Robot Control Patents (Class 700/245)
  • Patent number: 11911919
    Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.
    Type: Grant
    Filed: March 5, 2021
    Date of Patent: February 27, 2024
    Assignee: MUJIN, INC.
    Inventors: Jose Jeronimo Moreira Rodrigues, Rosen Nikolaev Diankov, Jinze Yu, Ahmed Abouelela, Yoshiki Kanemoto
  • Patent number: 11906952
    Abstract: Systems and methods for operating a mining machine with respect to a geofence. One system includes an electronic processor configured to determine a first virtual operation zone positioned around the mobile industrial machine, where the first virtual operation zone is a dynamic area around the mobile industrial machine. The electronic processor is also configured to modify a parameter of the first virtual operation zone.
    Type: Grant
    Filed: February 19, 2021
    Date of Patent: February 20, 2024
    Assignee: JOY GLOBAL SURFACE MINING INC
    Inventor: Keshad Darayas Malegam
  • Patent number: 11905000
    Abstract: A flying device includes a flight unit; and a flight control unit that performs, in a case where a flight position by the flight unit is out of a predetermined range, a control that is different from a control in a case where the flight position is within the predetermined range.
    Type: Grant
    Filed: March 23, 2017
    Date of Patent: February 20, 2024
    Assignee: NIKON CORPORATION
    Inventors: Katsuki Ohata, Takanori Shioda, Marie Shimoyama, Toru Kijima, Shinichi Miyauchi, Sho Nakamura, Ryo Tsubata, Masaki Kaneko
  • Patent number: 11903660
    Abstract: Some embodiments are directed to a surgical robotic system for use in a surgical procedure, including a surgical arm having a movable arm part for mounting of a surgical instrument having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument towards a surgical target. Some other embodiments are directed to a human machine interface for receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator configured for actuating the movable arm part to effect the longitudinal movement of the surgical instrument, and controlled by a processor in accordance with the positioning commands and a virtual bound. The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.
    Type: Grant
    Filed: April 21, 2021
    Date of Patent: February 20, 2024
    Assignee: PRECEYES B.V.
    Inventors: Maarten Joannes Beelen, Gerrit Jacobus Lambertus Naus, Hildebert Christiaan Matthijs Meenink, Marc Joseph Dominique De Smet
  • Patent number: 11904462
    Abstract: A server 3 includes a user dynamic data recognition unit 3a1 that recognizes, during guidance, user dynamic data; a guidance request estimation unit 3c that estimates a guidance request of a user during the guidance, based on the user dynamic data; and a guidance action determination unit 3f that determines a guidance action to be taken by a robot 2 during the guidance, based on the estimated guidance request.
    Type: Grant
    Filed: August 28, 2019
    Date of Patent: February 20, 2024
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Haruomi Higashi
  • Patent number: 11902939
    Abstract: A wireless communication network that includes a backhaul network interconnecting node devices for extending a radio coverage of a wireless fronthaul network by using a plurality of access points of the wireless fronthaul network, the communication channel is used for interconnecting said node devices. A node device of the backhaul network makes an evaluation of the transmission conditions of its radio environment; calculates a score representing a quality of transmission via this communication channel; transmits to said master node device a message requesting change of communication channel of the backhaul network when at least one other communication channel has obtained a better score than the communication channel selected by the master node device. On reception of the message, master node device obtains scores for the other node devices, and decides to change, or not, communication channel used in the backhaul network according to the scores obtained.
    Type: Grant
    Filed: May 27, 2021
    Date of Patent: February 13, 2024
    Assignee: SAGEMCOM BROADBAND SAS
    Inventors: Massinissa Lalam, Laurent Alarcon
  • Patent number: 11897137
    Abstract: The present application relates to a method for robot control. The method includes: obtaining at least one parameter associated with a robot to be controlled by a controller; determining a first identity of the robot based on the at least one parameter; comparing the first identity with a pre-stored second identity; and in response to the first identity matching the second identity, controlling operations of the robot with the controller. The present application further discloses detection of a mismatch between the controller and the robot in an easy, safe and convenient way.
    Type: Grant
    Filed: August 28, 2020
    Date of Patent: February 13, 2024
    Assignee: ABB SCHWEIZ AG
    Inventors: Bojun Ma, Wengui Pan, Yanjun Wang
  • Patent number: 11897126
    Abstract: A module (200) for connecting a mobile robot (110) to associated equipment (400) is provided, as well as to a device (700, 800) for connecting equipment to a docking station (900, 1000). The module (200) has a housing (210) defining the exterior of said module (200). The module (200) comprises a plurality of locking members (220a, 220b, 220c, 220d) each being moveable between an idle position, in which the locking member (220a, 220b, 220c, 220d) is arranged fully within said housing (210), and a projecting position, in which at least a part of the locking member (220a, 220b, 220c, 220d) is extending outside the housing (210).
    Type: Grant
    Filed: September 28, 2018
    Date of Patent: February 13, 2024
    Assignee: Roeq ApS
    Inventors: Michael Ejstrup Hansen, Benedikt Snævar Sigurgeirsson Lund, Carsten Sørensen
  • Patent number: 11893989
    Abstract: A system and method for controlling an electronic eyewear device using voice commands receives audio data from a microphone, processes the audio data to identify a wake word, and upon identification of a wake word, processes the audio data to identify at least one action keyword in the audio data. The audio data is provided to one of a plurality of controllers associated with different action keywords or sets of action keywords to implement an action. For example, the audio data may be provided to a settings controller to adjust settings of the electronic eyewear device when the action keyword is indicative of a request to adjust a setting of the electronic eyewear device or to a navigation controller to navigate to the system information of the electronic eyewear device when the action keyword is indicative of a request to navigate to system information of the electronic eyewear device.
    Type: Grant
    Filed: July 13, 2021
    Date of Patent: February 6, 2024
    Assignee: Snap Inc.
    Inventor: Piotr Gurgul
  • Patent number: 11892835
    Abstract: The present disclosure is directed to systems and techniques for controlling an autonomous vehicle. While the autonomous vehicle is travelling to a destination, the autonomous vehicle may encounter a situation preventing the autonomous vehicle from travelling to the destination. A control center may receive information from the autonomous device and use a graphical user interface to provide instructions with limited controls for the autonomous vehicle to navigate to an intermediate position. In such an intermediate position, the vehicle may make way for an emergency vehicle, obtain additional sensor data for continued autonomous planning, signal intent to other objects in the environment, and the like.
    Type: Grant
    Filed: July 26, 2019
    Date of Patent: February 6, 2024
    Assignee: ZOOX, INC.
    Inventors: Ravi Gogna, Meredith James Goldman
  • Patent number: 11894253
    Abstract: A semiconductor wafer transport apparatus having a transport arm and at least one end effector. An optical edge detection sensor is coupled to the transport arm and is configured so as to register and effect edge detection of a wafer supported by the end effector. An illumination source illuminates a surface of the wafer and is disposed with respect to the optical edge detection sensor so that the surface directs reflected surface illumination, from the illumination source, toward the optical edge detection sensor, and optically blanks, at the peripheral edge of the wafer, background reflection light of a background, viewed by the optical edge detection sensor coincident with linear traverse of the wafer supported by the at least one end effector. The peripheral edge of the wafer is defined in relief in image contrast to effect edge detection coincident with traverse of the wafer supported by the end effector.
    Type: Grant
    Filed: April 5, 2022
    Date of Patent: February 6, 2024
    Assignee: Brooks Automation US, LLC
    Inventor: Caspar Hansen
  • Patent number: 11890760
    Abstract: A balancer abnormality detection system includes: a robot; a motor configured to operate the robot; a balancer provided in the robot and configured to generate assist torque which assists power of the motor with force generated by elastic bodies; and a controller configured to detect abnormality of the balancer by measuring a current value of the motor operated to keep a posture of the robot during standby of the robot and comparing the current value with a current command value of the motor necessary for keeping the posture of the robot.
    Type: Grant
    Filed: December 1, 2020
    Date of Patent: February 6, 2024
    Assignee: FANUC CORPORATION
    Inventor: Yuusei Onodera
  • Patent number: 11887316
    Abstract: A method for motion recognition and embedding is disclosed. The method may include receiving a plurality of frames of an input video for extracting a feature vector of a motion in the plurality of frames, generating a plurality of sets of one or more motion component bits based on the feature vector and a plurality of classifiers, the plurality of sets corresponding to the plurality of classifiers, each set of one or more motion component bits representing a physical or mechanical attribute of the motion; and generating a motion code for a machine to execute the motion by combining the plurality of sets of one or more motion component bits. Other aspects, embodiments, and features are also claimed and described.
    Type: Grant
    Filed: July 12, 2021
    Date of Patent: January 30, 2024
    Assignee: UNIVERSITY OF SOUTH FLORIDA
    Inventors: Yu Sun, David Andres Paulius, Maxat Alibayev
  • Patent number: 11883118
    Abstract: A surgical navigation system may include a processor and a display. The processor may receive a patient image and sensor data captured by a sensor, receive a medical image, generate a hologram of the medical image, perform coregistration between the patient image and the hologram, superimpose the hologram on the patient image, and display the superimposed image. Coregistration may be performed manually via a user interaction, or automatically based on one or more fiducials in the medical image and sensor data related to the fiducials. The system may monitor a change in the environment and update the display correspondingly. For example, the system may monitor a movement of a body of the patient, monitor the size of an organ of the patient as the organ is being under operation, or a movement of the surgical instrument. The sensor may be an augmented reality (AR) sensor in an AR device.
    Type: Grant
    Filed: November 10, 2022
    Date of Patent: January 30, 2024
    Assignees: United States Government As Represented By The Department Of Veterans Affairs, Hennepin Healthcare Systems, Inc.
    Inventors: Uzma Samadani, Abdullah Bin Zahid, David P. Darrow
  • Patent number: 11880204
    Abstract: A method includes obtaining, from an operator of a robot, a return execution lease associated with one or more commands for controlling the robot that is scheduled within a sequence of execution leases. The robot is configured to execute commands associated with a current execution lease that is an earliest execution lease in the sequence of execution leases that is not expired. The method includes obtaining an execution lease expiration trigger triggering expiration of the current execution lease. After obtaining the trigger, the method includes determining that the return execution lease is a next current execution lease in the sequence. While the return execution lease is the current execution lease, the method includes executing the one or more commands for controlling the robot associated with the return execution lease which cause the robot to navigate to a return location remote from a current location of the robot.
    Type: Grant
    Filed: March 19, 2021
    Date of Patent: January 23, 2024
    Assignee: Boston Dynamics, Inc.
    Inventors: Thomas Hopkins Miller, Christopher Bentzel
  • Patent number: 11878418
    Abstract: A method for controlling at least one effector trajectory of an effector of a robot for solving a predefined task is proposed. A sequence of postures are acquired to modify at least one of a contact constraint topology and an object constraint topology. A set of constraint equations are generated based on at least one of the modified contact constraint topology and the modified object constraint topology. On the generated set of constraint equations, a constraint relaxation is performed to generate a task description including a set of relaxed constraint equations. The at least one effector trajectory is generated by applying a trajectory generation algorithm on the task description. An inverse kinematics algorithm is performed to generate a control signal from the at least one effector trajectory. At least one effector is controlled to execute the at least one effector trajectory based on the generated control signal.
    Type: Grant
    Filed: March 30, 2021
    Date of Patent: January 23, 2024
    Assignee: Honda Research Institute Europe GmbH
    Inventor: Michael Gienger
  • Patent number: 11865695
    Abstract: A humanoid hugging assembly includes a humanoid animatronic that has a torso, a pair of arms and a pair of hands each is disposed on a respective one of the arms. The arms are positionable in a resting position having the arms extending downwardly along the torso and having a palm of each of the hands facing the torso. Each of the arms is positionable in a hugging position has each of the arms is crossed in front of the torso wherein the pair of arms is configured to embrace the user. A motion sensor is integrated into the humanoid animatronic to sense motion of the user approaching the humanoid animatronic. A motion unit is integrated into the humanoid animatronic and the motion unit actuates each of the arms into the hugging position when a predetermined duration of time has passed when motion sensor senses motion.
    Type: Grant
    Filed: November 16, 2021
    Date of Patent: January 9, 2024
    Inventor: Walton Richardson
  • Patent number: 11867599
    Abstract: An automated control system including an unmanned aerial vehicle (UAV) and an input device. The UAV includes: a sensor, a receiver; and memory. The memory includes a task association data including one or more tasks for execution by the UAV. The input device includes a tagging block. The tagging block allows an operator to tag an object of interest and send a tag regarding the object of interest to the UAV, via the receiver, wherein the object of interest is located within a visual field of the UAV. The sensor processes data within the visual field and the input device is configured to communicate the object of interest from the visual field tagged by the operator. The task is selected from the task association data and the UAV executes the task with respect to the object of interest from the visual field.
    Type: Grant
    Filed: May 20, 2022
    Date of Patent: January 9, 2024
    Assignee: GoPro, Inc.
    Inventor: Philip Meier
  • Patent number: 11864490
    Abstract: A control device includes a control unit configured to acquire individual information indicating a state of a predetermined member of a work machine configured to execute work using the predetermined member, and instruct a state adjustment mechanism configured to adjust the state to adjust the state so that a difference between the state indicated by the individual information and a reference value of the state common to other work machines is reduced.
    Type: Grant
    Filed: February 19, 2021
    Date of Patent: January 9, 2024
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Wei Song, Takuya Kanisawa, Taro Yokoyama, Hiroto Takahashi
  • Patent number: 11865718
    Abstract: A working device includes a link actuation device and a control device for the link actuation device. The control device includes: a storage unit configured to store a plurality of the target positions; a calculation unit configured to sequentially read out the respective target positions stored to calculate movement amounts and movement speeds of the respective actuators between the target positions; and a control unit configured to operate the respective actuators by the movement amounts and at the movement speeds of the respective actuators calculated by the calculation unit. The control unit is capable of changing acceleration and deceleration times of the actuators for each of the target positions.
    Type: Grant
    Filed: August 24, 2020
    Date of Patent: January 9, 2024
    Assignee: NTN CORPORATION
    Inventors: Naoki Marui, Hiroshi Isobe
  • Patent number: 11850755
    Abstract: An augmented reality (AR) system for visualizing and modifying robot operational zones. The system includes an AR device such as a headset in communication with a robot controller. The AR device includes software for the AR display and modification of the operational zones. The AR device is registered with the robot coordinate frame via detection of a visual marker. The AR device displays operational zones overlaid on real world images of the robot and existing fixtures, where the display is updated as the user moves around the robot work cell. Control points on the virtual operational zones are displayed and allow the user to reshape the operational zones. The robot can be operated during the AR session, running the robot's programmed motion and evaluating the operational zones. Zone violations are highlighted in the AR display. When zone definition is complete, the finalized operational zones are uploaded to the robot controller.
    Type: Grant
    Filed: June 26, 2019
    Date of Patent: December 26, 2023
    Assignee: FANUC AMERICA CORPORATION
    Inventors: Derek Jung, Bruce Coldren, Sam Yung-Sen Lee, Leo Keselman, Kenneth W. Krause
  • Patent number: 11847822
    Abstract: An information processing device is provided that includes an operation control unit which controls the operations of an autonomous mobile object that performs an action according to a recognition operation. Based on the detection of the start of teaching related to pattern recognition learning, the operation control unit instructs the autonomous mobile object to obtain information regarding the learning target that is to be learnt in a corresponding manner to a taught label. Moreover, an information processing method is provided that is implemented in a processor and that includes controlling the operations of an autonomous mobile object which performs an action according to a recognition operation. Based on the detection of the start of teaching related to pattern recognition learning, the controlling of the operations includes instructing the autonomous mobile object to obtain information regarding the learning target that is to be learnt in a corresponding manner to a taught label.
    Type: Grant
    Filed: March 8, 2019
    Date of Patent: December 19, 2023
    Assignee: SONY CORPORATION
    Inventors: Masato Nishio, Yuhei Yabe, Tomoo Mizukami
  • Patent number: 11844584
    Abstract: Disclosed herein is a robotic tele-surgery system for performing laparoscopic surgeries. The system may include: a patient-side unit, a surgeon-side unit, and a controller that may be configured for establishing a master-slave relationship between the surgeon-side unit and the patient-side unit. The patient side unit may include a patient support assembly, at least two passive mounting mechanisms that may be slidably coupled to the patient support assembly and at least two slave robotic arms, coupled with a surgical instrument via a tool adapting mechanism from their distal end, and mounted on an associated passive support assembly from their base end. The surgeon-side unit may including at least two master robotic arms, and an ergonomic adjustment mechanism that may be configured for housing and adjusting the position and orientation of the master robotic arms.
    Type: Grant
    Filed: March 4, 2019
    Date of Patent: December 19, 2023
    Assignee: SINA ROBOTICS AND MEDICAL INNOVATORS CO. LTD
    Inventors: Alireza Mirbagheri, Farzam Farahmand, Alireza Alamdar, Saeed Behzadipour, Borna Ghannadi, Hamed Jamshidifar, Seyedhamidreza Seyedhashemi
  • Patent number: 11845186
    Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.
    Type: Grant
    Filed: December 31, 2020
    Date of Patent: December 19, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Yuesong Wang, Liqun Huang, Xiaoyu Ren, Mingguo Zhao, Youjun Xiong
  • Patent number: 11842530
    Abstract: A computer-implemented method for determining scene-consistent motion forecasts from sensor data can include obtaining scene data including one or more actor features. The computer-implemented method can include providing the scene data to a latent prior model, the latent prior model configured to generate scene latent data in response to receipt of scene data, the scene latent data including one or more latent variables. The computer-implemented method can include obtaining the scene latent data from the latent prior model. The computer-implemented method can include sampling latent sample data from the scene latent data. The computer-implemented method can include providing the latent sample data to a decoder model, the decoder model configured to decode the latent sample data into a motion forecast including one or more predicted trajectories of the one or more actor features.
    Type: Grant
    Filed: January 15, 2021
    Date of Patent: December 12, 2023
    Assignee: UATC, LLC
    Inventors: Sergio Casas, Cole Christian Gulino, Shun Da Suo, Katie Z. Luo, Renjie Liao, Raquel Urtasun
  • Patent number: 11833679
    Abstract: A teaching control method includes acquiring a plurality of teaching points from CAD data of a work target object and displaying the plurality of teaching points on a display section, acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups, receiving an operation parameter for each teaching point group, and setting an operation value for each teaching point group using the operation parameter. The classification processing for classifying the plurality of teaching points into the teaching point groups is executed using attribute information of the work target object obtained from the CAD data.
    Type: Grant
    Filed: July 21, 2021
    Date of Patent: December 5, 2023
    Assignee: SEIKO EPSON CORPORATION
    Inventor: Masayuki Okuyama
  • Patent number: 11835953
    Abstract: An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list.
    Type: Grant
    Filed: July 22, 2022
    Date of Patent: December 5, 2023
    Assignee: Aurora Flight Sciences Corporation
    Inventors: Jason Ryan, Jeffery Saunders
  • Patent number: 11832908
    Abstract: A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw, and an activating mechanism coupled to the carriage. The activating mechanism includes a motor mounted to the carriage and operable to rotate a drive gear, and a driven gear engageable with the drive gear such that rotation of the drive gear causes the driven gear to rotate and thereby actuate the activating mechanism.
    Type: Grant
    Filed: June 22, 2020
    Date of Patent: December 5, 2023
    Assignee: Cilag GmbH International
    Inventors: Andrew T. Beckman, Charles J. Scheib, Travis Michael Schuh
  • Patent number: 11835960
    Abstract: A system includes: a mobile robot comprising a sensor, the robot further comprising a computer, the robot operating in an environment; a server operably connected to the robot via a communication system, the server configured to manage the robot; a controller operably connected to the robot, the controller operably connected to the server, the controller configured to control the robot; and an object of interest marked with a marker at one or more of an approximate height and an approximate field of view of the sensor, the sensor generating data describing the object of interest, the computer configured to identify one or more of the object of interest and the location using one or more of a shape of the object of interest and an intensity of data describing the object of interest.
    Type: Grant
    Filed: January 28, 2019
    Date of Patent: December 5, 2023
    Assignee: Zebra Technologies Corporation
    Inventors: Brian Cairl, Derek King, Sarah Elliott, Alex Henning, Melonee Wise, Russell Toris
  • Patent number: 11826913
    Abstract: A control system includes: a controller configured to operate one or more robots in a real space based on an operation program; and circuitry configured to: operate one or more virtual robots based on the operation program in a virtual space, the one or more virtual robots corresponding to the one or more robots respectively; cause the controller to suspend an operation based on the operation program by the one or more robots; simulate a suspended state of the real space after suspension of the operation by the one or more robots, in the virtual space; and resume at least a part of the operation by the one or more virtual robots based on the operation program, in the virtual space in which the suspended state of the real space has been simulated.
    Type: Grant
    Filed: June 29, 2021
    Date of Patent: November 28, 2023
    Inventors: Yukio Hashiguchi, Yoshifumi Onoyama
  • Patent number: 11822417
    Abstract: The present invention provides a factory power management and control method based on edge-cloud coordination, including: 1) forming an industrial field network by a field node, a routing node and a device executing production tasks; 2) parsing production task information data and sending; 3) issuing an STN model in production field to an edge node; 4) sending to the edge node; 5) computing, required to complete the production tasks; 6) computing values of comprehensive ranks; 7) executing, by the edge node, the higher rank, and executing, by the cloud power management center, the lower rank; 8) executing, by the edge node, a demand response algorithm; 9) executing, by the production device, the production tasks based on computing results; and executing, by a power generation station in factory, a power storage station in factory and a power supply station outside factory, corresponding schemes based on the results.
    Type: Grant
    Filed: July 15, 2020
    Date of Patent: November 21, 2023
    Assignee: CHONGQING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS
    Inventors: Ping Wang, Xu Yang, Min Wei, Caiqin Li
  • Patent number: 11825115
    Abstract: This application discloses image coding methods and apparatuses. One method comprises obtaining a plurality of groups of human skeleton data associated with performing an action by a human body, wherein each group of the plurality of groups of human skeleton data comprises joint data associated with a joint for performing the action. Based on joint data comprised in at least a portion of the plurality of groups of human skeleton data, a motion feature corresponding to the plurality of groups of human skeleton data is extracted, and the motion feature is encoded to obtain a motion feature image.
    Type: Grant
    Filed: April 8, 2022
    Date of Patent: November 21, 2023
    Assignee: Huawei Technologies Co., Ltd.
    Inventors: Jiangliu Wang, Kebin Yuan, Yunhui Liu
  • Patent number: 11820147
    Abstract: An ink replenishment system for a can decorator having a plurality of ink fountains corresponding to a plurality of ink station assemblies includes a robotic arm structured to pick up ink from a selected one of a plurality of ink container and to place the picked up ink into a selected one of the plurality of ink fountains, and a controller structured to control operations of the robotic arm.
    Type: Grant
    Filed: November 30, 2021
    Date of Patent: November 21, 2023
    Assignee: Stolle Machinery Company, LLC
    Inventors: Ian Kenneth Scholey, Joseph John Allen Maurer, Stephen Dane Christensen
  • Patent number: 11812907
    Abstract: The present disclosure relates to the field of cleaning robot technology, and in particular to a cleaning robot system. The cleaning robot system includes a base station and a cleaning robot. The base station is independent to the cleaning robot of the cleaning robot system. The base station includes a base station body and a mop member cleaning device arranged on the base station body. The mop member cleaning device is configured to clean a mop member of the cleaning robot. Based on the base station, the cleaning robot system is capable of automatically cleaning the mop member with no need for users to change or clean the mop member frequently, which is helpful to free consumers from house cleaning, thus relieving the burden on the consumers, and also helpful to clean the mop member in time so as to ensure a better effect in next cleaning.
    Type: Grant
    Filed: April 12, 2021
    Date of Patent: November 14, 2023
    Assignee: Yunjing Intelligence Technology (Dongguan) Co., Ltd.
    Inventors: Junbin Zhang, Weijin Lin
  • Patent number: 11806242
    Abstract: An orthopedic implant comprising: (a) a distal femoral component comprising a first condyle bearing surface having a first profile comprising at least three consecutive arcs of curvature; and (b) a proximal tibial component comprising a first condyle bearing surface having a second profile comprising at least three parallel arcs of curvature.
    Type: Grant
    Filed: February 28, 2020
    Date of Patent: November 7, 2023
    Assignee: ZIMMER, INC.
    Inventor: Mohamed Rashwan Mahfouz
  • Patent number: 11801601
    Abstract: A supporting apparatus for programing a robot operation has a display by which an operator sees a movement trajectory corresponding to a movement of the robot and by which the operator is supported to provide a program including moving order and non-moving order. The supporting apparatus for programing has a first operating portion describing a target position of each of the moving orders superimposed with the movement trajectory by using a first code, and a second operating portion describing a number of the non-moving orders operated at the target position by using a second code.
    Type: Grant
    Filed: December 3, 2020
    Date of Patent: October 31, 2023
    Assignee: DENSO WAVE INCORPORATED
    Inventors: Anna Matsudo, Toshitaka Suzuki, Yuto Mitsuma
  • Patent number: 11800827
    Abstract: A precision steering computer installed on a tractor uses waypoints generated by a hand-held smart-device to steer a tractor. The smart-device is the operators primary interface and is a component of the entire precision agriculture guidance system. The batched, time ordered waypoints represent a list of coordinates for steering the tractor. As the tractor is automatically steered in the field, the waypoints are consumed and discarded by the real-time steering computer in the order they are received from the non-real-time smart device. A planned path is generated by the tractor operator on the smart device and the tractors progress and status are displayed on the same smart-device.
    Type: Grant
    Filed: September 13, 2019
    Date of Patent: October 31, 2023
    Assignee: AGJUNCTION LLC
    Inventors: Thomas R. Kreider, Mark Alan Villela, Michael Brett McMickell, Luke Andrew McBeath
  • Patent number: 11804038
    Abstract: Two or more aerial vehicles, such as drones, can each include one or more cameras for capturing surveying or other image data within a field of view. Some of the image data, as well as other data, can be stored and pre-processed on the vehicles, including via onboard edge computing devices. The image and/or other data can be analyzed by a remote system or service, which has additional computing resources, and used to determine the occurrence or existence of an anomaly, such as a seismic event or structure identified in the field of view. The anomaly determination may be based on a disparity, involving a distance between cameras, the cameras' focal length, and a perpendicular distance from a point between cameras to a surface or subsurface point.
    Type: Grant
    Filed: June 22, 2021
    Date of Patent: October 31, 2023
    Assignee: Amazon Technologies, Inc.
    Inventors: Daniel Scott Kahn, Lee Gondorchin
  • Patent number: 11796673
    Abstract: A system for determining a travel path for an autonomous vehicle (“AV”) to travel to a target while avoiding objects (i.e., obstacles) without the use of an imaging system is provided. An object sense and avoid (“OSA”) system detects objects in an object field that is adjacent to the AV and dynamically generates, as the AV travels, a travel path to the target to avoid the objects. The OSA system repeatedly uses sensors to collect sensor data of any objects in the object field. An object detection system then detects the objects and determines their locations based on triangulating ranges to an object as indicated by different sensors. The path planner system then plans a next travel direction for the AV to avoid the detected objects while seeking to minimize the distance traveled. The OSA system then instructs the AV to travel in the travel direction.
    Type: Grant
    Filed: July 6, 2016
    Date of Patent: October 24, 2023
    Assignee: LAWRENCE LIVERMORE NATIONAL SECURITY, LLC
    Inventor: Reginald N. Beer
  • Patent number: 11787055
    Abstract: A method and system for controlling at least one effector trajectory for at least one effector of a robot for solving a predefined task are proposed. A graph of postures is acquired, and at least one of a contact constraint topology and an object constraint topology are accordingly modified. A set of constraint equations based on at least one of the modified contact constraint topology and the modified object constraint topology are generated. Constraint relaxation is performed on the generated set of constraint equations to generate a task description including the relaxed set of constraint equations. The effector trajectory is generated by applying a trajectory generation algorithm on the generated task description. An inverse kinematics algorithm is performed on the generated effector trajectory for generating a control signal, and the effector is controlled to execute the effector trajectory based on the generated control signal.
    Type: Grant
    Filed: March 30, 2021
    Date of Patent: October 17, 2023
    Assignee: Honda Research Institute Europe GmbH
    Inventor: Michael Gienger
  • Patent number: 11780084
    Abstract: A mode setting unit sets any one of operation modes in an operation mode group including at least a coaching mode and a learning mode. In the coaching mode, a control unit receives a posture instruction and controls a storage unit to store the posture instruction. In the learning mode, the control unit derives a control mode of a drive mechanism by learning while reflecting, in a posture of the robotic device, the posture instruction received in the coaching mode.
    Type: Grant
    Filed: January 16, 2018
    Date of Patent: October 10, 2023
    Assignee: Sony Interactive Entertainment Inc.
    Inventors: Teiji Yutaka, Takeshi Yamagishi
  • Patent number: 11779415
    Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a deviation threshold based on at least one parameter selected from the group consisting of a mode of operation of the first end effector and a mode of operation of the computer-assisted device, and in response to determining that the actual motion of the at least one structure deviates from a desired motion of the at least one structure by more than the deviation threshold, halt motion of the first repositionable arm and the first end effector or halt motion of the second repositionable arm and the second end effector.
    Type: Grant
    Filed: January 5, 2022
    Date of Patent: October 10, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Goran A. Lynch, Paul G. Griffiths, Michael Turner
  • Patent number: 11772278
    Abstract: Provided are an end effect measuring module and an end effect monitoring apparatus using the same. The end effect measuring module is installed at through holes formed between an Equipment Front End Module (EFEM) equipped with an end effector and a semiconductor processing apparatus for processing a wafer and measuring the position according to the movement path of a target passing the through holes. The measurement target is the end effector, and a sensing unit measures whether or not the end effector is shifted and changed in direction. A light receiving unit of the sensing unit outputs an electrical signal that is higher or lower than a reference value in response to shifting of the end effector, or outputs an electrical signal increasing or decreasing along a time axis in response to a directional change of the end effector.
    Type: Grant
    Filed: May 3, 2021
    Date of Patent: October 3, 2023
    Inventor: Kyu Ok Lee
  • Patent number: 11772761
    Abstract: An underwater vehicle for performing a variety of linear motions and turning motions with better stability and agility is disclosed. The underwater vehicle includes a main body, a front-drive mechanism, a rear-drive mechanism, and a steering assembly. The main body has a front end and a rear end, which defines a longitudinal axis extending from the front end to the rear end of the main body. The front-drive mechanism is connected to the main body to provide a forward propelling force in a direction parallel to the longitudinal axis. The steering assembly is fixed to the rear end and coupled to the rear-drive mechanism. The steering assembly is configured to rotate the rear-drive mechanism with respect to the longitudinal axis by a body angle for providing a lateral force on the main body.
    Type: Grant
    Filed: September 23, 2021
    Date of Patent: October 3, 2023
    Assignee: City University of Hong Kong
    Inventors: Yajing Shen, Jiahai Shi, Panbing Wang, Xiong Yang
  • Patent number: 11777818
    Abstract: A framework for performing drift analysis with respect to database and enterprise applications. For a product for which drift analysis is to be performed, a set of one or more parts of the product are determined. Current state information for the set of one or more parts is obtained by crawling an environment in which the product is deployed. Current state information obtained for the set of one or more parts is compared with a baseline for the product. The comparison aids to identify one or more differences between the current state information and information in the baseline for the set of one or more parts. The information in the baseline for the set of one or more parts is indicative of a state of the set of one or more parts when the baseline was generated. A report indicative of the one or more differences is generated and output.
    Type: Grant
    Filed: April 4, 2022
    Date of Patent: October 3, 2023
    Assignee: Oracle International Corporation
    Inventors: Keynes Paul Paul, Ramakrishnan Paranthaman
  • Patent number: 11771290
    Abstract: An autonomous cleaning robot includes a drive system to maneuver the autonomous cleaning robot across a floor surface; a cleaning assembly for cleaning the floor surface; and a sensor system disposed at a forward portion of the autonomous cleaning robot. The sensor system includes a movable element having (i) a first configuration in which the movable element extends beyond a bottom surface of the autonomous cleaning robot by a first amount, and (ii) a second configuration in which the movable element extends beyond the bottom surface of the autonomous cleaning robot by a second amount less than the first amount; a spring mechanically coupled to the movable element, the spring being biased to hold the movable element in the first configuration; and a sensor assembly configured to generate a signal based on the configuration of the movable element.
    Type: Grant
    Filed: August 9, 2019
    Date of Patent: October 3, 2023
    Assignee: iRobot Corporation
    Inventors: Brian W. Doughty, Isaac Fowler, Timothy James Haughton, Levi Fox
  • Patent number: 11768494
    Abstract: An optical triangulation sensor for distance measurement is described herein. In accordance with one embodiment, the apparatus comprises a light source for the generation of structured light, an optical reception device, at least one attachment element and a carrier with a first groove on a lateral surface of the carrier, wherein the light source and/or optical reception device is at least partially arranged in the first groove and is held in place on the carrier by the attachment element.
    Type: Grant
    Filed: November 11, 2016
    Date of Patent: September 26, 2023
    Assignee: RobArt GmbH
    Inventors: Harold Artes, Michael Schahpar, Dominik Seethaler, Reinhard Vogel
  • Patent number: 11768481
    Abstract: A bioassembly system having a tissue/object modeling software component fully and seamlessly integrated with a robotic bioassembly workstation component for the computer-assisted design, fabrication and assembly of biological and non-biological constructs. The robotic bioassembly workstation includes a six-axis robot providing the capability for oblique-angle printing, printing by non-sequential planar layering, and printing on print substrates having variable surface topographies, enabling fabrication of more complex bio-constructs including tissues, organs and vascular trees.
    Type: Grant
    Filed: August 4, 2021
    Date of Patent: September 26, 2023
    Assignee: Advanced Solutions Life Sciences, LLC
    Inventors: Michael Golway, Justin C. Palmer, Jeffrey Kyle Eli, Joshua D. Bartlett, Ellsworth H. Collins
  • Patent number: 11762386
    Abstract: A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.
    Type: Grant
    Filed: June 8, 2021
    Date of Patent: September 19, 2023
    Assignee: Waymo LLC
    Inventors: Jiajun Zhu, Christopher Urmson, David I. Ferguson, Nathaniel Fairfield, Dmitri Dolgov
  • Patent number: 11753193
    Abstract: A pouch and an automatic packager for packaging medications into the pouch. One embodiment provides a pouch for containing a plurality of medications. The pouch includes a plurality of discrete compartments, each containing a sub-batch of medications. The pouch also includes serrations at opposite ends of the pouch to separate the pouch from adjacent pouches. The pouch further includes a continuous identifier that spans multiple compartments to give an appearance of one continuous pouch. The plurality of discrete compartments are separated by seals, but not serrations. The continuous identifier includes a border within the opposite ends of the pouch.
    Type: Grant
    Filed: May 4, 2020
    Date of Patent: September 12, 2023
    Assignee: RXSAFE LLC
    Inventor: William K. Holmes