Robot Control Patents (Class 700/245)
  • Patent number: 11148299
    Abstract: There is provided a teaching apparatus that teaches a robot, in particular an industrial robot, a task by direct teaching. The teaching apparatus includes a wearable display that displays information in a worker's visual field, an acquisition section that acquires position and posture data capable of specifying a position and a posture of an industrial robot, and a production section that produces information to be displayed on the wearable display. When a worker operates the robot using the teaching apparatus, the apparatus produces state information that indicates at least one of a position and a posture of the robot relative to a reference object located around the robot, based on position and posture data as acquired and displays the produced information on the wearable display. There is also provided a teaching method having teaching functions equivalent to those of the apparatus.
    Type: Grant
    Filed: November 28, 2018
    Date of Patent: October 19, 2021
    Assignee: DENSO WAVE INCORPORATED
    Inventor: Daisuke Yui
  • Patent number: 11151961
    Abstract: An electronic device is provided. The electronic device includes at least one sensor; at least one input interface; at least one output interface; a display; at least one processor electrically connected to the at least one sensor, the at least one input interface, the at least one output interface and the display; and memory electrically connected to the at least one processor, wherein memory is configured to store instructions which, when executed by the at least one processor, cause the at least one processor to receive a sound from a user via the at least one input interface, execute an application for interaction with the user based on the received sound, identify the user based on information associated with the user obtained using the at least one sensor, and control the display to display information related to at least one function of the application executed in association with the user.
    Type: Grant
    Filed: October 12, 2018
    Date of Patent: October 19, 2021
    Inventors: Mi-Hyun Jeong, Eun-Seok Kim, Do-Hyeong Park, Pyo-Je Cho, Jin-A Choe, Jin-Soo Ha, Dong-Il Son
  • Patent number: 11148286
    Abstract: Various embodiments for fast prototyping of morphologies and controllers related to locomotion for a robotic device are disclosed.
    Type: Grant
    Filed: December 11, 2018
    Date of Patent: October 19, 2021
    Assignee: Arizona Board of Regents on Behalf of Arizona State University
    Inventors: Daniel M. Aukes, Hani Ben Amor, Kevin Luck, Michael Jansen, Joseph Campbell
  • Patent number: 11148296
    Abstract: A persistent companion robot detects human interaction cues through analysis of a range of sensory inputs. Based on the detected cue, the robot expresses a skill that involves interacting with human through verbal and non-verbal means to determine a second interaction cue in response to which the robot performs a second skill such as facilitating social interactions between humans, performing utilitarian tasks, informing humans, and entertaining humans.
    Type: Grant
    Filed: March 18, 2016
    Date of Patent: October 19, 2021
    Assignee: NTT DISRUPTION US, INC.
    Inventor: Cynthia Breazeal
  • Patent number: 11148294
    Abstract: A robot includes a filming unit that films a periphery, and a movement control unit that controls a distance from a filmed target object in accordance with a size of the target object. The robot may further include an operation control unit that controls an operation of a head portion, and a recognizing unit that recognizes a face of the filmed target object. The operation control unit may control the operation of the head portion so that a line of sight of the head portion reaches an angle of looking up directed at the face of the target object. The movement control unit may control the distance from the target object in accordance with a height of the target object.
    Type: Grant
    Filed: February 25, 2019
    Date of Patent: October 19, 2021
    Assignee: GROOVE X, INC.
    Inventor: Kaname Hayashi
  • Patent number: 11147635
    Abstract: System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.
    Type: Grant
    Filed: July 30, 2021
    Date of Patent: October 19, 2021
    Assignee: Remedy Robotics, Inc.
    Inventors: Jake Anthony Sganga, David James Bell, Benjamin Fredrickson, Gregory Kahn
  • Patent number: 11148292
    Abstract: Controllers for inspection robots traversing an obstacle are described. In an embodiment a controller may include an obstacle sensory data circuit to interpret obstacle sensory data provided by an obstacle sensor of an inspection robot, an obstacle processing circuit to determine refined obstacle data, and an obstacle notification circuit to generate and provide obstacle notification data to a user interface device. The controller may further include a user interface circuit to interpret a user request value from the user interface device, and to determine an obstacle response command value in response to the user request value; and an obstacle configuration circuit to provide the obstacle response command value to the inspection robot during the interrogating of the inspection surface.
    Type: Grant
    Filed: November 13, 2020
    Date of Patent: October 19, 2021
    Assignee: Gecko Robotics, Inc.
    Inventors: Edward A. Bryner, Kevin Y. Low, Joshua D. Moore, Dillon R. Jourde, Mark J. Loosararian, Edwin H. Cho, Katherine Virginia Denner
  • Patent number: 11141230
    Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
    Type: Grant
    Filed: September 28, 2020
    Date of Patent: October 12, 2021
    Assignee: Verb Surgical Inc.
    Inventors: Renbin Zhou, Sina Nia Kosari, Dennis Moses
  • Patent number: 11134814
    Abstract: Methods and apparatus for cleaning a surface with a cleaning device having a body with a handle, a connector, and one or more cleaning heads that are removably attached to the cleaning device. Each cleaning head include a lower surface arranged to contact a surface to be cleaned and a dirt collection chamber permanently attached to the cleaning head. The cleaning head may include a support structure to support the dirt collection chamber and a cleaning sheet. The cleaning head also may include a suction nozzle. At least a portion of the dirt collection chamber may be made of a filter material.
    Type: Grant
    Filed: September 30, 2020
    Date of Patent: October 5, 2021
    Assignee: SharkNinja Operating LLC
    Inventors: Samuel Emrys James, Michael James Douglas, David Stephen Clare, Chris Pinches, Nicholas James Sardar, Hugh James Croggon, Damian Lee
  • Patent number: 11135727
    Abstract: Empathy toward a robot is increased by the robot emulating human-like or animal-like behavior. A robot includes a movement determining unit that determines a direction of movement, an action determining unit that selects a gesture from multiple kinds of gesture, and a drive mechanism that executes a specified movement and gesture. When a user enters a hall, an external sensor installed in advance detects a return home, and notifies the robot via a server that the user has returned home. The robot heads to the hall, and welcomes the user home by performing a gesture indicating goodwill, such as sitting down and raising an arm.
    Type: Grant
    Filed: July 26, 2018
    Date of Patent: October 5, 2021
    Assignee: GROOVE X, INC.
    Inventor: Kaname Hayashi
  • Patent number: 11137746
    Abstract: Systems, apparatus, and methods to coordinate a robot swarm include an analyzer to create a planning message based on data associated with a first bot and a second bot. The planning message is communicated to the swarm from a first source. In addition, a scheduler issues a first assignment of a first operation slot and a first role to the first bot based on the planning message, issues a second assignment of a second operation slot and a second role to the second bot based on the planning message, and creates a decision message including the first assignment and the second assignment. The decision message is communicated to the swarm from a second source different than the first source.
    Type: Grant
    Filed: December 4, 2019
    Date of Patent: October 5, 2021
    Assignee: Intel Corporation
    Inventors: Maximilian Von Tschirschnitz, Dibyendu Ghosh, Karthik Narayanan, Arjun Ram S P, Marcel Wagner, Vinayak Honkote
  • Patent number: 11135717
    Abstract: A detachable modular mobile autonomy module (MAM) for a modular autonomous bot apparatus includes a housing with latching points, an autonomous controller, location circuitry, external sensors monitoring an environment external to the MAM and providing sensor data to the controller, multi-element light panels on the housing driven by the controller; and a modular component power and data bus. The bus has a bottom side modular component electronics interface disposed on the housing that mates to a corresponding interface on another proximately-attached modular component of the bot.
    Type: Grant
    Filed: March 13, 2019
    Date of Patent: October 5, 2021
    Assignee: FEDEX CORPORATE SERVICES, INC.
    Inventors: Ole-Petter Skaaksrud, Frank Mayfield, Daniel Gates
  • Patent number: 11131996
    Abstract: An area partitioning method, a partition cleaning method and a robot are provided. The area partitioning method includes: sequentially determining, according to a preset priority order, whether each of candidate directions of a current partition can satisfy a creation condition; creating, when one of the candidate directions satisfies the creation condition, a new partition in the candidate direction satisfying the creation condition; and ending area partitioning when none of the candidate directions satisfies the creation condition. The method can improve the working efficiency of the cleaning robot and avoid the occurrence of random cleaning, which leads to good use experience and has a good application prospect.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: September 28, 2021
    Assignee: SHENZHEN SILVER STAR INTELLIGENT TECHNOLOGY CO., LTD.
    Inventors: Peng Liu, Lize Lin, Linghui Sui, Lirong Ye
  • Patent number: 11132002
    Abstract: A method and a device for displaying a motion path of robot and a robot. The method for displaying a motion path of the robot includes acquiring a current motion path of the robot, recognizing the motion path to determine a type of the motion path, determining, according to the type of the motion path, a display manner corresponding to the type of the motion path, and displaying the motion path on an electronic map in the determined display manner.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: September 28, 2021
    Assignee: Shenzhen LDRobot Co., Ltd.
    Inventors: Xiaojia Wang, Liu Chen, Gaihua Guo
  • Patent number: 11131977
    Abstract: This system is a data collection system collecting a robot operation-related data/signal from a robot controller. The data collection system includes a data collection condition setting unit setting a collection condition of the robot operation-related data/signal from the robot controller and a data storage unit storing the robot operation-related data/signal collected from the robot controller. A shared memory inside which the data storage unit and the data collection condition setting unit are formed is formed in a substrate which can be mounted on an expansion slot of the robot controller. According to this system, a data collection function can be post-installed to an existing robot controller so as to arbitrarily select and collect various data on the robot operation.
    Type: Grant
    Filed: March 31, 2015
    Date of Patent: September 28, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventor: Kazuyuki Nakamura
  • Patent number: 11127083
    Abstract: Methods and systems for monitoring use, determining risk, and alerting an operator of a vehicle having one or more autonomous (and/or semi-autonomous) operation features are provided. According to certain aspects, operating data from sensors within the vehicle may be used to determine risks associated with use of the features, which may include use at particular levels or with certain settings. The risk levels may be compared with warning thresholds to determine whether safe operation may be maintained under the operating conditions. When the risk levels exceed a threshold, a warning may be generated and presented to the vehicle operator, which may include information regarding the risks. The vehicle operator may then change the use levels or select an option to change the use levels of the features. The response of the vehicle operator may be used to determine or adjust aspects of an insurance policy associated with the vehicle.
    Type: Grant
    Filed: June 20, 2017
    Date of Patent: September 21, 2021
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventors: Blake Konrardy, Scott T. Christensen, Gregory Hayward, Scott Farris
  • Patent number: 11126499
    Abstract: The present invention relates to computerized (“smart”) mobile electronic devices and more particularly, to a system and methods of diagnosing and repairing malfunctions in smart mobile electronic devices, including a diagnostic process that utilizes decisions based on Big Data that holds information of multiple devices and offers a “disable components” (i.e., turn-off components) solution in order to overcome the problem without flashing a firmware or doing a factory-reset.
    Type: Grant
    Filed: April 7, 2020
    Date of Patent: September 21, 2021
    Assignee: ESW HOLDINGS, INC.
    Inventor: Amit Gross
  • Patent number: 11123873
    Abstract: A control method of an interaction robot according to an embodiment of the present invention comprises the steps of: receiving a user input, by the interaction robot; determining a robot response corresponding to the received user input, by the interaction robot; and outputting the determined robot response, by the interaction robot, wherein the step of outputting the determined robot response includes the steps of: outputting a color matching to the received user input or the determined robot response to a light emitting unit, by the interaction robot; and outputting a motion matching to the received user input or the determined robot response to any one or more among a first driving unit and a second driving unit, by the interaction robot.
    Type: Grant
    Filed: November 15, 2018
    Date of Patent: September 21, 2021
    Assignee: CIRCULUS INC.
    Inventor: Jong Gun Park
  • Patent number: 11128790
    Abstract: A monitoring method for a positioning device includes the following steps. The motion of a positioning device is sensed by a first sensing device in a first sensing area of a monitoring area, so as to generate a plurality of first sensing signals. The first sensing signals are received by a processing device. The first sensing signals are analyzed and calculated by the processing device to generate a first processing result associated with the motion of the positioning device. The first processing result is displayed on a display device. Therefore, the position distribution and motion trajectory of the positioning device may effectively be obtained, and the timeliness of monitoring and the convenience of use are increased.
    Type: Grant
    Filed: July 8, 2019
    Date of Patent: September 21, 2021
    Assignee: Wistron Corp.
    Inventor: Ping Yuan
  • Patent number: 11125385
    Abstract: Methods of lubricating fracking valves on a wellhead include mounting a distribution manifold of a grease distribution system on, adjacent to or remotely with respect to the wellhead, the distribution manifold having a plurality of manifold valves; selecting at least one of the fracking valves for lubrication; coupling at least one of the plurality of manifold valves of the grease distribution system to the at least one of the fracking valves; coupling a grease pump to the at least one of the plurality of manifold valves; opening the at least one of the plurality of manifold valves; and distributing grease from the grease pump through the at least one of the plurality of manifold valves to the at least one of the fracking valves by operation of the grease pump.
    Type: Grant
    Filed: July 16, 2018
    Date of Patent: September 21, 2021
    Inventor: Lee C. Gouge
  • Patent number: 11119476
    Abstract: Systems and methods for monitoring a self-driving vehicle are presented. The system comprises a camera, a processor, a communications transceiver, a computer-readable medium, and a display device. The processor can be configured to receive an image of a self-driving vehicle from the camera, and vehicle information from the self-driving vehicle. A graphic comprising the image of the self-driving vehicle and a visual representation of the vehicle information is then displayed on the display device. The vehicle information may comprise any or all of vehicle-status information, vehicle-mission information, vehicle-metric information, and vehicle-environment information.
    Type: Grant
    Filed: July 25, 2018
    Date of Patent: September 14, 2021
    Assignee: Clearpath Robotics Inc.
    Inventors: Anthony William Tod, Ryan Christopher Gariepy
  • Patent number: 11120556
    Abstract: A system and method that performs iterative foreground detection and multi-object segmentation in an image is disclosed herein. A new background prior is introduced to improve the foreground segmentation results. Three complimentary methods detect and segment foregrounds containing multiple objects. The first method performs an iterative segmentation of the image to pull out the salient objects in the image. In a second method, a higher dimensional embedding of the image graph is used to estimate the saliency score and extract multiple salient objects. A third method uses a metric to automatically pick the number of eigenvectors to consider in an alternative method to iteratively compute the image saliency map. Experimental results show that these methods succeed in accurately extracting multiple foreground objects from an image.
    Type: Grant
    Filed: May 21, 2020
    Date of Patent: September 14, 2021
    Assignee: KODAK ALARIS INC.
    Inventors: Alexander C. Loui, David Kloosterman, Michal Kucer, Nathan Cahill, David Messinger
  • Patent number: 11119713
    Abstract: Embodiments provide automatic printing and delivery of a printed document from a virtual reality (VR) environment. The printed document may be delivered to the user while preserving the user's immersion within a virtual reality session. A printed-out copy of the document may be physically delivered to the user by a robot. In some embodiments, a virtual reality server may coordinate requests for printed documents, provide print and delivery status updates within the VR space, and control the robot's path to the delivery site.
    Type: Grant
    Filed: October 29, 2019
    Date of Patent: September 14, 2021
    Inventors: Jacek Joseph Matysiak, Dilinur Wushour
  • Patent number: 11119569
    Abstract: An approach is provided in which the approach captures a set of sensory data corresponding to a first user traversing over a physical terrain in a physical world. The approach uses the set of sensory data to create a set of instructions to emulate the physical world by a locomotion system. The approach invokes the locomotion system to emulate the physical terrain utilizing the set of instructions while a second user is positioned on the locomotion system and using a virtual reality device to traverse through a virtual world.
    Type: Grant
    Filed: February 18, 2020
    Date of Patent: September 14, 2021
    Assignee: International Business Machines Corporation
    Inventors: Yahel Nachum, Chowdhury Annur, Aashil Patel
  • Patent number: 11120334
    Abstract: A caption of a multimodal message (e.g., social media post) can be identified as a named entity using an entity recognition system. The entity recognition system can use an attention-based mechanism that emphasis or de-emphasizes each data type (e.g., image, word, character) in the multimodal message based on each datatypes relevance. The output of the attention mechanism can be used to update a recurrent network to identify one or more words in the caption as being a named entity.
    Type: Grant
    Filed: September 7, 2018
    Date of Patent: September 14, 2021
    Assignee: Snap Inc.
    Inventors: Vitor Rocha de Carvalho, Leonardo Ribas Machado das Neves, Seungwhan Moon
  • Patent number: 11117260
    Abstract: The invention relates to a method for controlling a plurality of mobile driverless manipulator systems (10, 20), in particular driverless transport vehicles in a logistics environment (40) for manipulating objects (30). In the method, ambient information is provided by a central control device (50), and in one step, an object to be moved (30) in the surroundings is detected. The position and the pose of the detected object are used for updating the ambient information and are taken into account in the path planning of the mobile driverless manipulator systems (10, 20) in that, prior to a movement of the detected object (30), a first mobile driverless manipulator system (10) is used to check whether the detected object (30) is needed for the orientation of a second mobile driverless manipulator system (20).
    Type: Grant
    Filed: April 19, 2017
    Date of Patent: September 14, 2021
    Assignee: KUKA Deutschland GmbH
    Inventors: Rainer Kümmerte, Patrick Pfaff
  • Patent number: 11116590
    Abstract: A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.
    Type: Grant
    Filed: September 24, 2018
    Date of Patent: September 14, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, Vincent Duindam
  • Patent number: 11119501
    Abstract: A method of controlling a moving-robot includes creating a plurality of maps having different generation-time information through a plurality of driving processes; choosing any one of the plurality of maps according to a certain map choosing algorithm based on current time information and the generation-time information, and attempting location recognition based on the chosen map.
    Type: Grant
    Filed: December 19, 2018
    Date of Patent: September 14, 2021
    Assignee: LG ETECTRONICS INC.
    Inventors: Gyuho Eoh, Dongki Noh, Taekyeong Lee, Seungwook Lim
  • Patent number: 11120410
    Abstract: A service robot may be autonomous, with respect to a portion of a customer service task, and coordinated, with respect to another portion of a customer service task. A resource, such as another robot or an agent (human or automated), may monitor or interact with the robot and, in such a combination, perform a customer service task. The robot may be instructed to pause or delay initiation of a robot portion to allow for a resource to become available at a common time that the interaction portion is to be performed to minimize delay and promote better customer service. Should the delay be beyond an acceptable threshold, the robot may engage in a delay task (e.g., slow down, pause, etc.). The delay task may include a social interaction with a human at a service location.
    Type: Grant
    Filed: May 30, 2018
    Date of Patent: September 14, 2021
    Assignee: Avaya Inc.
    Inventors: David Skiba, Valentine C. Matula, George Erhart
  • Patent number: 11115180
    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: September 30, 2019
    Date of Patent: September 7, 2021
    Assignee: SYNAPTIVE MEDICAL INC.
    Inventors: Monroe M. Thomas, Simon Alexander
  • Patent number: 11115566
    Abstract: This invention provides a vision system with an exchangeable illumination assembly that allows for increased versatility in the type and configuration of illumination supplied to the system without altering the underlying optics, sensor, vision processor, or the associated housing. The vision system housing includes a front plate that optionally includes a plurality of mounting bases for accepting different types of lenses, and a connector that allows removable interconnection with the illustrative illumination assembly. The illumination assembly includes a cover that is light transmissive. The cover encloses an illumination component that can include a plurality of lighting elements that surround an aperture through which received light rays from the imaged scene pass through to the lens. The arrangement of lighting elements is highly variable and the user can be supplied with an illumination assembly that best suits its needs without need to change the vision system processor, sensor or housing.
    Type: Grant
    Filed: December 2, 2019
    Date of Patent: September 7, 2021
    Assignee: Cognex Corporation
    Inventors: Laurens Nunnink, Richard Reuter
  • Patent number: 11113894
    Abstract: Systems are configured for performing GPS-based and sensor-based relocalization. During the relocalization, the systems are configured to obtain radio-based positioning data indicating an estimated position of the system within a mapped environment. The systems are also configured to identify, based on the estimated position, a subset of keyframes of a map of the mapped environment, wherein the map of the mapped environment includes a plurality of keyframes captured from a plurality of locations within the mapped environment, and the plurality of keyframes are associated with anchor points identified within the mapped environment. The systems are further configured to perform relocalization within the mapped environment based on the subset of keyframes.
    Type: Grant
    Filed: September 11, 2020
    Date of Patent: September 7, 2021
    Assignee: MICROSOFT TECHNOLOGY LICENSING, LLC
    Inventors: Raymond Kirk Price, Michael Bleyer, Christopher Douglas Edmonds
  • Patent number: 11110605
    Abstract: A method for controlling the motion of one or more collaborative robots is described, the collaborative robots being mounted on a fixed or movable base, equipped with one or more terminal members, and with a motion controller, the method including the following iterative steps: —determining the position coordinates of the robots, and the position coordinates of one or more human operators collaborating with the robot; —determining a set of productivity indices associated with relative directions of motion of the terminal member of the robot, the productivity indices being indicative of the speed at which the robot can move in each of the directions without having to slow down or stop because of the presence of the operator; —supplying the controller of the robot with the data of the set of productivity indices associated with the relative directions of motion of the terminal member of the robot, so that the controller can determine the directions of motion of the terminal member of the robot based on the high
    Type: Grant
    Filed: May 18, 2017
    Date of Patent: September 7, 2021
    Assignee: Politecnico Di Milano
    Inventors: Andrea Maria Zanchettin, Paolo Rocco
  • Patent number: 11110917
    Abstract: Methods and systems for decision making in an autonomous vehicle (AV) are described. A vehicle control system may include a control unit, a perception unit, and a behavioral planning unit. The behavioral planning unit may include an intent estimator that receives a first set of perception information from the perception unit. The behavioral planning unit may include a motion predictor that receives the first set of perception information from the perception unit. The behavioral planning unit may include a function approximator that receives a second set of perception information from the perception unit. The second set of perception information is smaller than the first set of perception information. The function approximator determines a prediction, and the control unit uses the prediction to control an operation of the AV.
    Type: Grant
    Filed: May 13, 2019
    Date of Patent: September 7, 2021
    Assignee: Great Wall Motor Company Limited
    Inventors: Alexander Stimpson, Sugandh Raj
  • Patent number: 11106215
    Abstract: A control method of an automatic working system, which comprises the following steps: a signal generating device generates a boundary signal; the boundary signal flows through the boundary wire to generate an electromagnetic field; a detecting device on an automatic moving device detects the electromagnetic field to generate a detection signal, amplify the detection signal to form a gain signal, compare an feature point of the gain signal with a preset condition, the preset condition comprising: the feature point is lower than an upper threshold value and higher than a lower threshold value, then automatically adjust the gain signal according to a comparing result, such that the feather point of the gain signal formed after adjusting accords with the preset condition, further to process the gain signal, An automatic working system and an automatic moving device also be disclosed.
    Type: Grant
    Filed: June 5, 2019
    Date of Patent: August 31, 2021
    Assignee: Positec Power Tools (Suzhou) Co., Ltd.
    Inventor: Davide Dalfra
  • Patent number: 11105662
    Abstract: Provided herein is a continuously unmanned multi-phenomenon sensor system and a continuously unmanned multi-phenomenon sensor platform comprising a plurality of continuously unmanned multi-phenomenon sensor systems for maritime monitoring, that is capable of surveying and monitoring rivers, ports, bays, coastal regions, and the high seas to conduct search operations, monitor for dangerous cargoes, prevent drug and migrant smuggling, enforce fisheries laws, monitor environmental conditions and living marine resources, inspect marine infrastructures, provide navigational aids, and to investigate marine accidents.
    Type: Grant
    Filed: November 2, 2018
    Date of Patent: August 31, 2021
    Assignee: ThayerMahan, Inc.
    Inventors: Michael Joseph Connor, Richard Jude Hine
  • Patent number: 11104001
    Abstract: Techniques for transferring highly dimensional movements to lower dimensional robot movements are described. In an example, a reference motion of a target is used to train a non-linear approximator of a robot to learn how to perform the motion. The robot and the target are associated with a robot model and a target model, respectively. Features related to the positions of the robot joints are input to the non-linear approximator. During the training, a robot joint is simulated, which results in movement of this joint and different directions of a robot link connected thereto. The robot link is mapped to a link of the target model. The directions of the robot link are compared to the direction of the target link to learn the best movement of the robot joint. The training is repeated for the different links and for different phases of the reference motion.
    Type: Grant
    Filed: March 13, 2019
    Date of Patent: August 31, 2021
    Assignee: Sony Interactive Entertainment Inc.
    Inventors: Michael G. Taylor, Sergey Bashkirov
  • Patent number: 11106206
    Abstract: A vehicle control device includes a recognizer (130) that recognizes a situation near an own-vehicle, and a driving controller (140, 160) that controls one or both of steering or acceleration/deceleration of the own-vehicle on the basis of a recognition result of the recognizer, wherein the driving controller does not perform determination of an operation mode of control of the acceleration/deceleration when the recognizer has recognized that an occupant is riding in the own-vehicle, and determines the operation mode of control of the acceleration/deceleration on the basis of a state of another vehicle present near the own-vehicle recognized by the recognizer when the recognizer has recognized that no occupant is riding in the own-vehicle.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: August 31, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Nobuyuki Watanabe, Makoto Nakatsuka, Seiichi Yamamoto, Yuki Motegi
  • Patent number: 11103996
    Abstract: A robot joint space point-to-point movement trajectory planning method. Joint space trajectory planning is performed according to the displacement of a robot from a start point to a target point during PTP movement and a limitation condition of a preset movement parameter physical quantity of each axis in a robot control system. An n-dimensional space is constructed by taking each axis of the robot as a vector, wherein n?2, and the movement parameter physical quantity of each axis of the robot is verified according to a vector relationship between the n axes of the robot, so that a trajectory planning curve of each axis of the robot satisfies the limitation condition of the preset movement parameter physical quantity. The method has a small amount of calculations and strong real-time performance, the movement curves are mild, the control time is optimal, and the algorithm execution effect is good.
    Type: Grant
    Filed: December 14, 2017
    Date of Patent: August 31, 2021
    Assignee: NANJING ESTUN ROBOTICS CO., LTD
    Inventors: Riyue Feng, Jihu Wang, Zhengxian Xia, Tingting Pan, Bo Wu, Shuyi Jing
  • Patent number: 11100602
    Abstract: Systems and methods for providing geometric interactions via three-dimensional mapping. A method includes determining a plurality of first descriptors for a plurality of key points in a plurality of first images, wherein each first image shows a portion of a 3D environment in which a robotic device and a visual sensor are deployed; generating a 3D map of the 3D environment based on the plurality of key points and the plurality of descriptors; determining a pose of the visual sensor based on at least one second descriptor and the plurality of first descriptors, wherein the second image is captured by the visual sensor; and determining a target action location based on at least one user input made with respect to a display of the second image and the pose of the visual sensor, wherein the target action location is a location within the 3D environment.
    Type: Grant
    Filed: January 23, 2020
    Date of Patent: August 24, 2021
    Assignee: R-GO Robotics LTD.
    Inventors: Nizan Horesh, Amir Bousani
  • Patent number: 11093590
    Abstract: Robotic customer service agents are provided such that, when properly authenticated, they are operable to perform a customer service task. A contact center may dispatch a robot, an accessory for a customer-owned robot, or instructions to transform an unconfigured robot, such as a generic robot, into a configured robot operable to perform the task. If the robot, such as the base or entire robot, robot at the service location, an associated user, hardware addition, and/or software addition is authentic, then the robot may be operated in an authenticated mode. If non-authenticated, then the robot may operate in a non-authenticated mode, such as one consisting of one or more tasks or features being disabled. Additionally, authentication may be temporary (e.g., time restricted) or event restricted (e.g., as long as a result stays within a given range, the robot is being observed, etc.).
    Type: Grant
    Filed: March 31, 2016
    Date of Patent: August 17, 2021
    Assignee: Avaya Inc.
    Inventors: George Erhart, David Skiba, Valentine C. Matula
  • Patent number: 11090814
    Abstract: A control device includes a robot control section that controls a robot including a hand and a force detecting section; and an operation-mode switching section that switches, when storing a position and a posture of the robot, a first mode for moving the robot by the robot control section until an external force applied to the hand satisfies a predetermined condition and a second mode for moving the robot by the robot control section on the basis of an external force applied to a first part included in the robot.
    Type: Grant
    Filed: June 4, 2019
    Date of Patent: August 17, 2021
    Inventor: Kaoru Takeuchi
  • Patent number: 11090125
    Abstract: A robotic surgical system has a user interface with a control arm that includes a passive axis system for maintaining degrees-of-freedom of a gimbal rotatably supported on the control arm as the gimbal is manipulated during a surgical procedure. The control arm includes a swivel member, a first member, and a second member. The swivel member is rotatable about a first axis. The first member rotatably coupled to the swivel member about a second axis that is orthogonal to the first axis. The second member rotatably coupled to the first member about a third axis that is parallel to the second axis. The gimbal rotatably supported by the second member about a fourth axis that is orthogonal to the third axis. The passive axis system correlating rotation of the swivel member about the first axis with rotation of the gimbal about the fourth axis.
    Type: Grant
    Filed: May 25, 2017
    Date of Patent: August 17, 2021
    Assignee: COVIDIEN LP
    Inventors: William Peine, Cameron Cecil
  • Patent number: 11083353
    Abstract: Disclosed herein are a wheel assembly and a robot cleaner including a main body and a wheel assembly coupled to the main body to guide movement of the main body. The wheel assembly has a rotation arm including a first end portion rotatably mounted on the main body, a drive wheel rotatably installed on a second end portion of the rotation arm opposite the first end portion, and an elastic member including a first end installed at the main body and a second end vertically moveably installed at the rotation arm opposite the first end, such that a reduction degree of a contact force due to a descent of the drive wheel.
    Type: Grant
    Filed: November 16, 2016
    Date of Patent: August 10, 2021
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Jae Youl Jeong, Dong Wook Kim
  • Patent number: 11077548
    Abstract: A method of robotic collaboration comprises designating a first robot a lead robot and assigning a first task in a task area to the lead robot. Broadcasting a work query in the task area seeks the presence of subordinate robots configured to perform tasks. Receiving a work confirmation signal from a subordinate robot in the task area answers the work query with an affirmation that the subordinate robot is in the task area to perform tasks. Transmitting a task command to the subordinate robot in response to the work confirmation signal comprises a directive to perform the first task. Receiving a task confirmation signal informs the lead robot of the subordinate robot electronic characteristics comprising processing capabilities, transmit signal profile, receive signal profile, and storage device capabilities. Processing confirms whether the subordinate robot can collaborate with the lead robot to do the first task.
    Type: Grant
    Filed: October 1, 2019
    Date of Patent: August 3, 2021
    Assignee: Stilwell Technology and Robotics, LLC
    Inventor: Wayne P. Stilwell
  • Patent number: 11077559
    Abstract: A support robot and control system for timely and efficiently providing at least one of a tool, a part, a component, an electrical supply, and an air supply within an assembly line operation. The support robot and system may include a detection unit for detecting user and a motion planning unit for controlling the motion of the robot based on data received from the detection unit. The support robot may further include an input unit for receiving input from a user. The system may estimate work progress of a user via a work progress estimation unit. The work progress estimation unit may determine work production based on at least an output from the detection unit and information obtained from a work progress database. The system may further include a robot location adjustment unit. The robot location adjustment unit may adjust the location of the robot based on information received from the motion planning unit.
    Type: Grant
    Filed: December 5, 2018
    Date of Patent: August 3, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Derrick Ian Cobb, Eric C. Baker, Richard Wolfgang Geary, David Bryan Betz
  • Patent number: 11081109
    Abstract: Provided is a speech processing method using an AI device. The speech processing method using an AI device according to an embodiment of the present invention includes receiving a speech command of a speaker, determining a recipient of the speech command by performing a speech recognition operation on the speech command, checking whether the recipient receives feedback corresponding to the speech command, selecting a second AI device which is closest to the recipient based on pre-stored positional information of a plurality of AI devices in a specific space and positional information of the recipient by obtaining the positional information of the recipient if there is no feedback, and transmitting a notification message notifying the speech command to the second AI device. As a result, the speech command of the speaker can be successfully transmitted to a recipient when the recipient does not receive the speech command of the speaker.
    Type: Grant
    Filed: August 22, 2019
    Date of Patent: August 3, 2021
    Assignee: LG ELECTRONICS INC.
    Inventor: Jonghoon Chae
  • Patent number: 11076923
    Abstract: The present embodiments relate to operator control in a master-slave robotic system, including, but not limited to, wherein an operator uses a master control input device to guide the position and orientation of a tool that is driven by the robotic system. Embodiments described herein provide devices and methods of increasing precision control for complex motions by, for example, decoupling operator control of rotational and translational movement.
    Type: Grant
    Filed: April 8, 2019
    Date of Patent: August 3, 2021
    Assignee: ELYTRA TECHNOLOGIES, LLC
    Inventor: Thomas L. Adelman
  • Patent number: 11079766
    Abstract: A collision sensing device for laser module accommodates a laser module by a shield body, a moving seat and a base, and a scanning space is set between the shield body and the moving seat to provide a scanning environment for laser module. When a shield body is collided, the shield body may drive the moving seat to move backward, and a traction part disposed at a periphery of the moving seat drives one end of a linkage body to move backward. Therefore, when the linkage body moves backward, it touches or presses a sensing part of a sensing element, the sensing element may determine whether the shield body is collided; if it is determined that the cover shield body is collided, a collision information may be transmitted to a control unit to drive a robot to move out of trouble.
    Type: Grant
    Filed: February 15, 2019
    Date of Patent: August 3, 2021
    Inventor: Jason Yan
  • Patent number: 11076927
    Abstract: A method of operating a surgical tool includes mounting the surgical tool to a tool driver. The surgical tool includes one or more drive cables movable to actuate an end effector, and one or more segments are defined along a portion of at least one of the one or more drive cables and each segment exhibits a usage value. Usage of the drive cables is monitored with a computer system in communication with the tool driver, and the usage value of one or more of the segments is altered based on usage of the surgical tool.
    Type: Grant
    Filed: November 13, 2018
    Date of Patent: August 3, 2021
    Inventors: John A. Hibner, Andrew Crews