Robot Control Patents (Class 700/245)
  • Patent number: 9815190
    Abstract: The robot cleaner includes a case, a suction device provided in the case, a suction nozzle for sucking dust from a floor by driving of the suction device, a dust collection device for collecting foreign substances contained in the air sucked via the suction nozzle, a wheel unit to allow movement, a main controller for controlling the driving of the suction device and the wheel unit, a Wi-Fi module provided in the case to provide Access Point (AP), and a NFC module provided in the case to provide an external terminal with AP information for accessing to the AP through NFC communication.
    Type: Grant
    Filed: December 18, 2014
    Date of Patent: November 14, 2017
    Assignee: LG ELECTRONICS INC.
    Inventors: Bongju Kim, Seongeun Cho, Sangmok Kim
  • Patent number: 9817386
    Abstract: A joint guarantee system for vehicle assembly is applied to a vehicle assembly line that assembles an assembling object to a vehicle carried through on a conveyer line as an assembling element, and includes a vehicle detector that detects the vehicle entering the conveyer line, tool detectors disposed along the conveyer line that detect a position of an assembling tool on the conveyer line, an inertial sensor module installed in the assembling tool that detects an angle and a displacement of the assembling tool for an assembling point of the vehicle and the assembling object, a tool controller that applies control signals corresponding to a predetermined assembling point of the vehicle and the assembling object, a kind of assembling element, and assembling torque of the assembling tool, to the assembling tool, and a main controller that processes and stores the above information.
    Type: Grant
    Filed: July 9, 2014
    Date of Patent: November 14, 2017
    Assignee: Hyundai Motor Company
    Inventors: Jaehyun Lee, Sung Phil Ryu
  • Patent number: 9817744
    Abstract: Apparatus, computer-readable storage medium and a method executed by a computer for tracing the memory accesses of an object-oriented program comprises assigning a unique identification to each class object created from at least one class in the object-oriented program by modifying a class definition of the at least one class. In response to an unloading of one of the class objects, obtaining class unloading related information from a runtime environment of the object-oriented program and obtaining the unique identification of the unloaded class object according to the returned information. Then releasing memory space assigned to the unloaded class object for storing the memory access information of the unloaded class object.
    Type: Grant
    Filed: March 28, 2012
    Date of Patent: November 14, 2017
    Assignee: International Business Machines Corporation
    Inventors: Zhi Da Luo, Wei Liu
  • Patent number: 9810526
    Abstract: A method for measuring a three-dimensional shape of an inner surface of a vitreous silica crucible which enables the measurement of the three-dimensional shape of the inner surface of the crucible without contaminating the inner surface of the crucible, is provided. According to the present invention, a method for measuring a three-dimensional shape of a vitreous silica crucible, including a fogging step to form a fog onto an inner surface of the vitreous silica crucible, a three-dimensional shape measuring step to measure a three-dimensional shape of the inner surface, by measuring a reflected light from the inner surface irradiated with light, is provided.
    Type: Grant
    Filed: October 31, 2012
    Date of Patent: November 7, 2017
    Assignee: SUMCO CORPORATION
    Inventors: Toshiaki Sudo, Tadahiro Sato, Ken Kitahara
  • Patent number: 9809395
    Abstract: A method for controlling a material flow system, wherein the material flow system includes vehicles for transporting goods packages, wherein the vehicles communicate autonomously among one another in the material flow system, wherein the vehicles move by movement steps along a material flow path from a starting node to a target node, and wherein a logical clock is associated with each node. The method includes providing each movement step of a first vehicle with a time stamp, carrying out movement steps such that for the first vehicle, successive movement steps assume monotonically increasing values for the time stamp, and for each node that is traversed, providing an outgoing movement step of the first vehicle with value of a time stamp which is less than or equal to a value of a time stamp for a subsequently incoming movement step of a second vehicle.
    Type: Grant
    Filed: March 17, 2016
    Date of Patent: November 7, 2017
    Assignee: Karlsruher Institut fuer Technologie
    Inventors: Zaezilia Seibold, Kai Furmans, Marco Gebhardt, Thomas Stoll
  • Patent number: 9810511
    Abstract: A technique is presented for tracking a target illuminated by a laser designator. A light beam scattered from the target in response to illumination by the designator is received and projected on a detector as an unfocused spot. The detector is divided into a plurality of sectors, each sector being adjacent to two sectors and all sectors meeting at a common point. Each sector outputs a signal indicative of a respective energy of the portion of the light beam illuminating the sector of the detector. A sum of the signals is determined. A plurality of ratios is determined, each ratio corresponding to a respective sector and being calculated by dividing a signal from the respective sector by the sum of the signals. The orientation of the system with respect to the target is determined based on the three ratios, via a look-up table and/or via one or more algorithms.
    Type: Grant
    Filed: April 15, 2015
    Date of Patent: November 7, 2017
    Assignee: Analog Modules, Inc.
    Inventors: Ian Drummond Crawford, Noal Conan Chandler
  • Patent number: 9802286
    Abstract: A robot control system provided in a machining system including a robot and a machine tool. The robot control system includes a robot controller controlling the robot, a portable teach pendant connected to the robot controller, and a communication network adapted to connect the robot controller to a machine tool controller controlling the machine tool. The teach pendant includes a display section configured to display information relating to the robot and the machine tool. The robot controller includes a processing section configured to obtain information relating to the machine tool from the machine tool controller through the communication network, make the display section of the teach pendant display a machine tool-related screen in accordance with a given screen program, and make the machine tool-related screen of the display section of the teach pendant display the information, as obtained, relating to the machine tool.
    Type: Grant
    Filed: May 28, 2010
    Date of Patent: October 31, 2017
    Assignee: FANUC LTD
    Inventors: Hiroji Nishi, Tetsuaki Kato
  • Patent number: 9801686
    Abstract: A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.
    Type: Grant
    Filed: March 30, 2015
    Date of Patent: October 31, 2017
    Assignee: MAKO Surgical Corp.
    Inventors: Chris Alan Lightcap, Hyosig Kang, Arthur E. Quaid, III, Rony Abovitz
  • Patent number: 9802315
    Abstract: A link position and attitude estimating unit 53 (54) of a controller 40 of a mobile robot 1 sequentially estimates the actual position and attitude of a first particular link 2 by using input parameters which at least include at least one of a desired attitude of an in-contact-with-ground link 13 and an observation value of the actual attitude of the first particular link 2, a desired position of the in-contact-with-ground link 13, and an observation value of the actual displacement amount of each joint. The driving force for each joint is adjusted by using the estimated values.
    Type: Grant
    Filed: November 3, 2015
    Date of Patent: October 31, 2017
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Yoshiki Kanemoto
  • Patent number: 9802322
    Abstract: A mobile robot includes a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The processor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.
    Type: Grant
    Filed: December 2, 2015
    Date of Patent: October 31, 2017
    Assignee: iRobot Corporation
    Inventors: Colin Angle, David Snelling, Melissa O'Dea, Timothy S. Farlow, Samuel Duffley, Jeffrey W. Mammen, Michael J. Halloran
  • Patent number: 9805724
    Abstract: Methods and apparatuses are provided for controlling an electronic device that includes a plurality of microphones configured to receive voice input, a storage unit configured to store a sound recording file, and a display unit configured to visually display speaker areas of individual speakers when recording a sound or playing a sound recording file. The electronic device also includes a control unit configured to provide a user interface relating a speaker direction to a speaker by identifying the speaker direction while recording the sound or performing playback of the sound recording file, and to update at least one of speaker information, direction information of a speaker, and distance information of the speaker through the user interface.
    Type: Grant
    Filed: August 31, 2015
    Date of Patent: October 31, 2017
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Eungha Kim, Jeongwook Seo, Sangho Kim, Bongseok Park, Cheongjae Lee
  • Patent number: 9796386
    Abstract: Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.
    Type: Grant
    Filed: August 20, 2015
    Date of Patent: October 24, 2017
    Assignee: WAYMO LLC
    Inventors: David I. Ferguson, Nathaniel Fairfield, Anthony Levandowski
  • Patent number: 9796090
    Abstract: A system maintains, generates, and manages layouts that map resources to control states of a robotic apparatus. The system may receive system control queries and produce search results and contextual information in response. The system may reference the system control queries against the layouts to determine the search results and contextual information. The contextual information may include operator-interactive tools that may be used to control the robotic apparatus. To control the apparatus, the system may generate control state update messages responsive to the operator interactions. The control state update messages may be sent to a control interface of the robotic device. The robotic device may execute an action responsive the receipt of the control state update message.
    Type: Grant
    Filed: April 24, 2015
    Date of Patent: October 24, 2017
    Assignee: Accenture Global Services Limited
    Inventors: Nigel Robert Markey, Karthik Gomadam, Teresa Sheausan Tung, Desmond Duggan, Allan Enemark, Kunal Taneja
  • Patent number: 9798328
    Abstract: A cleaning robot includes a chassis, a drive system connected to the chassis and configured to drive the robot, a signal generator and sensor carried by the chassis, and a controller in communication with the drive system and the sensor. The signal generator directs a signal toward the floor surface. The sensor is responsive to reflected signals from the floor surface. The controller controls the drive system to alter direction of the robot responsive to a reflected signal indicating an edge of the floor surface.
    Type: Grant
    Filed: October 10, 2014
    Date of Patent: October 24, 2017
    Assignee: iRobot Corporation
    Inventor: Jasper Vicenti
  • Patent number: 9798957
    Abstract: A control method for a robot cleaner includes acquiring a plurality of images of surroundings during travel of the robot cleaner in a cleaning area, estimating a plurality of room-specific feature distributions according to a rule defined for each of a plurality of rooms, based on the images acquired while acquiring the plurality of images, acquiring an image of surroundings at a current position of the robot cleaner, obtaining a comparison reference group including a plurality of room feature distributions by applying the rule for each of the plurality of rooms to the image acquired while acquiring the image at the current position, comparing the obtained comparison reference group with the estimated room-specific feature distributions, and determining a room from the plurality of rooms having the robot cleaner currently located therein.
    Type: Grant
    Filed: September 29, 2015
    Date of Patent: October 24, 2017
    Assignee: LG ELECTRONICS INC.
    Inventors: Dongki Noh, Seungwook Lim, Taekyeong Lee, Inbo Shim
  • Patent number: 9795361
    Abstract: A device for assisting with the handling of an instrument or tool, the device comprising a jointed mechanical structure on a support, wherein an instrument or tool may be attached, motor drives configured to actuate the jointed mechanical structure, according to a number of degrees of freedom of less than that which the structure provides to the instrument or tool, and an automatic control, wherein the automatic control drives the motor drives in order to facilitate the meeting of a constraint on position and/or velocity parameters of the instrument or tool, which constraint the motor drives by themselves, independently of handling by an operator, cannot entirely meet.
    Type: Grant
    Filed: March 2, 2012
    Date of Patent: October 24, 2017
    Assignee: GENERAL ELECTRIC COMPANY
    Inventors: Anja Marx, Guillaume Morel, Marie-Aude Vitrani, Serge Louis Wilfrid Muller, R{hacek over (a)}zvan Gabriel Iordache
  • Patent number: 9789604
    Abstract: There is provided a remote control system including a controlled device and a remote device. The controlled device has a light source and moves according to a control signal from the remote device. The remote device is adapted to be operated by a user and includes an image sensor. The remote device determines a moving direction of the controlled device according to an imaging position of the light source in the image captured by the image sensor and a pointing position of the user, and outputs the control signal.
    Type: Grant
    Filed: April 21, 2017
    Date of Patent: October 17, 2017
    Assignee: PixArt Imaging Inc
    Inventors: Sen-Huang Huang, Yi-Hsien Ko
  • Patent number: 9794964
    Abstract: A method and an apparatus for automatically connecting a wireless Local Area Network (LAN) between digital devices and executing an application program based on the wireless LAN, and more particularly, an apparatus and a method for generating device information indicating attributes in a digital device and obtaining attributes of a peripheral device by analyzing device information of the peripheral device. The apparatus includes a device information generation part configured to generate device information including information about attributes by analyzing the attributes of the digital device. The apparatus also includes a device recognition part configured, when receiving device information of a peripheral device, to obtain attribute information of a device corresponding to the received device information. The apparatus further includes a controller configured to control to transmit the device information generated by the device information generation part, to the peripheral device.
    Type: Grant
    Filed: September 22, 2015
    Date of Patent: October 17, 2017
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Seong-Il Hahm, Woo-Jin Park, Woo-Shik Kang, Seung-Seop Shim, Jin-Wook Lee, Eung-Sik Yoon
  • Patent number: 9782292
    Abstract: The present disclosure describes a catheter guide tool. More particularly, the catheter guide tool is a bi-stable device used for the insertion and advancement of a catheter. The catheter guide tool includes a gimbal. A guide axis runs through the gimbal. A catheter advancement mechanism is coupled to the gimbal and configured to advance the catheter along the guide axis. The guide tool also includes a pivot assembly coupling the gimbal to a support platform. The pivot assembly is configured to pivot the guide axis from a first position perpendicular to a target surface to a second position tangential to the target surface along a single primary plane of rotation of the gimbal.
    Type: Grant
    Filed: December 8, 2014
    Date of Patent: October 10, 2017
    Assignee: THE CHARLES STARK DRAPER LABORATORY, INC.
    Inventors: Kevin Hufford, Christopher V. Trainor
  • Patent number: 9782229
    Abstract: A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly.
    Type: Grant
    Filed: June 21, 2013
    Date of Patent: October 10, 2017
    Assignee: GLOBUS MEDICAL, INC.
    Inventors: Neil R. Crawford, Nicholas Theodore, Mitchell A Foster
  • Patent number: 9776323
    Abstract: A trained classifier to be used with a navigation algorithm for use with mobile robots to compute safe and efficient trajectories. An offline learning process is used to train a classifier for the navigation algorithm (or motion planner), and the classifier functions, after training is complete, to accurately detect intentions of humans within a space shared with the robot to block the robot from traveling along its current trajectory. At runtime, the trained classifier can be used with regression based on past trajectories of humans (or other tracked, mobile entities) to predict where the humans will move in the future and whether the humans are likely to be blockers. The planning algorithm or motion planner generates trajectories based on predictions of human behavior that allow the robot to navigate amongst crowds of people more safely and efficiently.
    Type: Grant
    Filed: January 6, 2016
    Date of Patent: October 3, 2017
    Assignee: DISNEY ENTERPRISES, INC.
    Inventors: Carol Ann O'Sullivan, Chonhyon Park, Max L. Gilbert, Jan Ondrej, Kyle G. Freeman
  • Patent number: 9769428
    Abstract: An image processing device according to the present invention includes container reference position and posture setting unit for setting a position and posture to be a reference for the container, workpiece reference height setting unit for setting a height to be a reference for the workpiece, a reference search window setting unit, container position and posture acquisition unit, a workpiece height calculation unit a search window calculation unit for calculating an amount of adjustment of the search window from the reference container position and posture, the workpiece reference height, the container position and posture, and the workpiece height, and calculating the search window from the reference search window and the amount of adjustment of the search window, and workpiece detection unit for detecting the workpiece from the image using the calculated search window.
    Type: Grant
    Filed: February 1, 2013
    Date of Patent: September 19, 2017
    Assignee: FANUC Corporation
    Inventors: Ichiro Kanno, Toshiyuki Ando
  • Patent number: 9764470
    Abstract: Methods, apparatus, systems, and computer-readable media are provided for selectively deploying robots to performing mapping based on added cost. In various implementations, a measure of interest in mapping an area of an environment may be determined. A cost associated with a robot performing a task may also be determined. Then, an added cost associated with the robot mapping the area of the environment while performing the task may be determined. The robot may be selectively deployed to map the area while performing the task in response to a determination that the measure of interest justifies the added cost.
    Type: Grant
    Filed: October 5, 2015
    Date of Patent: September 19, 2017
    Assignee: X DEVELOPMENT LLC
    Inventors: Rohit Ramesh Saboo, Julian MacNeille Mason
  • Patent number: 9764475
    Abstract: A robot system and a method, by which a robot can effectively and sequentially take out a plurality of randomly located workpieces, while avoiding interference by a simple calculation. A first detection coordinate system for determining the motion of the robot is defined on the lateral surface of the workpiece. The first detection coordinate system is translated by a predetermined distance in the negative direction of a Z-axis, and then an X-Z plane is rotated about an X-axis of the workpiece so that the X-Z plane is perpendicular to an X-Y plane of a robot coordinate system, whereby a work coordinate system is obtained. Next, the work coordinate system is rotated about the X-axis by a target angle, and then is translated by a distance corresponding to a radius of the workpiece in the positive direction of the Z-axis, whereby a second detection coordinate system is obtained and output.
    Type: Grant
    Filed: February 3, 2016
    Date of Patent: September 19, 2017
    Assignee: FANUC CORPORATION
    Inventor: Tadanori Suzuki
  • Patent number: 9757834
    Abstract: A track control apparatus includes an interpolation/acceleration and deceleration calculating unit that interpolates a commanded route and calculates a post-acceleration and deceleration interpolation route, an axis distributing unit that generates a position command for each movable axis from the post-acceleration and deceleration interpolation route, a servo-response calculating unit that calculates a servo response to the position command, a tangential-direction-servo-response calculating unit that obtains a tangential direction servo response from the post-acceleration and deceleration interpolation route, a reference-point generating unit that obtains a reference point from the tangential direction servo response, a position-vector correcting unit that corrects the position command for each movable axis to output a post-correction position command for each movable axis, and a servo control unit that outputs motor driving torque such that each movable axis follows the corresponding post-correction positio
    Type: Grant
    Filed: December 11, 2012
    Date of Patent: September 12, 2017
    Assignee: Mitsubishi Electric Corporation
    Inventor: Kotaro Nagaoka
  • Patent number: 9759548
    Abstract: An image processing apparatus includes: an imaging unit configured to take an image of an area including an object on which an image is projected and to acquire image data; a distance measuring unit configured to calculate distance data relevant to a distance between the object and the imaging unit based on the image data; a plane estimating unit configured to estimate a plane corresponding to the object based on the distance data; and a correction information calculating unit configured to calculate correction information relevant to correction of an image to be projected based on the distance data and plane information relevant to the plane.
    Type: Grant
    Filed: August 9, 2012
    Date of Patent: September 12, 2017
    Assignee: RICOH COMPANY, LTD.
    Inventors: Shinichi Sumiyoshi, Fumihiro Hasegawa
  • Patent number: 9757003
    Abstract: A power supply device for a rotary distance detection device of a robot vacuum cleaner includes a base having a control board which is electrically connected to a power supply so as to control the base to move. The control board has bearings and a distance-detection circuit board on the bearings. The distance-detection circuit board is electrically connected to the control board and the power supply via the bearings so that the robot vacuum cleaner is able to work continuously without worry of replacement of batteries.
    Type: Grant
    Filed: September 21, 2016
    Date of Patent: September 12, 2017
    Assignee: Precaster Enterprises Co., Ltd.
    Inventors: Nen-Tsua Li, Chen-Yu Liao
  • Patent number: 9753461
    Abstract: An aerial inspection system is provided, including an unmanned aerial vehicle (UAV) having an articulated arm coupled thereto. An end effector is coupled to a second end of the articulated arm, the end effector sized and shaped to extend at least partially around an aerial cable in close proximity. One or more sensors are positioned along an inner surface of the end effector, and provide feedback to a control unit. In response, the control unit adjusts a position of at least one of the UAV, the articulated arm, and the end effector such that the end effector maintains a close, non-contact position with respect to the cable.
    Type: Grant
    Filed: April 7, 2016
    Date of Patent: September 5, 2017
    Assignee: Google Inc.
    Inventors: David Wesley Johnson, Martin Brandt Freund
  • Patent number: 9744665
    Abstract: Example implementations may relate to optimization of observer robot locations. In particular, a control system may detect an event that indicates desired relocation of observer robots within a worksite. Each such observer robot may have respective sensor(s) configured to provide information related to respective positions of a plurality of target objects within the worksite. Responsively, the control system may (i) determine observer robot locations within the worksite at which one or more of the respective sensors are each capable of providing information related to respective positions of one or more of the plurality of target objects and (ii) determine a respectively intended level of positional accuracy for at least two respective target objects. Based on the respectively intended levels of positional accuracy, the control system may select one or more of the observer robot locations and may direct one or more observer robots to relocate to the selected locations.
    Type: Grant
    Filed: January 27, 2016
    Date of Patent: August 29, 2017
    Assignee: X Development LLC
    Inventors: Jeffrey Linnell, Anthony Sean Jules
  • Patent number: 9739794
    Abstract: A sample injector for injecting a fluid into a fluidic path, wherein the sample injector comprises a robot arm configured for moving an injection needle, when being connected to the robot arm, between a fluid container containing the fluid and a seat in fluid communication with the fluidic path, the needle configured for aspirating the fluid from the fluid container, when the needle has been moved to the fluid container, and for injecting aspirated fluid into the fluidic path, when the needle is accommodated in the seat, and the seat configured for accommodating the needle and providing fluid communication with the fluidic path, wherein the robot arm is configured for selectively disconnecting the needle from the robot arm when the needle is accommodated in the seat, and wherein the robot arm is configured for performing a further task while the needle is disconnected from the robot arm.
    Type: Grant
    Filed: June 9, 2011
    Date of Patent: August 22, 2017
    Assignee: Agilent Technologies, Inc.
    Inventors: Hans-Peter Zimmermann, David Jenaro
  • Patent number: 9742165
    Abstract: Described embodiments include a system, apparatus, method, and computer program product. A described apparatus includes a receiver circuit configured to receive data indicative of at least one physical parameter of a power transmission system configured to transport electric power from one place to another. The apparatus includes an analysis circuit configured to assess a potential operational risk to a portion of the power transmission system at least partially based on the received data. The apparatus includes a planning circuit configured to schedule a traverse by a mobile device over a transmission line of the power transmission system at least partially based upon the assessed potential operational risk.
    Type: Grant
    Filed: March 30, 2012
    Date of Patent: August 22, 2017
    Assignee: Elwha LLC
    Inventors: Roderick A. Hyde, Lowell L. Wood, Jr.
  • Patent number: 9735951
    Abstract: An electronic device is provided including a processor, a communications interface coupled to the processor, a memory coupled to the processor, and a module saved in the memory. The module configures the processor to receive a first communications packet from a remote device via the communications interface including information useful for estimating a clock offset of the remote device, and determine an upper bound of the clock offset of the remote device with respect to the electronic device based on the information.
    Type: Grant
    Filed: December 17, 2015
    Date of Patent: August 15, 2017
    Assignee: Synaptive Medical (Barbados) Inc.
    Inventors: Monroe M. Thomas, Simon Alexander
  • Patent number: 9733646
    Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.
    Type: Grant
    Filed: November 10, 2014
    Date of Patent: August 15, 2017
    Assignee: X Development LLC
    Inventors: Stefan Nusser, Troy Straszheim, John Zevenbergen, Ethan Rublee
  • Patent number: 9729945
    Abstract: An environmental monitor device with a database comprises a data bus, a multitude of sensors, at least one processing unit, input/output device(s); communications interface(s), and memory. Communications interface(s) communicate with at least one environmental sensor device comprising with a multitude of sensors. The multitude of sensors may include particle counter(s), pressure sensor(s) and/or the like. The memory is configured to hold data and machine executable instructions. The machine executable instructions are configured to cause at least one processing unit to: collect sensor data from at least one environmental sensor device; store at least some of the sensor data in at least one database; and generate a report of sensor data that exceeds at least one threshold.
    Type: Grant
    Filed: September 3, 2014
    Date of Patent: August 8, 2017
    Assignee: OBERON, INC.
    Inventors: Richard Douglas Schultz, David Glenn DeGroote, Travis James Weaver, Scott Thompson
  • Patent number: 9721184
    Abstract: An article pickup apparatus configured so as to measure surface positions of articles randomly piled on the three-dimensional space using a three-dimensional measurement instrument to acquire position information of three-dimensional points, determine a connected set made by connecting three-dimensional points present in the vicinity of each other among the three-dimensional points, and identify a position and posture of an article based on the position information of three-dimensional points belonging to the connected set. The posture of the article is identified by calculating a main component direction of the connected set by applying main component analysis to the three-dimensional points belonging to the connected set and identifying the posture of the article based on the main component direction.
    Type: Grant
    Filed: November 4, 2014
    Date of Patent: August 1, 2017
    Assignee: FANUC CORPORATION
    Inventor: Takashi Yamazaki
  • Patent number: 9715767
    Abstract: The objective of the present application is to provide a method and apparatus for processing real-time vehicle operating data, aiming at solving the technical problem that car owners couldn't obtain real-time vehicle operating data to ensure safety via an existing vehicle-mounted system. The method comprises: obtaining real-time vehicle operating data from an electronic control unit of the vehicle via a vehicle bus; reading the real-time vehicle operating data from a serial port; determining whether there is data that needs to be answered in the real-time vehicle operating data and storing the real-time vehicle operating data into a data queue whose data need to be answered and a data queue whose data doesn't need to be answered respectively after the determination; transmitting the real-time vehicle operating data to a background server, so that the background server can provide current vehicle with diagnostic message or service information.
    Type: Grant
    Filed: January 15, 2015
    Date of Patent: July 25, 2017
    Assignee: LAUNCH TECH CO., LTD.
    Inventors: Jun Liu, Shelin Shen
  • Patent number: 9709679
    Abstract: Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.
    Type: Grant
    Filed: August 6, 2014
    Date of Patent: July 18, 2017
    Assignee: Waymo LLC
    Inventors: Christopher Paul Urmson, Andrew Hughes Chatham, Hendrik Dahlkamp, Michael Steven Montemerlo, Jiajun Zhu
  • Patent number: 9707584
    Abstract: Methods for simultaneously dispensing a first fluid pattern at a first dispense region with a first applicator and a second fluid pattern at a second dispense region with a second applicator. The first and second applicators are moved toward their respective dispense regions with a positioner. While dispensing, the second applicator is moved relative to the first applicator in a direction or directions parallel to a first axis, a second axis, and/or a third axis, the axes being mutually orthogonal. The first dispense region may be provided with a unique first tilt and/or a unique first contour relative to the reference plane and along the third axis. Systems for dispensing fluid include a primary positioner supporting a first applicator, and a secondary positioner coupled to the primary positioner and supporting a second applicator and configured to move the second applicator relative to the first applicator.
    Type: Grant
    Filed: July 9, 2014
    Date of Patent: July 18, 2017
    Assignee: Nordson Corporation
    Inventors: Christopher L. Giusti, Philip P. Maiorca, Mark S. Meier, David N. Padgett
  • Patent number: 9704390
    Abstract: There is provided a remote control system including a controlled device and a remote device. The controlled device has a light source and moves according to a control signal from the remote device. The remote device is adapted to be operated by a user and includes an image sensor. The remote device determines a moving direction of the controlled device according to an imaging position of the light source in the image captured by the image sensor and a pointing position of the user, and outputs the control signal.
    Type: Grant
    Filed: March 18, 2014
    Date of Patent: July 11, 2017
    Assignee: PixArt Imaging Inc.
    Inventors: Sen-Huang Huang, Yi-Hsien Ko
  • Patent number: 9694851
    Abstract: Provided are an apparatus and a method of generating a travel route, which generate a travel route by using fixed objects positioned at a front side. The apparatus for generating a travel route includes: a space information obtaining unit configured to obtain information on a space, in which a driver's vehicle is allowed to travel, by using fixed objects positioned at both sides of the driver's vehicle; a travelling direction estimating unit configured to estimate a travelling direction of the driver's vehicle based on travelling information about the driver's vehicle and information on distances to the fixed objects; and a travel route generating unit configured to generate a travel route of the driver's vehicle based on the space information and the travelling direction of the driver's vehicle.
    Type: Grant
    Filed: July 9, 2014
    Date of Patent: July 4, 2017
    Assignee: HYUNDAI MOBIS CO., LTD.
    Inventors: Jeong Ku Kim, Sung Hoon Park
  • Patent number: 9682479
    Abstract: A driving component for robot can include a communicating module configured to receive control signals, a motor, a controller coupled to the communicating module and configured to drive the motor according to the control signals received by the communicating module, a sensor configured to detect environment and providing detected results to the controller, a battery configured to provide electric power to the communicating module, the motor, the controller and the sensor, and a housing containing the communicating module, the motor, the controller, the sensor and the battery. The housing can include a coupling structure configured to couple to another driving component.
    Type: Grant
    Filed: August 26, 2015
    Date of Patent: June 20, 2017
    Assignee: HON HAI PRECISION INDUSTRY CO., LTD.
    Inventors: Yi-Cheng Lin, Jen-Tsorng Chang
  • Patent number: 9675222
    Abstract: Disclosed is a cleaning robot having an expanded cleaning territory. The cleaning robot of the present invention comprises: a platform in which at least one corner of the exterior thereof has an angle of less than 90°; a first driving wheel of which the central axis is attached to the bottom portion of the platform at a predetermined first angle (?) and a predetermined second angle (??) with respect to the forward direction of the platform; and a second driving wheel of which the central axis is attached to the bottom portion of the platform at the predetermined second angle (??) with respect to the forward direction of the platform.
    Type: Grant
    Filed: March 28, 2014
    Date of Patent: June 13, 2017
    Assignee: YUJIN ROBOT CO., LTD.
    Inventors: Kyung Chul Shin, Seong Ju Park, Min Chang, No Soo Lee, Jae Young Lee, Byung Kwon Moon
  • Patent number: 9679270
    Abstract: Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.
    Type: Grant
    Filed: April 24, 2015
    Date of Patent: June 13, 2017
    Assignee: Aethon, Inc.
    Inventors: Aldo Zini, Spencer Wayne Allen, Barry Mark Skirble, Henry F. Thorne, Stuart Fairley
  • Patent number: 9669548
    Abstract: A mobile collaborative robot includes a force sensor which is provided on a robot support on a carriage, a robot information acquisition unit which acquires robot information including posture information of the robot main body and load information of a load acting on the robot main body, a force calculation unit which calculates the external force acting on the robot support based on the robot information, and a judgment unit which judges that the mobile collaborative robot has come into contact with a human when a difference between the external force detected by the force sensor and the external force calculated by the force calculation unit is above a predetermined value ? or when a difference between the amount of change in the detected external force and the amount of change in the calculated external force is above a predetermined value ?1.
    Type: Grant
    Filed: July 29, 2015
    Date of Patent: June 6, 2017
    Assignee: FANUC CORPORATION
    Inventors: Yoshikiyo Tanabe, Yoshiki Hashimoto
  • Patent number: 9669545
    Abstract: A robot calibrating apparatus calibrating a command value for a robot body 2 whose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot body 2 and an actual position and orientation of the robot body 2. The ideal position and orientation is operated based on a command value RHTcom for calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement value RHT?meas for calibration acquired by a camera 3 arranged at a prescribed relative position and orientation with respect to the robot body 2 during the robot body 2 being controlled according to the command value for calibration.
    Type: Grant
    Filed: September 16, 2014
    Date of Patent: June 6, 2017
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Hideaki Suzuki, Shingo Amano
  • Patent number: 9663165
    Abstract: A method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step.
    Type: Grant
    Filed: June 3, 2016
    Date of Patent: May 30, 2017
    Assignee: Google Inc.
    Inventors: Kevin Blankespoor, Marco da Silva, Alex Perkins
  • Patent number: 9666100
    Abstract: A welding training system includes a welding surface, a computer configured to execute a welding training software, and a calibration device. The welding training system also includes a sensor communicatively coupled to the computer and configured to sense a position of the calibration device, an orientation of the calibration device, or some combination thereof. The sensor is also configured to provide calibration data to the welding training software to calibrate a location of the welding surface relative to the sensor. The calibration data includes the position of the calibration device, the orientation of the calibration device, or some combination thereof.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: May 30, 2017
    Assignee: ILLINOIS TOOL WORKS INC.
    Inventors: William J. Becker, Kyle A. Pfeifer
  • Patent number: 9658615
    Abstract: A system includes an operator control unit having a point-and-click interface configured to allow the operator to control the remote vehicle by inputting one or more commands via the point-and-click interface. The operator control unit displays a 3D local perceptual space comprising an egocentric coordinate system encompassing a predetermined distance centered on the remote vehicle, a remote vehicle representation having selectable portions, and an icon at a point selected in the 3D local perceptual space and at a corresponding location in an alternative view of a map having an identified current location of the remote vehicle. The system also includes a payload attached to the remote vehicle. The payload includes a computational module and an integrated sensor suite including a global positioning system, an inertial measurement unit, and a stereo vision camera.
    Type: Grant
    Filed: December 31, 2014
    Date of Patent: May 23, 2017
    Assignee: IROBOT DEFENSE HOLDINGS, INC.
    Inventors: Robert Todd Pack, Daniel P. Allis
  • Patent number: 9649765
    Abstract: Various disclosed embodiments include methods, systems, and computer-readable media for identifying a motion path for an industrial robot. According to one embodiment, a method includes identifying a plurality of points at which at least one component of the industrial robot is positioned during performance of a task. The identified points include at least a starting point and an ending point of the component for performing the task. The method also includes generating one or more motion paths for the industrial robot to perform the task based on the identified points. The method further includes identifying and predicting energy consumption by the industrial robot for the one or more generated motion paths. The method also includes selecting the motion path for the industrial robot based on the identified energy consumption. Additionally, the method includes storing information about the energy consumption by the industrial robot for the selected motion path.
    Type: Grant
    Filed: March 5, 2014
    Date of Patent: May 16, 2017
    Assignees: Siemens Aktiengesellschaft, Siemens Product Lifecycle Management Software Inc.
    Inventors: Matthias Frische, Frank Jungnickel
  • Patent number: 9654703
    Abstract: One example discloses an illumination apparatus, including: a first illumination source, having a pulsed illumination output structure; and a capture sensor, having an image capture structure synchronized with and responsive to reflection signals generated by the pulsed illumination output signal structure. Another example discloses an article of manufacture including at least one non-transitory, tangible machine readable storage medium containing executable machine instructions for illumination which include: transmitting a first pulsed illumination signal from a first illumination source; capturing an image; and synchronizing the transmitting and capturing with a synchronization trigger.
    Type: Grant
    Filed: September 8, 2014
    Date of Patent: May 16, 2017
    Assignee: NXP B.V.
    Inventors: Gerardo Henricus Otto Daalderop, Han Raaijmakers