Robot Control Patents (Class 700/245)
  • Patent number: 10101726
    Abstract: An autonomous control system having a numerical control device configured to perform machining operation by driving control of an item in a machining tool and an external device, the numerical control device includes a configuration data storing unit configured to store configuration data representing configuration of the item, and a machining program looking-ahead processing unit configured to generate item disposition data, and the external device includes a work information storing unit, an interference determination processing unit configured to command start of operation of the external device at time when the operation of the external device does not interfere with the item driven in the machining tool.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: October 16, 2018
    Assignee: FANUC CORPORATION
    Inventors: Toshinori Matsukawa, Shinya Nakamura, Hideaki Maeda
  • Patent number: 10098649
    Abstract: Examples of an orthopedic surgical device for use in operating on a target bone and methods for operating a system for use in orthopedic surgery on a bone are generally described herein. An orthopedic surgical device can include an primary positioning block, and a secondary positioning component removably coupled to the primary positioning block. The secondary positioning component can be configured to: engage a prepared engagement feature machined into the target bone, and guide the primary positioning block to a predetermined position on a target bone. The orthopedic surgical device can include a first cutting block configured to: removably couple to the primary positioning block, and guide a cutting tool to cut the target bone.
    Type: Grant
    Filed: February 27, 2015
    Date of Patent: October 16, 2018
    Assignee: Blue Belt Technologies, Inc.
    Inventors: Constantinos Nikou, Branislav Jaramaz
  • Patent number: 10101745
    Abstract: In an embodiment, a method includes receiving, at an autonomous vehicle, reported data regarding an object in proximity to the autonomous vehicle. The data is collected by a collecting device external to the autonomous vehicle, and is relayed to the autonomous vehicle via a server. The reported data includes a current location, type, or predicted location of the object. The method further includes determining whether the reported data of the object matches an object in an object list determined by on-board sensors of the autonomous vehicle. If the determination finds a found object in the object list, the method correlates the reported data of the object to the found object in the object list. Otherwise, the method adds the reported data of the object to an object list of objects detected by sensor from on-board sensors of the autonomous vehicle. In embodiments, the collecting device is a mobile device.
    Type: Grant
    Filed: April 26, 2017
    Date of Patent: October 16, 2018
    Assignee: The Charles Stark Draper Laboratory, Inc.
    Inventors: Fei Sun, Troy Jones, Scott Lennox
  • Patent number: 10093021
    Abstract: A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calculating a cost function based on the PDF. Finally, the method includes simultaneously planning the path and mapping the environment based on the cost function.
    Type: Grant
    Filed: June 24, 2016
    Date of Patent: October 9, 2018
    Assignee: QUALCOMM Incorporated
    Inventors: Aliakbar Aghamohammadi, Serafin Diaz Spindola, Bardia Fallah Behabadi, Christopher Lott, Shayegan Omidshafiei, Kiran Somasundaram, Sarah Paige Gibson, Casimir Matthew Wierzynski, Saurav Agarwal, Gerhard Reitmayr
  • Patent number: 10093019
    Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.
    Type: Grant
    Filed: August 8, 2016
    Date of Patent: October 9, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
  • Patent number: 10095046
    Abstract: In an optical components automatic alignment robot, a motorized target moves closer or further from a digital camera being tested or assembled. A light sensor is used to automatically calibrate an ultraviolet (UV) or other light source used for curing adhesive. An automatic surface finder is used to accurately and repeatably find a surface on which adhesive is to be dispensed.
    Type: Grant
    Filed: September 18, 2017
    Date of Patent: October 9, 2018
    Assignee: Automation Engineering, Inc.
    Inventors: Dan Tamasanis, Jonathan P. Berg, John Alden
  • Patent number: 10089586
    Abstract: The Job Management System (JMS) of the present invention processes job requests in an automated physical environment, such as a factory, hospital, order processing facility or office building, wherein the job requests are handled by a fleet of autonomously-navigating mobile robots. The JMS includes a map defining a floor plan, a set of virtual job locations and a set of one or more virtual job operations associated with virtual job locations. The JMS automatically determines the actual locations and actual job operations for the job requests, and intelligently selects a suitable mobile robot to handle each job request based on the current status and/or the current configuration for the selected mobile robot. The JMS also sends commands to the selected mobile robot to cause the mobile robot to automatically drive the actual job location, to automatically perform the actual job operations, or both.
    Type: Grant
    Filed: February 8, 2013
    Date of Patent: October 2, 2018
    Assignee: OMRON ADEPT TECHNOLOGIES, INC.
    Inventors: Matthew Vestal, Matthew LaFary, Peter Stopera
  • Patent number: 10088317
    Abstract: Methods and systems for determining the location of an agent within an environment using a hybrid approach are provided. The hybrid approach allows a potentially large physical space to be compressed in the form of a directed graph, in which edges are paths and nodes are locations. An image comparison produces observations for each location and path, which can be used to probabilistically locate the agent in the environment and to select a portion of the 3D point cloud for comparison. The agent can then be localized within the 3D point cloud, or metric-accurate map, using the same features utilized for image matching in the probabilistic location.
    Type: Grant
    Filed: June 9, 2011
    Date of Patent: October 2, 2018
    Assignee: Microsoft Technologies Licensing, LLC
    Inventor: Georgios Chrysanthakopoulos
  • Patent number: 10084995
    Abstract: Systems and methods for setting up a cloud-based video surveillance system with at least one computing device and at least one video camera in a local area network. The at least one computing device has an application program installed and is operable to find out the at least one video camera on the same local area network and connect the at least one video camera to a cloud platform. The video surveillance system is accessible via the at least one computing device locally or other computing device remotely. The video surveillance system is still at work when the at least one computing device is powered off.
    Type: Grant
    Filed: September 4, 2015
    Date of Patent: September 25, 2018
    Assignee: SENSORMATIC ELECTRONICS, LLC
    Inventor: Martin A. Renkis
  • Patent number: 10076840
    Abstract: To reduce the possibility that a robot will collide with an obstacle during an interference check work and improve the efficiency of the check work at a portion where the interference may occur, an information processing apparatus includes a control unit that controls an operation of a first robot, an acquisition unit that acquires position and orientation of a display apparatus which is attached with a body of an observer, a generation unit that identifies a visual field of the observer including the first robot based on the position and orientation of the display apparatus and an internal parameter of the display apparatus and generate an operation image of a second robot to be displayed in the identified visual field, as an object that may interfere with the first robot, based on operation data of the second robot, and an output unit that outputs the operation image to the display apparatus.
    Type: Grant
    Filed: March 31, 2016
    Date of Patent: September 18, 2018
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Yusuke Nakazato
  • Patent number: 10071481
    Abstract: A system to secure people's safety in places such as a factory wherein people and industrial robot collaborate with each other in a state that a physical fence surrounding the preferred industrial robot's working region is excluded. The system is capable of acquiring respective distances between robot and a plurality of people. Furthermore, a critical distance of each person is set on the basis of at least one of personal information that each person individually has and environment information to be set depending on the robot's setting environment. A mounted-type monitor is respectively mounted on the plurality of people and is capable of displaying information within a view of each person, and a control unit is capable of controlling display content thereon. According to the display control, when a distance between robot and each person becomes less than a critical distance, the distance state is displayed on the mounted-type monitor.
    Type: Grant
    Filed: November 30, 2016
    Date of Patent: September 11, 2018
    Assignee: DENSO WAVE INCORPORATED
    Inventor: Hideyuki Nishino
  • Patent number: 10065306
    Abstract: A traveling robot includes a mobile unit, an arm and an electronic control unit. The electronic control unit is configured to set a target position to which the traveling robot intends to travel. The electronic control unit is configured to calculate a center of gravity of the traveling robot. The electronic control unit is configured to plan a motion of a movable part of the mobile unit and/or arm to the set target position. The electronic control unit is configured to, in the case where the traveling robot is close to the set target position, plan the motion of the movable part of the mobile unit and/or arm such that a limitation on a range of the center of gravity is relaxed as compared to a limitation on the range of the center of gravity in the case where the traveling robot is far from the set target position.
    Type: Grant
    Filed: September 2, 2015
    Date of Patent: September 4, 2018
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Toru Isobe
  • Patent number: 10065317
    Abstract: A system includes first and second robotic machines and a task manager. The first and second robotic machines have respective first and second sets of capabilities for interacting with a surrounding environment. The task manager selects the first and second robotic machines from a group to perform a task based on the first and second sets of capabilities of the robotic machines. The task involves manipulating and/or inspecting a target object of a vehicle. The task manager assigns a first sequence of sub-tasks to be performed by the first robotic machine and a second sequence of sub-tasks to be performed by the second robotic machine. The first and second robotic machines are configured to coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.
    Type: Grant
    Filed: June 30, 2016
    Date of Patent: September 4, 2018
    Assignee: General Electric Company
    Inventors: Huan Tan, John Michael Lizzi, Charles Burton Theurer, Balajee Kannan, Romano Patrick
  • Patent number: 10064533
    Abstract: An autonomous floor cleaning robot includes a body, a controller supported by the body, a drive supporting the body to maneuver the robot across a floor surface in response to commands from the controller, and a pad holder attached to an underside of the body to hold a removable cleaning pad during operation of the robot. The pad includes a mounting plate and a mounting surface. The mounting plate is attached to the mounting surface. The robot includes a pad sensor to sense a feature on the pad and to generate a signal based on the feature, which is defined in part by a cutout on the card backing. The mounting plate enables the pad sensor to detect the feature. The controller is responsive to the signal to perform operations including selecting a cleaning mode based on the signal, and controlling the robot according to a selected cleaning mode.
    Type: Grant
    Filed: December 19, 2016
    Date of Patent: September 4, 2018
    Assignee: iRobot Corporation
    Inventors: Ping-Hong Lu, Joseph M. Johnson, Daniel Foran, Marcus Williams, Andrew Graziani
  • Patent number: 10070022
    Abstract: Improved monitor assemblies (e.g., child monitor assemblies) and related methods of use are provided. More particularly, the present disclosure provides improved child monitor assemblies having an elongated flexible section configured and dimensioned to be positioned into various desired positions for a wide range of different viewing angles and/or locations. The present disclosure provides for a monitor assembly (e.g., character-based monitor assembly) including a base/body portion, an elongated flexible portion attached to and extending from the base/body portion, and a head/upper portion attached to and extending from the elongated flexible portion. The head/upper portion includes an eye member, with a monitor member (e.g., camera, video monitor) positioned/placed within or near the eye member. The elongated flexible portion is configured and dimensioned to be positioned into various desired positions for a wide range of different viewing angles and/or locations for the monitor member.
    Type: Grant
    Filed: January 20, 2016
    Date of Patent: September 4, 2018
    Assignee: Boogli, Inc.
    Inventor: Todd Rice
  • Patent number: 10068588
    Abstract: Systems, methods, and computer-readable storage media are provided for recognizing emotion in audio signals in real-time. An audio signal is detected and a rapid audio fingerprint is computed on a user's computing device. One or more features is extracted from the audio fingerprint and compared with features associated with defined emotions to determine relative degrees of similarity. Confidence scores are computed for the defined emotions based on the relative degrees of similarity and it is determined whether a confidence score for one or more particular emotions exceeds a threshold confidence score. If it is determined that a threshold confidence score for one or more particular emotions is exceeded, the particular emotion or emotions are associated with the audio signal. As desired, various action then may be initiated based upon the emotion/emotions associated with the audio signal.
    Type: Grant
    Filed: July 21, 2014
    Date of Patent: September 4, 2018
    Assignee: MICROSOFT TECHNOLOGY LICENSING, LLC
    Inventors: Yaser Khan, Chris Huybreqts, Jaeyoun Kim, Thomas C. Butcher
  • Patent number: 10067502
    Abstract: A device and method for service drone configuration are disclosed. Vehicle diagnostic data is retrieved and monitored for error data that indicates a serviceable vehicle-component fault condition. When the error data indicates the serviceable vehicle-component fault condition, a drone service protocol is generated based on the error data, where the drone service protocol being operable to instruct a service drone to attend to a source of the serviceable vehicle-component fault condition. The drone service protocol can be transmitted for deploying the service drone.
    Type: Grant
    Filed: March 7, 2017
    Date of Patent: September 4, 2018
    Assignee: Toyota Research Institute, Inc.
    Inventor: Michael J. Delp
  • Patent number: 10065217
    Abstract: A scraping device and a scraping method, by which a scraping process using a robot can be automated, and workload of an operator can be significantly reduced. The scraping device includes a robot which grips or holds a scraping tool, and a robot controller which controls the robot. The robot is a multi-joint robot having six axes, and has a robot arm and a robot hand attached to a front end of the robot arm. The scraping tool is gripped or held by the robot hand. The scraping tool has a cutting edge and a vibrator which vibrates the cutting edge at high velocity, and the robot hand grips the scraping tool while the cutting edge is vibrated at high velocity.
    Type: Grant
    Filed: January 27, 2016
    Date of Patent: September 4, 2018
    Assignee: FANUC CORPORATION
    Inventor: Yoshiharu Nagatsuka
  • Patent number: 10068424
    Abstract: The present invention provides a reception device, which comprises an operation device which is used to perform a variety of operations, a camera device which is used to take dynamic images for the operation area of the operation device, and a control device determining whether there is an abnormal state in the operation area according to the dynamic images taken by the camera device, and if it is determined that there is an abnormal state, performing a control to cause the operation device to perform an operation corresponding to the abnormal state.
    Type: Grant
    Filed: September 26, 2016
    Date of Patent: September 4, 2018
    Assignees: UNIVERSAL ENTERTAINMENT CORPORATION, ARUZE GAMING (HONG KONG) LIMITED
    Inventors: Junpei Sato, Yoshihiro Nagasaki, Satoshi Joko
  • Patent number: 10059517
    Abstract: A storage and order-picking system and method characterized by a shelf arrangement having shelves, vertical conveyors, and autonomously movable, driverless transport vehicles (FTF) with an FTF plane which is substantially barrier-free and which extends under, over or through the shelf arrangement. The FTF plane is coupled to the shelf arrangement by conveyor technology via the vertical conveyors. The FTF plane has a travel surface with a topology of travel points and segments along which the FTFs move in a guided manner, the segments each extending from one travel point to another adjacent travel point. A fleet manager produces and outputs travel orders for the FTFs, the orders comprising individual navigation information, in order to transport the storage goods, which are not yet transported to the FTF plane by the vertical conveyors in an absolute order, along individual travel paths specifically produced for the FTF away from/to the vertical conveyors.
    Type: Grant
    Filed: February 10, 2017
    Date of Patent: August 28, 2018
    Assignee: SSI Schäfer Noell GmbH Lager- und Systemtechnik
    Inventor: Christian Hofmann
  • Patent number: 10058997
    Abstract: Methods, apparatus, systems, and computer-readable media are provided for enabling users to approximately identify a space within an environment inhabited by a plurality of objects that user wishes for a robot to manipulate. In various implementations, an approximation of a space within an environment may be identified based on user input. The actual space within the environment may then be extrapolated based at least in part on the approximation and one or more attributes of the environment. A plurality of objects that are co-present within the space and that are to be manipulated by a robot may be identified. The robot may then be operated to manipulate the identified plurality of objects.
    Type: Grant
    Filed: June 16, 2016
    Date of Patent: August 28, 2018
    Assignee: X DEVELOPMENT LLC
    Inventor: Crystal Chao
  • Patent number: 10058224
    Abstract: A robot cleaner system may include a robot cleaner that may be automatically driven while performing a cleaning operation, a recharging base that receives the robot cleaner, and a remote control device that remotely controls the robot cleaner. The remote control device may also generate mapping information between an actual region and a virtual region based on image information generated by a camera provided on the robot cleaner, and/or image information generated by a camera on the recharging base.
    Type: Grant
    Filed: August 26, 2016
    Date of Patent: August 28, 2018
    Assignee: LG ELECTRONICS INC.
    Inventors: Sangyun Kim, Younggie Kim
  • Patent number: 10058394
    Abstract: A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.
    Type: Grant
    Filed: July 31, 2015
    Date of Patent: August 28, 2018
    Assignee: GLOBUS MEDICAL, INC.
    Inventors: Norbert Johnson, Timothy Moulton, Michael Bartelme, Rasool Khadem, Neil R. Crawford
  • Patent number: 10052004
    Abstract: A robot cleaner system may include a robot cleaner that may be automatically driven while performing a cleaning operation, a recharging base that receives the robot cleaner, and a remote control device that remotely controls the robot cleaner. The remote control device may also generate mapping information between an actual region and a virtual region based on image information generated by a camera provided on the robot cleaner, and/or image information generated by a camera on the recharging base.
    Type: Grant
    Filed: August 26, 2016
    Date of Patent: August 21, 2018
    Assignee: LG ELECTRONICS INC.
    Inventors: Sangyun Kim, Younggie Kim
  • Patent number: 10054950
    Abstract: A deployable docking station for supporting at least one mobile robot is provided. The deployable docking station includes a housing and an anchor connected to the housing. The anchor can engage with a surface to maintain the position of the deployable docking station. The deployable docking station is further configured to couple and decouple with the at least one mobile robot. The deployable docking station can be configured to selectively alternate between a first and second condition. In the first condition, the deployable docking station is coupled with the at least one mobile robot and the at least one mobile robot can transport the deployable docking station to a desired location on the surface. In the second condition, the deployable docking station is de-coupled from the at least one mobile robot.
    Type: Grant
    Filed: March 2, 2016
    Date of Patent: August 21, 2018
    Assignee: SAUDI ARABIAN OIL COMPANY
    Inventors: Pablo Carrasco Zanini, Ali Outa, Fadl Abdellatif, Brian Parrott, Sahejad Patel, Hassane Trigul, Ayman Amer, Ali Shehri
  • Patent number: 10049325
    Abstract: Provided is an information processing apparatus including a learning part performing learning of a model of an environment in which an agent performs action, using an observed value observed in the agent when the agent capable of action performs action, an action determining part determining action to be performed by the agent, based on the model, and a user instruction output part outputting instruction information representing an instruction from a user according to the instruction from the user, wherein the action determining part determines the action performed by the agent according to the instruction information when there is an instruction from the user.
    Type: Grant
    Filed: July 30, 2012
    Date of Patent: August 14, 2018
    Assignee: Sony Corporation
    Inventors: Hideki Shimomura, Kenta Kawamoto, Kohtaro Sabe
  • Patent number: 10046457
    Abstract: A method, system, and non-transitory computer-readable medium, the method including receiving notifications from a plurality of agents, the notifications being associated with the plurality of agents sensing aspects of an environment; determining, based at least in part on the received notifications from the plurality of agents, a situational model of the environment from the notifications; determining a status of the environment based on the situational model; and reporting the status of the environment to at least one of the plurality of agents.
    Type: Grant
    Filed: October 31, 2014
    Date of Patent: August 14, 2018
    Assignee: GENERAL ELECTRIC COMPANY
    Inventors: Justin McHugh, Kareem Sherif Aggour, John Michael Lizzi, Charles Burton Theurer
  • Patent number: 10040201
    Abstract: A service robot is provided to communicate with other devices of a service location, such as another robot. A first and second robot may be tasked with performing a customer service task requiring a physical interaction. The first robot may determine that the second robot lacks instructions to perform the customer service task. Upon making the determination, the first robot retrieves physical interaction instructions and causes the second robot to load and execute the physical interaction instructions. The second robot is then transformed, by the first robot, into a configured robot able to perform the customer service task.
    Type: Grant
    Filed: March 31, 2016
    Date of Patent: August 7, 2018
    Assignee: Avaya Inc.
    Inventors: Valentine C. Matula, George Erhart, David Skiba
  • Patent number: 10034630
    Abstract: Disclosed is an apparatus and method to train an autonomous driving model. The apparatus includes a driver information collection processor configured to collect driver information while a vehicle is being driven. The apparatus also includes a sensor information collection processor configured to collect sensor information from a sensor installed in the vehicle while the vehicle is being driven, and a model training processor configured to train the autonomous driving model based on the driver information and the sensor information.
    Type: Grant
    Filed: November 15, 2016
    Date of Patent: July 31, 2018
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Dong Hwa Lee, Chang Hyun Kim, Eun Soo Shim, Ki Hwan Choi, Hyun Jin Choi
  • Patent number: 10037036
    Abstract: A method and arrangement for determining safe vehicle trajectories for a vehicle equipped with sensors for monitoring a surrounding environment, taking into account sensing limitations, as well as a vehicle including such an arrangement. The method includes detecting observable obstacles, detecting unobservable areas, adding virtual obstacles in unobservable areas, associating each observable obstacle and each virtual obstacle with one or more hypothetical events and assigning an occurrence probability to each combination of obstacle and one or more events, and determining safe vehicle trajectories based on both observable obstacles and virtual obstacles and the occurrence probability of each combination of obstacle and one or more events.
    Type: Grant
    Filed: April 27, 2016
    Date of Patent: July 31, 2018
    Assignee: Volvo Car Corporation
    Inventors: Jonas Nilsson, Mattias Erik Brannstrom, Mohammad Ali, Joakim Lin Sorstedt
  • Patent number: 10035267
    Abstract: A robot system, and method for controlling it, for collaborative robot applications has a movable robot arm and a controller, wherein the controller is provided to control the movement of the distal end of the robot arm along a movement path according to at least a sequence of coordinate data and respective commands of a robot program and wherein the controller is provided to determine exact movement speed and course of the movement path between consecutive coordinates according to a set of parameters. At least two alternatively selectable sets of parameters are provided which both are related to a respective individual comfort level of a respective collaborative human worker.
    Type: Grant
    Filed: August 12, 2016
    Date of Patent: July 31, 2018
    Assignee: ABB Schweiz AG
    Inventors: Bjoern Matthias, Christoph Winterhalter, Hao Ding
  • Patent number: 10033308
    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: March 17, 2015
    Date of Patent: July 24, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Amir Chaghajerdi, Pushkar Hingwe
  • Patent number: 10022288
    Abstract: Provided is a method and apparatus for setting a torque of a walking assistance apparatus. A rotation angle and a rotation angular velocity of the walking assistance apparatus may be measured to set the torque. An amount of torque to be set may be calculated based on the rotation angle and the rotation angular velocity of the walking assistance apparatus.
    Type: Grant
    Filed: December 16, 2015
    Date of Patent: July 17, 2018
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Seungyong Hyung, Youngjin Park, Youngbo Shim, Sunghwan Ahn
  • Patent number: 10022869
    Abstract: A robot control system on a platform which can carry target objects employs a coordinate system including X, Y, and Z axes. A plane including the X and Y axis is parallel with a panel including the platform. After the coordinate system is created, a reminder is displayed and a guiding tool is placed in a position on the platform where the target objects are located, and a fastening tool for use with the guiding tool is arranged on hand of the robot. A location of the fastening tool relative to the guiding tool is adjusted according to a predefined rule. When the location of the fastening tool relative to the guiding tool is correctly adjusted, a position of the end effect of the robot is determined according to the location of the fastening tool and the relevant coordinates are stored as data.
    Type: Grant
    Filed: April 28, 2016
    Date of Patent: July 17, 2018
    Assignees: HONGFUJIN PRECISION ELECTRONICS (ZHENGZHOU), HON HAI PRECISION INDUSTRY CO., LTD.
    Inventors: Yu-Ching Liu, Hsi-Che Chang, Yu-Nan Lin, Wei-Da Yang, Po-Lin Su, Li Chen, Yue-Kai Cao, Bo Ning, Guang-Chen Liang, Jiang-Tao Zheng
  • Patent number: 10025886
    Abstract: Methods and systems for using projected patterns to facilitate mapping of an environment are provided herein. A computing system may cause fixedly-posed projectors to each provide, onto a respective area of the environment, a predetermined respective distinct pattern. The system may determine respective poses of the projectors, and further determine a map of the environment that identifies, for each distinct pattern, respective locations on one or more surfaces in the environment on which the distinct pattern is detectable. Based on sensor data the system may identify a portion of a particular distinct pattern in the environment. The system may use the map and the respective pose of a particular projector that is providing the particular pattern to make a determination that the portion is located at a new, different location compared to the map. The system may then transmit an output signal indicating the determination.
    Type: Grant
    Filed: September 30, 2015
    Date of Patent: July 17, 2018
    Assignee: X Development LLC
    Inventors: Ethan Rublee, Hauke Malte Strasdat
  • Patent number: 10018995
    Abstract: Embodiments of the present disclosure relate to a method and apparatus for optimizing performance of a robotic cell. The robotic cell comprises at least one workstation and at least one robot. The method may comprise determining a factor and a corresponding workstation sensitive to the performance of the robotic cell by performing a sensitivity analysis on an initial cell layout for the robotic cell; and performing a performance optimization process on the corresponding workstation based on the determined factor to obtain an improved cell layout for the robotic cell. With embodiments of the present disclosure, it is possible to perform performance optimization of the robotic cell on the sensitive workstation regarding to the sensitive factor, and thus it may efficiently determine an improved cell layout which may achieve performance improvement.
    Type: Grant
    Filed: June 3, 2016
    Date of Patent: July 10, 2018
    Assignee: ABB Schweiz AG
    Inventor: Jiafan Zhang
  • Patent number: 10011017
    Abstract: An industrial robot system includes a first deviation calculation unit calculating a first deviation between a first force detection value and a first force estimation value, a first command output unit outputting an operation command, a stop command, a deceleration command, or a deceleration stop command to a robot when a first deviation is larger than a first threshold value, and a fourth command output unit outputting the operation command, the stop command, the deceleration command, or the deceleration stop command according to a deviation pattern when the first deviation includes a common deviation pattern.
    Type: Grant
    Filed: June 22, 2016
    Date of Patent: July 3, 2018
    Assignee: FANUC CORPORATION
    Inventors: Tetsuro Matsudaira, Shuntaro Toda
  • Patent number: 10007267
    Abstract: The present disclosure provides a smart cleaner, which includes: a remote controller provided with a camera, in which the camera is configured to photograph an image of a target area in a scene; and a body configured to scan the scene, to establish a map of the scene according to a predetermined reference substance, to identify a location of the image in the map after receiving the image sent by the remote controller, and to move to the target area according to the location of the image in the map for performing an operation.
    Type: Grant
    Filed: August 12, 2016
    Date of Patent: June 26, 2018
    Assignee: JIANGSU MIDEA CLEANING APPLIANCES CO., LTD.
    Inventors: Qinghao Yu, Qiang Shen
  • Patent number: 10001778
    Abstract: Systems and methods for controlling an unmanned aerial vehicle within an environment are provided. In one aspect, a system comprises one or more sensors carried on the unmanned aerial vehicle and configured to receive sensor data of the environment and one or more processors. The one or more processors may be individually or collectively configured to: determine, based on the sensor data, an environmental complexity factor representative of an obstacle density for the environment; determine, based on the environmental complexity factor, one or more operating rules for the unmanned aerial vehicle; receive a signal indicating a desired movement of the unmanned aerial vehicle; and cause the unmanned aerial vehicle to move in accordance with the signal while complying with the one or more operating rules.
    Type: Grant
    Filed: September 27, 2016
    Date of Patent: June 19, 2018
    Assignee: SZ DJI TECHNOLOGY CO., LTD
    Inventors: Xiao Hu, Ang Liu, Guyue Zhou, Xuyang Pan
  • Patent number: 9993130
    Abstract: A robot cleaner system may include a robot cleaner that may be automatically driven while performing a cleaning operation, a recharging base that receives the robot cleaner, and a remote control device that remotely controls the robot cleaner. The remote control device may also generate mapping information between an actual region and a virtual region based on image information generated by a camera provided on the robot cleaner, and/or image information generated by a camera on the recharging base.
    Type: Grant
    Filed: August 26, 2016
    Date of Patent: June 12, 2018
    Assignee: LG ELECTRONICS INC.
    Inventors: Sangyun Kim, Younggie Kim
  • Patent number: 9989626
    Abstract: The present invention pertains to a method for estimating a sound source position in a space with high accuracy using a microphone installed on a robot moving in the space. A mobile robot includes a self-position estimation unit configure to estimate the self-position of the mobile robot, a sound source information obtaining unit configured to obtain direction information of an observed sound source, and a sound source position estimation unit configured to estimate the position of the sound source based on the estimated self-position and the direction information of the sound source.
    Type: Grant
    Filed: April 12, 2013
    Date of Patent: June 5, 2018
    Assignee: Hitachi, Ltd.
    Inventors: Takashi Sumiyoshi, Yasunari Obuchi, Naoyuki Kanda, Ryu Takeda
  • Patent number: 9975243
    Abstract: Robotic customer service agents may require verification of a human. The verification may be of the identity of the human and/or a capability of the human. If verified, the robot operates in a verified mode and otherwise operates in a non-verified mode. The robot performs a customer service task in one of the verified mode or the non-verified mode, which may alter, omit, or substitute actions as appropriate for the mode.
    Type: Grant
    Filed: March 31, 2016
    Date of Patent: May 22, 2018
    Assignee: Avaya Inc.
    Inventors: George Erhart, David Skiba, Valentine C. Matula
  • Patent number: 9975240
    Abstract: A robot includes a robot arm, a drive unit that drives the robot arm, a first control unit that controls drive of the drive unit, a plurality of detection units at least one of which is an angular velocity sensor as an inertial sensor, and a wiring unit that series-connects the plurality of detection units and the first control unit.
    Type: Grant
    Filed: October 31, 2014
    Date of Patent: May 22, 2018
    Assignee: Seiko Epson Corporation
    Inventors: Takema Yamazaki, Izumi Iida, Munenori Sawada, Daisuke Sato, Isamu Sejimo, Shigenori Sasai
  • Patent number: 9969090
    Abstract: A robot system which is inexpensive and can easily measure a position of a target point. The system stores feature quantities of an image of a target mark included in an image acquired as reference data when the target mark is placed at a known first target mark position at the robot coordinate system and stores the first target mark position with respect to an arm tip as the position of the tool center point. The system compares the feature quantities obtained from the image acquired when the target mark is arranged at a second target mark position and the feature quantities of the reference data to make the arm tip move and calculates the second target mark position at the robot coordinate system based on a second robot position corresponding to the position of the arm tip after movement and the position of the tool center point.
    Type: Grant
    Filed: September 30, 2016
    Date of Patent: May 15, 2018
    Assignee: FANUC CORPORATION
    Inventors: Fumikazu Warashina, Keisuke Watanabe, Kenshirou Oono
  • Patent number: 9956693
    Abstract: A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.
    Type: Grant
    Filed: July 23, 2014
    Date of Patent: May 1, 2018
    Assignee: KUKA Deutschland GmbH
    Inventors: Hartmut Keyl, Michael Thummel, Dietmar Tscharnuter, Tobias Weiser
  • Patent number: 9950431
    Abstract: Initial interaction between a mobile robot and at least one user is described herein. The mobile robot captures several images of its surroundings, and identifies existence of a user in at least one of the several images. The robot then orients itself to face the user, and outputs an instruction to the user with regard to the orientation of the user with respect to the mobile robot. The mobile robot captures images of the face of the user responsive to detecting that the user has followed the instruction. Information captured by the robot is uploaded to a cloud-storage system, where information is included in a profile of the user and is shareable with others.
    Type: Grant
    Filed: January 25, 2016
    Date of Patent: April 24, 2018
    Assignee: MICROSOFT TECHNOLOGY LICENSING, LLC
    Inventors: Jean Sebastien Fouillade, Russel Sanchez, Efstathios Papaefstathiou, Malek M. Chalabi
  • Patent number: 9950428
    Abstract: A method for controlling a wearable robot includes deducing a knee joint angle value of a robot using a joint angle sensor in a control unit, comparing the deduced knee joint angle value with a reference knee joint angle value previously stored in the control unit, deducing a thigh angle value using a thigh angle sensor in the control unit when the deduced knee joint angle value exceeds the reference knee joint angle value, comparing the deduced thigh angle value with a reference thigh angle value previously stored in the control unit, and setting an operation mode of the robot to a lift-up mode in the control unit when the thigh angle value exceeds the reference thigh angle value.
    Type: Grant
    Filed: November 13, 2015
    Date of Patent: April 24, 2018
    Assignee: HYUNDAI MOTOR COMPANY
    Inventors: Dong Jin Hyun, Kyung Mo Jung, Hyun Seop Lim
  • Patent number: 9943967
    Abstract: The present disclosure discloses a five-degree-of-freedom hybrid robot with rotational supports. A first and a second fixed shaft seats are rotatably connected to a first and a second rotational support through a hinge, respectively. One end of a first length adjustment device runs through the first rotational support, and the other end is fixedly connected to a moving platform. One end of each of the second and third length adjustment devices runs through the first rotational support and is then connected to the moving platform, respectively. Middle portions of the first, second and third length adjustment devices are each hinged onto the first rotational support. One end of a fourth length adjustment device runs through the second rotational support and is connected to the moving platform. Middle portion of the fourth length adjustment device is hinged onto the second rotational support.
    Type: Grant
    Filed: January 4, 2017
    Date of Patent: April 17, 2018
    Assignee: TIANJIN UNIVERSITY
    Inventors: Tian Huang, Chenglin Dong, Haitao Liu, Xuda Qin, Jiangping Mei, Qi Liu, Manxin Wang
  • Patent number: 9946263
    Abstract: A method of controlling operation of a robotic cleaning device and a robotic cleaning device performing the method. The robotic cleaning device includes a main body, a propulsion system arranged to move the robotic cleaning device, and an obstacle detection device arranged to detect obstacles. The robotic cleaning device further includes a controller arranged to control the propulsion system to move the robotic cleaning device. The controller is further arranged to identify one or more sections to be cleaned where the robotic cleaning device is likely to move without being hindered by the detected obstacles, and to control movement of the robotic cleaning device such that cleaning of the identified one or more sections is prioritized before sections of the surface where the robotic cleaning device is more likely to be hindered by the detected obstacles.
    Type: Grant
    Filed: December 19, 2013
    Date of Patent: April 17, 2018
    Assignee: AKTIEBOLAGET ELECTROLUX
    Inventors: Magnus Lindhé, Petter Forsberg
  • Patent number: 9931753
    Abstract: Examples method and devices for automatic gait transition are described herein. In an example embodiment, a computing system may identify gaits for the robotic device to perform in response to receiving an input for the robotic device to move at a velocity. The system may determine criteria for selecting a gait from the identified gaits for the robotic device to perform based on sensor data of the environment (e.g., slope and terrain) and based on the state of the robotic device. The system may modify the set of criteria based on prior operation of the robotic device in respective environments similar to the environment. Responsive to determining the criteria for selecting a gait, the computing system may determine whether the identified gaits include a gait that enables the robotic device to move at the velocity according to the set of criteria, and provide instructions to operate based on the determination.
    Type: Grant
    Filed: July 23, 2015
    Date of Patent: April 3, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Alfred Anthony Rizzi, Kevin Blankespoor, Matthew David Malchano, Mathew Livianu