estimated to be present, as a person-present cleaning target area. The management device further identifies a cleaning target area around the person-present cleaning target area as a surrounding cleaning target area. The management device determines, among the multiple cleaning target areas, cleaning target areas other than the person-present cleaning target area and the surrounding cleaning target area to be cleanable areas.
    Type: Grant
    Filed: February 15, 2018
    Date of Patent: June 30, 2020
    Assignee: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA
    Inventor: Shunsuke Kuhara
  • Patent number: 10695909
    Abstract: A robot system including: a robot and a controller, the controller is configured to conduct: a region generating process that generates a robot inclusion region which includes the robot and the like and whose area increases as a speed of the robot increases, an entry prohibited region near the robot, and a speed limit region along the robot side edge of the entry prohibited region; an entry detecting process that detects whether or not the generated robot inclusion region enters the entry prohibited region or the speed limit region; a speed limiting process that reduces operating speed of the robot if the robot inclusion region enters the speed limit region; and a power cutoff unit that immediately stops the robot if the robot inclusion region enters the entry prohibited region.
    Type: Grant
    Filed: March 7, 2018
    Date of Patent: June 30, 2020
    Assignee: FANUC CORPORATION
    Inventors: Tomoyuki Yamamoto, Nao Ooshima
  • Patent number: 10695906
    Abstract: A moving robot system includes a moving robot which travels in a cleaning area, generates a map of the cleaning area, moves based on the map, and sucks foreign substances; and a terminal which inputs a cleaning command to the moving robot, based on the map, wherein the moving robot determines that the moving robot is in an isolation state, when the moving robot is unable to move due to a surrounding obstacle while traveling in the cleaning area, and sets a virtual wall in an isolation position where isolation is occurred and avoids the isolation position during a next cleaning operation.
    Type: Grant
    Filed: July 12, 2018
    Date of Patent: June 30, 2020
    Assignee: LG ELECTRONICS INC.
    Inventors: Jiwoong Kim, Hanmin Jo, Sunhee Cheon, Minwoo Hong
  • Patent number: 10694913
    Abstract: A method for operating a floor processing device that moves automatically within an environment, has a detection system of the floor processing device that detects features of a surface to be cleaned and compares them with reference features of carpets. Upon detection of a carpet, it is determined whether and where the carpet has fringes, and the fringes are aligned in a defined direction relative to the carpet by means of a combing attachment of the floor processing device.
    Type: Grant
    Filed: June 6, 2018
    Date of Patent: June 30, 2020
    Assignee: Vorwerk & Co. Interholding GmbH
    Inventors: David Erkek, Georg Hackert, Gerhard Isenberg, Roman Ortmann, Andreas Schmidt
  • Patent number: 10689831
    Abstract: A computing system includes actuator control logic configured to generate and send control signals to an actuator of a mobile machine configured to drive direction and speed movement of a linkage on the mobile machine. The computing system also includes a control map generator system configured to receive sensor signals indicative of the direction and speed movement of the linkage on the mobile machine, and, based on the received sensor signals, generate a control mapping that maps the control signals to the direction and speed movement of the linkage of the mobile machine.
    Type: Grant
    Filed: March 27, 2018
    Date of Patent: June 23, 2020
    Assignee: Deere & Company
    Inventors: Michael G. Kean, Scott S. Hendron
  • Patent number: 10688667
    Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.
    Type: Grant
    Filed: February 21, 2018
    Date of Patent: June 23, 2020
    Assignee: Boston Dynamics, Inc.
    Inventors: Stephen Berard, Alex Yu Khripin, Benjamin Swilling
  • Patent number: 10684912
    Abstract: The present invention relates to computerized (“smart”) mobile electronic devices and more particularly, to a system and methods of diagnosing and repairing malfunctions in smart mobile electronic devices, including a diagnostic process that utilizes decisions based on Big Data that holds information of multiple devices and offers a “disable components” (i.e., turn-off components) solution in order to overcome the problem without flashing a firmware or doing a factory-reset.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: June 16, 2020
    Assignee: ESW HOLDINGS, INC.
    Inventor: Amit Gross
  • Patent number: 10675760
    Abstract: Aspects of the present invention disclose a method, computer program product, and system for identifying a robotic. The method includes receiving an authentication request for an unknown robotic device asserting to be a first robotic device. The method further includes receiving a first identification dataset for the first robotic device. The method further includes issuing an identification action to the unknown robotic device. The method further includes generating a second identification dataset for the unknown robotic device based upon a response to the identification action received from the unknown robotic device. The method further includes in response to determining the first identification dataset matches the second identification dataset, determining that the unknown robotic device is the first robotic device. The method further includes authenticating the unknown robotic device in response to determining that the unknown robotic device is the first robotic device.
    Type: Grant
    Filed: June 14, 2018
    Date of Patent: June 9, 2020
    Assignee: International Business Machines Corporation
    Inventors: Todd R. Whitman, Aaron K. Baughman, David Bastian, Nicholas McCrory
  • Patent number: 10679066
    Abstract: Systems, computer-implemented methods and/or computer program products that facilitate aviation engine inspection are provided. In one embodiment, a computer-implemented method comprises: generating, by a system operatively coupled to a processor, a digital grid and visual layer overlay on a raw video feed from borescope inspections; analyzing, by the system, the video feed and identifying frames that capture information of part damage and defects; and classifying, by the system, type of part defect, determining location of defect and learning the digital grid.
    Type: Grant
    Filed: March 22, 2018
    Date of Patent: June 9, 2020
    Assignee: General Electric Company
    Inventors: Karunamay Pathak, Mohsin Khan, Aditya Bhakta, Rebinth Robin