Specific Enhancing Or Modifying Technique (e.g., Adaptive Control) Patents (Class 700/250)
  • Patent number: 10962376
    Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
    Type: Grant
    Filed: March 14, 2018
    Date of Patent: March 30, 2021
    Assignee: iRobot Corporation
    Inventors: Philip Fong, Ethan Eade, Mario E. Munich
  • Patent number: 10953985
    Abstract: A sensor module is assigned to a vehicle that can be displaced in a terrain or designed for being positioned in the terrain. The sensor module has a sensor system with sensors that acquire sensor data in a contactless fashion. The sensors are designed for detecting the spatial extent of the plant at a location in the terrain. The sensor data makes it possible to determine whether the plant should be pruned. To this end, the sensor data is evaluated by utilizing a knowledge database.
    Type: Grant
    Filed: July 23, 2018
    Date of Patent: March 23, 2021
    Assignee: Vorwerk & Co. Interholding GmbH
    Inventors: Georg Hackert, Martin Helmich, Lorenz Hillen, Christian Holz, Gerhard Isenberg, Hendrik Koetz, Andrej Mosebach, Roman Ortmann, Robin Dulinski
  • Patent number: 10946518
    Abstract: A robot may include a spatiotemporal controller for controlling the kinematics or movements of the robot via continuous and/or granular adjustments to the actuators that perform the physical operations of the robot. The spatiotemporal controller may continuously and/or granularly adjust the actuators to align completion or execution of different objectives or waypoints from a spatiotemporal plan within time intervals allotted for each objective by the spatiotemporal plan. The spatiotemporal controller may also continuously and/or granularly adjust the actuators to workaround unexpected conflicts that may arise during the execution of an objective and delays that result from a workaround while still completing the objective within the allotted time interval. By completing objectives within the allotted time intervals, the spatiotemporal controller may ensure that conflicts do not arise as the robots simultaneously operate in the site using some of the same shared resource.
    Type: Grant
    Filed: July 24, 2018
    Date of Patent: March 16, 2021
    Assignee: inVia Robotics, Inc.
    Inventors: Joseph William Dinius, Brandon Pennington, Randolph Charles Voorhies, Lior Elazary, Daniel Frank Parks, II
  • Patent number: 10906175
    Abstract: A position of gravity of center of a load loaded to an industrial load is estimated. The robot has a robot arm driven horizontally. The robot arm includes first to fourth axis. Acceleration generated at the second axis during accelerated and decelerated intervals of each of three operation periods. In each operation period, the second axis is driven to move the robot arm from one initial position to one first estimating position and returns it from the estimating position to the initial position. During each operation period, the load is given a known mass, the fourth axis is positioned at a preset angle, and the first, third and fourth axes are the same in positions between the initial and estimating positions. The fourth-axis position is changed to different angles for every operation period. Based on calculated acceleration and known factors of the robot and load, the position is estimated.
    Type: Grant
    Filed: June 15, 2018
    Date of Patent: February 2, 2021
    Inventor: Noritaka Takamura
  • Patent number: 10905500
    Abstract: A system and method of registration includes detecting a first motion of a table that causes motion of a computer-assisted device, determining a first angular direction of the first motion in a table coordinate frame, determining a second angular direction of the motion of the computer-assisted device in a computer-assisted device coordinate frame, determining a first angular relationship between the table and the computer-assisted device based on the first and second angular directions, and aggregating the first angular relationship in a composite angular relationship. The second angular direction includes a direction of a second motion of a first articulated arm of the computer-assisted device or an aggregation of a plurality of angular directions, wherein, for each angular direction of the plurality of angular directions, that angular direction is of a respective third motion, of a respective articulated arm of a plurality of articulated arms of the computer-assisted device.
    Type: Grant
    Filed: December 24, 2019
    Date of Patent: February 2, 2021
    Inventors: Paul G. Griffiths, Brandon D. Itkowitz
  • Patent number: 10847043
    Abstract: A method and device for assisting in piloting of an aircraft in approach to a landing runway with a view to a landing, including a module for determining current state of the aircraft, a module for determining distance between a target state and current state from an approach strategy and an ellipse formed by points determined such that a sum of a distance between the current position of the aircraft and the points of the ellipse and of a distance between the points of the ellipse and a projection of the target position on a horizontal plane of movement of the aircraft is equal to distance between target state and current state. The ellipse is displayed on a screen. The ellipse form gives indicates significance and variation of the energy surfeit of the aircraft. The pilot can decide on actions to maneuver the aircraft appropriately to dissipate the excess energy.
    Type: Grant
    Filed: December 9, 2019
    Date of Patent: November 24, 2020
    Assignee: Airbus Operations (S.A.S.)
    Inventor: Jean-Claude Mere
  • Patent number: 10800039
    Abstract: The example embodiments are directed to a system and method for controlling and commanding an unmanned robot using natural interfaces. In one example, the method includes receiving a plurality of sensory inputs from a user via one or more natural interfaces, wherein each sensory input is associated with an intention of the user for an unmanned robot to perform a task, processing each of the plurality of sensory inputs using a plurality of channels of processing to produce a first recognition result and a second recognition result, combining the first recognition result and the second recognition result to determine a recognized command, and generating a task plan assignable to the unmanned robot based on the recognized command and predefined control primitives.
    Type: Grant
    Filed: January 23, 2018
    Date of Patent: October 13, 2020
    Inventors: Huan Tan, Ghulam Ali Baloch, Yang Zhao, Mauricio Castillo-Effen
  • Patent number: 10754337
    Abstract: A computer-implemented method is provided for guiding a robot in a robotic system, by creating a refined path, based on an initial path in a three-dimensional space. The method includes receiving data related to creating the initial path, including a start point and an endpoint, and generating the initial path by interpolating the start point and the endpoint. The method also includes receiving inputs for at least one support point that defines a coordinate in the three-dimensional space for altering the initial path, and adjusting the initial path to generate the refined path by modifying a set of one or more polynomial functions, such that the refined path interpolates the at least one support point between the start point and the endpoint. The method further includes providing the refined path to a second computing module for guiding the robot.
    Type: Grant
    Filed: June 20, 2017
    Date of Patent: August 25, 2020
    Assignee: Hypertherm, Inc.
    Inventors: Mohammad Keshmiri, Chahe Bakmazjian, Waseem Khan
  • Patent number: 10730183
    Abstract: A controller has a state observation unit to acquire a present state of a robot as a state variable, a label data acquisition unit to acquire, as a label, a detected value of a force sensor attached to an arm and to detect necessary data for control of a pressing force, and a learning unit to generate a learning model indicative of the correlation between the state variable acquired in a no-load state and the label acquired under the state variable acquired in the no-load state and to estimate the detected value of the force sensor. The controller controls the pressing force by using the detected value of the force sensor acquired in the present state of the robot acquired in a loaded state and the detected value of the force sensor estimated by the learning unit based on the present state of the robot acquired in the loaded state.
    Type: Grant
    Filed: June 14, 2018
    Date of Patent: August 4, 2020
    Inventor: Tamotsu Sakai
  • Patent number: 10696171
    Abstract: The present disclosure relates to a charging method and a charging apparatus of a cleaning robot. With the method, position information of a plurality of charging ports available for the cleaning robot is obtained; when it is determined that the cleaning robot needs to be charged, current position information of the cleaning robot is obtained; a closest charging port from the plurality of charging ports which is the closest to a current position of the cleaning robot is determined according to the position information of the plurality of charging ports and the current position information of the cleaning robot; and the cleaning robot is controlled to move to the closest charging port according to the position information of the closest charging port. With the technical solution, the cleaning robot may be charged nearby, thereby reducing power consumption of the cleaning robot.
    Type: Grant
    Filed: April 20, 2018
    Date of Patent: June 30, 2020
    Inventors: Yongfeng Xia, Ke Wu
  • Patent number: 10676951
    Abstract: An external docking station may be provided and may a filter manipulator that is arranged to (i) input without human intervention, a filter into a pool cleaning robot that exited a pool and is located in a filter replacement position and to (ii) assist without human intervention, in positioning the filter at a position in which the filter is at least partially disposed within a path formed between a first fluid opening and a second fluid opening of a housing of the pool cleaning robot thereby allowing the filter to apply a filtering operation when fluid passes through the fluid path.
    Type: Grant
    Filed: January 30, 2018
    Date of Patent: June 9, 2020
    Assignee: MAYTRONICS LTD.
    Inventor: Shay Witelson
  • Patent number: 10618673
    Abstract: Systems and methods described herein incorporate autonomous navigation using a vision-based guidance system. The vision-based guidance system enables autonomous trajectory planning and motion execution by the described systems and methods without feedback or communication with external operators. The systems and methods described herein can autonomously track an object of interest while seeking to obtain a diversity of views of the object of interest to aid in object identification. The systems and methods described include a robust reacquisition methodology. By handling navigation and tracking autonomously, systems described herein can react more quickly to non-cooperative moving objects of interest and can operate in situations where communications with external operators is compromised or absent.
    Type: Grant
    Filed: April 14, 2017
    Date of Patent: April 14, 2020
    Assignee: Massachusetts Institute of Technology
    Inventors: Michael T. Chan, Ronald Duarte
  • Patent number: 10514881
    Abstract: There is provided an information processing device to provide a technology capable of easily recording a program for obtaining an intention of a user from text data corresponding to dialogue using a natural language, the information processing device including: a text data analysis unit configured to analyze text data corresponding to dialogue using a natural language, and extract an event included in the text data and a process to be executed in accordance with the event; and a record control unit configured to record a correspondence relation between the event and the process on a recording medium as a program.
    Type: Grant
    Filed: November 7, 2016
    Date of Patent: December 24, 2019
    Inventors: Hideo Nagasaka, Shouichi Doi
  • Patent number: 10459451
    Abstract: A method for processing, in particular cleaning, a floor of a room using an automatically movable processing device. A map of the room is generated and displayed to a user of the processing device, and the user can select at least one room sub-region in which the processing device is to process or refrain from processing the floor in the generated map. The aim of the invention is to provide a method for processing a floor, wherein the generated map of the room is easier to read for the user. This is achieved in that the map of the room is generated from three-dimensional coordinates of a world coordinate system, each point of a plurality of points of the room and/or of an obstacle arranged in the room being assigned to a three-dimensional coordinate within the world coordinates system.
    Type: Grant
    Filed: April 4, 2016
    Date of Patent: October 29, 2019
    Assignee: Vorwerk & Co. Interholding GmbH
    Inventors: Lorenz Hillen, Martin Meggle
  • Patent number: 10444733
    Abstract: An adjustment device that controls a control device controlling motors driving at least two axes, and a machine learning device performing machine learning with respect to the control device. The adjustment device includes: a start command output unit configured to output a start command for starting the machine learning device; a feedback information. acquisition unit configured to acquire feedback information acquired on the basis of an evaluation program executed by the control device, from the control device; a feedback information transmission unit configured to transmit the feedback information acquired, to the machine learning device; a parameter setting information acquisition unit configured to acquire control parameter setting information acquired by machine learning using the feedback information, from the machine learning device; and a parameter setting information transmission unit configured to transmit the control parameter setting information acquired, to the control device.
    Type: Grant
    Filed: April 3, 2018
    Date of Patent: October 15, 2019
    Inventors: Satoshi Ikai, Naoto Sonoda, Ryoutarou Tsuneki
  • Patent number: 10421187
    Abstract: A robot program modification device including a program storage unit that stores an operation program for a robot, a program execution unit that executes the stored operation program, a stop position estimation unit that estimates, at each operation position of the robot during execution of the operation program, a stop position of the robot in a case of cutoff of power, based on a movement speed of the robot, a stop position determination unit that determines whether the estimated stop position is in a predetermined region or not, and a speed modification unit that modifies, in a case where the stop position is determined to be outside the region, a set speed in the operation program such that a movement speed at the operation position corresponding to the stop position is reduced.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: September 24, 2019
    Inventor: Takumi Oyama
  • Patent number: 10409281
    Abstract: A monitoring system for automated detection of egress or ingress of a drive unit between first and second spaces in an inventory system includes a path for conveying the drive unit between the first and second spaces that defines an intermediate space between the two spaces. A sensor is configured to detect passage of the drive unit between the first space and the intermediate space, and an identification sensor is arranged to read an identifier of the drive unit. In combination with an inventory management system, the monitoring system can be used to update and maintain accuracy of a virtual representation of a physical inventory space that employs automated drive units or shuttles.
    Type: Grant
    Filed: June 9, 2017
    Date of Patent: September 10, 2019
    Assignee: Amazon Technologies, Inc.
    Inventors: Samuel Gardner Garrett, Patrick Mahaney
  • Patent number: 10406687
    Abstract: A method includes receiving first and second coordinated paths for first and second robotic devices. The first coordinated path comprises a dependency edge indicating a first position on the first coordinated path and a second position on the second coordinated path. The method also includes determining a first traversable portion extending to a first stopping position before or at the first position on the first coordinated path. The method also includes providing a first instruction to the first robotic device to traverse the first traversable portion; subsequently determining that the second robotic device has passed the second position on the second coordinated path; determining a second traversable portion of the first coordinated path extending to a second stopping position beyond the first position on the first coordinated path; and providing a second instruction to the first robotic device to traverse the second traversable portion.
    Type: Grant
    Filed: December 23, 2016
    Date of Patent: September 10, 2019
    Assignee: X Development LLC
    Inventors: Geoffrey Lalonde, Peter Anderson-Sprecher
  • Patent number: 10407591
    Abstract: The present invention is directed to low solid surface coating compositions and methods of using the same. The low solid surface coating compositions comprise a self-crosslinking polymer, a solvent, a surfactant, and water. The low solid surface coating compositions can preferably have a total solid content of less than 15%.
    Type: Grant
    Filed: December 2, 2014
    Date of Patent: September 10, 2019
    Assignee: Ecolab USA Inc.
    Inventors: Evan Hendrickson, Ramakrishnan Balasubramanian, Andrew Wold, Robert D. P. Hei
  • Patent number: 10387725
    Abstract: A system and methodologies for neuromorphic vision simulate conventional analog NM system functionality and generate digital NM image data that facilitate improved object detection, classification, and tracking so as to detect and predict movement of a vehicle occupant.
    Type: Grant
    Filed: February 20, 2019
    Date of Patent: August 20, 2019
    Assignees: Volkswagen AG, Audi AG, Porsche AG
    Inventors: Edmund Dawes Zink, Douglas Allen Hauger, Lutz Junge, Luis Marcial Hernandez Gonzalez, Jerramy L. Gipson, Anh Vu, Martin Hempel, Nikhil J. George
  • Patent number: 10301155
    Abstract: A materials handling vehicle includes a power unit; a load handling assembly coupled to the power unit; at least one obstacle detector mounted to the power unit; and a controller. The at least one obstacle detector detects object located along a path of travel of the power unit, and generate a distance signal upon detecting an object corresponding to a distance between the detected object and the power unit. The controller receives the distance signal and generates a corresponding vehicle stop or predetermined maximum allowable speed signal based on the distance signal, wherein if a sensed object is located within a speed zone associated with a predetermined maximum allowable travel speed comprising a fixed speed greater than zero (0) miles per hour, as determined by the distance signal, the vehicle speed is reduced to the predetermined maximum allowable vehicle speed.
    Type: Grant
    Filed: November 10, 2016
    Date of Patent: May 28, 2019
    Assignee: Crown Equipment Corporation
    Inventors: Jeffry D. Dues, Matthew M. Green, James F. Schloemer, Vernon W. Siefring, Jesse Wershing
  • Patent number: 10252421
    Abstract: A system and method for a self-contained modular manufacturing device having modular tools and parts configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing provides a base by which additional modules are mounted and coupled. The modular device also includes an interface configured to communicate with a remote control system capable of control the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, a processor disposed in the housing is configured to control the functional tools (e.g., each end-effector) independent of the overall manufacturing control system.
    Type: Grant
    Filed: October 6, 2015
    Date of Patent: April 9, 2019
    Assignee: MTM Robotics LLC
    Inventors: Chace Howard Fadlovich, Robert Allen Brown, David James Whalen-Robinson, Michael Gary Woogerd, Eric J. Davis
  • Patent number: 10229318
    Abstract: Aspects create test cases executable by a robot device to simulate user motion activity. Video analytics extract motion patterns from video image data of a user performing an activity associated with a wearable personal programmable device executing a device application. The extracted motion patterns are classified to an activity motion modality by matching an associated motion pattern model. Commonalities of the extracted motion patterns across other motion activity image data classified with the same matching activity motion modality are clustered into test case model motion pattern sets that are used to generate test case model robotic instructions for use by a robot device to execute and thereby replicate user motions represented by the extracted motion patterns.
    Type: Grant
    Filed: February 21, 2017
    Date of Patent: March 12, 2019
    Assignee: International Business Machines Corporation
    Inventors: Vijay Ekambaram, Sarbajit K. Rakshit
  • Patent number: 10223617
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing images using recurrent attention. One of the methods includes determining a location in the first image; extracting a glimpse from the first image using the location; generating a glimpse representation of the extracted glimpse; processing the glimpse representation using a recurrent neural network to update a current internal state of the recurrent neural network to generate a new internal state; processing the new internal state to select a location in a next image in the image sequence after the first image; and processing the new internal state to select an action from a predetermined set of possible actions.
    Type: Grant
    Filed: June 4, 2015
    Date of Patent: March 5, 2019
    Assignee: DeepMind Technologies Limited
    Inventors: Volodymyr Mnih, Koray Kavukcuoglu
  • Patent number: 10220509
    Abstract: The present disclosure relates to an anti-shake method of robot and a robot thereof. The method includes: receiving at least one motion-controlling instruction from a main control unit, determining whether a servo performs the motion-controlling instruction, obtaining a target angle and a current angle of the servo upon determining the servo is not under a control of a main control unit, determining whether the target angle and the current angle is within a fault tolerance range, terminating the servo upon determining the target angle and the current angle is within the fault tolerance range. As such, the shaking of the robot may be avoided when the robot performs actions, so as to reduce power consuming and to extend stand-by time.
    Type: Grant
    Filed: November 16, 2017
    Date of Patent: March 5, 2019
    Inventors: Youjun Xiong, Gaobo Huang, Wenxue Xie
  • Patent number: 10133856
    Abstract: A method of managing a license for a software module of a vehicle having a plurality of operating states includes receiving, by a processor, license term data of the license. The license term data includes an expiration time limit of the license. The method also includes observing, by a sensor, a condition of the vehicle. Additionally, the method includes determining, by the processor, an operating state of the vehicle based on the condition observed by the sensor. Furthermore, the method includes determining, by the processor, whether to deny access to the software module according to the expiration time limit based on the determined operating state.
    Type: Grant
    Filed: November 7, 2016
    Date of Patent: November 20, 2018
    Inventors: Naveen VenkateshPrasad Nama, Dilip Kumar Behara, John McGregor, Christian Dale Brinkley, Scott Redmond
  • Patent number: 10112297
    Abstract: A robot control apparatus that controls a robot including a manipulator, a force detector provided in the manipulator, and an actuator that drives the manipulator based on a target position, includes a display control unit that displays a motion position of the manipulator derived based on a target force and an output of the force detector and the target position on a screen.
    Type: Grant
    Filed: June 2, 2016
    Date of Patent: October 30, 2018
    Assignee: Seiko Epson Corporation
    Inventors: Yasuhiro Shimodaira, Masaki Motoyoshi, Kaoru Takeuchi, Katsuji Igarashi
  • Patent number: 10055805
    Abstract: A position/posture measurement device, capable of precisely measuring the position/posture of each article, and a robot system including the device and a robot, in which the robot can be correctly operated with respect to the articles. The position/posture measurement device has: a model data storing part which stores three-dimensional shape data representing the shape of a workpiece as model data; a position/posture calculating part which detects each workpiece and calculates the positions/postures of the workpieces by comparing the model data stored by the model data storing part to the scene data transmitted from a three-dimensional sensor; and a combination evaluating part which calculates evaluation values with respect to all combinations of the positions/postures calculated by the position/posture calculating part, and transmits the combination of the positions/postures having the maximum evaluation value as a measurement result to a robot controller.
    Type: Grant
    Filed: November 25, 2016
    Date of Patent: August 21, 2018
    Inventor: Taiga Satou
  • Patent number: 10054400
    Abstract: An effector launching system and method may be used on a moving ship deck. The launching system includes a plurality of effectors and a robot that is arranged on the moving platform. The robot includes a moveable robot arm having an end portion that is engageable with the effectors for firing the effectors during engagement. The system includes a sensor for detecting movement of the moving platform and a motion stabilization controller that is in communication with a processor and the robot arm for controlling movement of the robot arm. The motion stabilization controller adjusts the robot arm in response to the detected movement of the moving platform to maintain the end portion in a static position when the effector is fired.
    Type: Grant
    Filed: September 14, 2016
    Date of Patent: August 21, 2018
    Assignee: Raytheon Company
    Inventors: Emile M. Szlemko, Huy Le, Brian A. Gin, Ryan P. Wahl, Mary L. Kulbacki
  • Patent number: 10045675
    Abstract: A robotic cleaning device having a main body, an opening in a bottom side of the main body for removing debris from an area to be cleaned, a brush adjacent to the opening and a propulsion system configured to move the robotic cleaning device across the area. The robotic cleaning device may further include a positioning system having an obstacle detecting device configured to detect obstacles and a processing unit. The obstacle detecting device is configured to record positional data, and the processing unit is configured to generate a cleaning pattern from the positional data, the cleaning pattern including at least one spiral pattern having an outer periphery. The spiral pattern is arranged so that the robotic cleaning device spirals inwards from the outer periphery towards a center of the spiral pattern, and the brush faces the outer periphery while the robotic cleaning device follows the spiral pattern.
    Type: Grant
    Filed: December 19, 2013
    Date of Patent: August 14, 2018
    Assignee: Aktiebolaget Electrolux
    Inventor: Anders Haegermarck
  • Patent number: 10019005
    Abstract: One example includes an autonomous vehicle control system. The system includes an operational plan controller to maintain operational plans that each correspond to a predetermined set of behavioral characteristics of an associated autonomous vehicle based on situational awareness data provided from on-board sensors of the autonomous vehicle and mission control data provided from a user interface. The system also includes a decision-making algorithm to select one of the operational plans for operational behavior of the autonomous vehicle based on the situational awareness data and the mission control data at a given time and to provide an intent decision based on the situational awareness data and the selected one of the operational plans. The system further includes an execution engine to provide control outputs to operational components of the autonomous vehicle for navigation and control based on the selected one of the operational plans and in response to the intent decision.
    Type: Grant
    Filed: September 15, 2016
    Date of Patent: July 10, 2018
    Inventors: Walter Wang, Jerome H. Wei, Bradley Feest, Benjamin Najar-Robles, Michael Z. Lim
  • Patent number: 10019013
    Abstract: Embodiments of the present disclosure relate to a robot cleaner and a control method of the robot cleaner, more particularly, to a robot cleaner configured to correct position information of the robot cleaner by acquiring a position of a docking station during the robot clear drives and to correct a map by using corrected position information, and a control method of the robot cleaner.
    Type: Grant
    Filed: July 7, 2016
    Date of Patent: July 10, 2018
    Inventors: No San Kwak, Kyung Shik Roh, Soon Yong Park, Suk June Yoon, So Hee Lee, Min Yong Choi
  • Patent number: 9973737
    Abstract: Techniques and systems for providing miniaturized unmanned aerial vehicles (UAVs) are disclosed. The techniques and systems can include significant off-board processing support for the UAVs to enable the UAVs to be smaller, lighter, and less expensive than conventional UAVs. The techniques and systems can include routines to provide enhanced support for police during routine traffic stops. The techniques and systems can also include routines to locate objects or people including, for example, locating a lost child in a crowd or a lost vehicle in a parking lot. The miniaturized UAVs can provide enhances perception for the user to enable the user to over and around objects for improved visibility and safety, among other things.
    Type: Grant
    Filed: September 14, 2016
    Date of Patent: May 15, 2018
    Assignee: Amazon Technologies, Inc.
    Inventor: Steven James Wilkins
  • Patent number: 9937619
    Abstract: The invention relates to a control method for a robot (1) having a plurality of movable robot axes (2, 4, 6), in particular for a painting robot (1) or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot (1) is intended to travel; (b) controlling drive motors of the individual robot axes (2, 4, 6) according to the predetermined robot path, such that the reference point of the robot (1) travels through the predetermined robot path; (c) precalculating the mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2) that occurs within at least one of the robot axes (2, 4, 6) between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes (2, 4, 6) on the basis of the precalculated mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2), such that a mechanical overload is avoided.
    Type: Grant
    Filed: August 17, 2012
    Date of Patent: April 10, 2018
    Assignee: Dürr Systems GmbH
    Inventors: Alexander Meissner, Bjorn Schoell, Jens Hacker, Viktor Schretling, Thomas Hezel
  • Patent number: 9805962
    Abstract: The purpose of the present invention is to accurately deal with a variety of processing conditions and variations thereof, and to improve total throughput by efficiently operating a conveyance arm device in accordance with the processing conditions, even during cleaning. When a first wafer is loaded on a load-lock chamber, a conveyance-sequence category for operating each of a number of steps for a conveyance arm device capable of operating during cleaning is selected in accordance with processing conditions of the wafer, and a plurality of operation patterns are selected, combined and scheduled. The conveyance arm device is controlled in accordance with the scheduled conveyance sequence to control substrate conveyance.
    Type: Grant
    Filed: June 5, 2013
    Date of Patent: October 31, 2017
    Inventors: Nobuaki Ito, Hiroki Oka
  • Patent number: 9804604
    Abstract: A system may include sensor equipment, task performance equipment, a yard maintenance manager and a robot. The sensor equipment may include one or more sensors disposed on a parcel of land. The task performance equipment may be configured to perform a task on the parcel. The task may be associated with generating a result that is enabled to be monitored via the sensor equipment. The yard maintenance manager may be configured to interface with the sensor equipment and the task performance equipment to compare measured conditions with desirable conditions to direct operation of the task performance equipment. The robot may be configured to work the parcel and perform at least one of acting as one of the one or more sensors, acting as a device of the task performance equipment, or interacting with the sensor equipment or the task performance equipment.
    Type: Grant
    Filed: August 14, 2014
    Date of Patent: October 31, 2017
    Assignee: HUSQVARNA AB
    Inventors: Anders Mattsson, Mikael Willgert, Martin Larsén
  • Patent number: 9687984
    Abstract: A random k-nearest neighbors (RKNN) approach may be used for regression/classification model wherein the input includes the k closest training examples in the feature space. The RKNN process may utilize video images as input in order to predict motor command for controlling navigation of a robot. In some implementations of robotic vision based navigation, the input space may be highly dimensional and highly redundant. When visual inputs are augmented with data of another modality that is characterized by fewer dimensions (e.g., audio), the visual data may overwhelm lower-dimension data. The RKNN process may partition available data into subsets comprising a given number of samples from the lower-dimension data. Outputs associated with individual subsets may be combined (e.g., averaged). Selection of number of neighbors, subset size and/or number of subsets may be used to trade-off between speed and accuracy of the prediction.
    Type: Grant
    Filed: December 31, 2014
    Date of Patent: June 27, 2017
    Inventors: Andrew T. Smith, Vadim Polonichko
  • Patent number: 9630317
    Abstract: Robotic devices may be operated by users remotely. A learning controller apparatus may detect remote transmissions comprising user control instructions. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The learning apparatus may monitor one or more wavelength (infrared light, radio channel) and detect transmissions from user remote control device to the robot during its operation by the user. The learning apparatus may be configured to develop associations between the detected user remote control instructions and actions of the robot for given context. When a given sensory context occurs, the learning controller may automatically provide control instructions to the robot that may be associated with the given context. The provision of control instructions to the robot by the learning controller may obviate the need for user remote control of the robot thereby enabling autonomous operation by the robot.
    Type: Grant
    Filed: April 3, 2014
    Date of Patent: April 25, 2017
    Assignee: Brain Corporation
    Inventors: Eugene M. Izhikevich, Patryk Laurent, Micah Richert, Csaba Petre
  • Patent number: 9492925
    Abstract: A robot includes a control unit that controls a movable unit of the robot to move an endpoint of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.
    Type: Grant
    Filed: October 9, 2014
    Date of Patent: November 15, 2016
    Assignee: Seiko Epson Corporation
    Inventors: Seiji Aiso, Hiroshi Hasegawa, Mitsuhiro Inazumi, Nobuhiro Karito
  • Patent number: 9495788
    Abstract: An apparatus and method for developing contents which may direct motions of a robot according to time and synchronize motions of a robot with a media. The apparatus for developing robot contents outputs an interface including an editing area and a motion event track and includes a drawer configured to implement and provide a three-dimensional robot model in the editing area, and a motion editor which generates a robot motion event according to a motional manipulation with respect to the robot model of the editing area and providing the robot motion event on the motion event track according to time.
    Type: Grant
    Filed: September 27, 2013
    Date of Patent: November 15, 2016
    Assignee: KT Corporation
    Inventors: Jong-Cheol Kim, Sung-Taek Jung, Mi-Jeong Hong
  • Patent number: 9486921
    Abstract: Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks.
    Type: Grant
    Filed: March 26, 2015
    Date of Patent: November 8, 2016
    Assignee: Google Inc.
    Inventors: Troy Donald Straszheim, Stefan Nusser, Kevin William Watts, Ethan Rublee, John William Zevenbergen
  • Patent number: 9469029
    Abstract: Methods for saving energy and reducing cycle time by using optimal ordering of the industrial robotic path. A method includes receiving inputs including a complex operation, generating a plurality of task groups of the complex operation, calculating a group edge rating for each of a plurality of robotic movement edges between each of the plurality of task groups, calculating a candidate rating for each of a plurality of candidate paths, wherein the candidate rating comprises a summation of the group edge ratings for a candidate path, determining an optimal path comprising the candidate path with an optimal rating, wherein the optimal rating is determined by the lowest candidate rating, and returning the optimal path.
    Type: Grant
    Filed: July 31, 2014
    Date of Patent: October 18, 2016
    Assignee: Siemens Industry Software Ltd.
    Inventors: Moshe Hazan, Lisandro Embon, Rahav Madvil
  • Patent number: 9457468
    Abstract: Some embodiments provide a human and robot distributed operating system (HaRD-OS). The HaRD-OS efficiently and dynamically connects different human operators and algorithms to multiple remotely deployed robots based on the task(s) that the robots are to complete. Some embodiments facilitate an action/perception loop between the operators, algorithms and robots by routing tasks between human operators or algorithms based on various routing polices including operator familiarity, aptitude, access rights, end user preference, time zones, costs, efficiency, latency, privacy concerns, etc. In the event of a fault, some embodiments route to the best operator or algorithm that is able to handle the particular fault with the required privileges. Some embodiments secure task guarantees to be completed at particular times, priorities or costs.
    Type: Grant
    Filed: May 21, 2015
    Date of Patent: October 4, 2016
    Assignee: inVia Robotics, LLC
    Inventors: Lior Elazary, Daniel Frank Parks, II, Randolph Charles Voorhies
  • Patent number: 9434430
    Abstract: A biped walking robot control method is for master-slave control of walking of a biped walking robot. The biped walking robot control method includes a weight detection step of detecting weights applied to a ground respectively by a right leg and a left leg of an operator, a target ZMP calculation step of calculating a target ZMP when the biped walking robot produces weights having a ratio of the detected right leg weight and left leg weight, and a control step of controlling the biped walking robot in accordance with the calculated target ZMP.
    Type: Grant
    Filed: January 15, 2015
    Date of Patent: September 6, 2016
    Inventor: Tomohisa Moridaira
  • Patent number: 9390369
    Abstract: Apparatus and methods for developing parallel networks. In some implementations, a network may be partitioned into multiple partitions, wherein individual portions are being executed by respective threads executed in parallel. Individual portions may comprise multiple neurons and synapses. In order to reduce cross-thread traffic and/or reduce number of synchronization locks, network may be partitioned such that for given network portion, the neurons and the input synapses into neurons within the portion are executed within the same thread. Synapse update rules may be configured to allow memory access for postsynaptic neurons and forbid memory access to presynaptic neurons. Individual threads may be afforded pairs of memory buffers configured to effectuate asynchronous data input/output to/from thread. During an even iteration of network operation, even buffer may be utilized to store data generated by the thread during even iteration.
    Type: Grant
    Filed: May 15, 2013
    Date of Patent: July 12, 2016
    Assignee: Brain Corporation
    Inventors: Oleg Sinyavskiy, Jonathan James Hunt
  • Patent number: 9360338
    Abstract: A method, system, and computer program product for presenting the viewability of a point of interest (POI) on a map are provided in the illustrative embodiments. A set of viewing coverage information is located. A subset of the viewing coverage information is associated with a point of observation on the map. A viewing coverage information corresponds to a view of the POI from the point of observation. The viewing coverage information comprises a viewing coverage fraction that represents a portion of the POI visible in the view. The point of observation is plotted corresponding to the subset of the viewing coverage information such that the point of observation is represented on the map as a visually distinct area on the map and has a corresponding combined viewing coverage value. A plot of the point of observation resulting from the plotting is presented on the map as an overlay.
    Type: Grant
    Filed: July 16, 2014
    Date of Patent: June 7, 2016
    Inventors: Barry A. Kritt, Sarbajit K. Rakshit
  • Patent number: 9346167
    Abstract: A robotic vehicle may be operated by a learning controller comprising a trainable convolutional network configured to determine control signal based on sensory input. An input network layer may be configured to transfer sensory input into a hidden layer data using a filter convolution operation. Input layer may be configured to transfer sensory input into hidden layer data using a filter convolution. Output layer may convert hidden layer data to a predicted output using data segmentation and a fully connected array of efficacies. During training, efficacy of network connections may be adapted using a measure determined based on a target output provided by a trainer and an output predicted by the network. A combination of the predicted and the target output may be provided to the vehicle to execute a task. The network adaptation may be configured using an error back propagation method. The network may comprise an input reconstruction.
    Type: Grant
    Filed: April 29, 2014
    Date of Patent: May 24, 2016
    Assignee: Brain Corporation
    Inventors: Peter O'Connor, Eugene Izhikevich
  • Patent number: 9317027
    Abstract: A method of controlling motion on the ground of a device having at least two legs comprising: obtaining current values of dynamic state variables of the device; optimizing a movement command for the device under constraints while taking account of said current values and of a movement setpoint for the device, said optimization being performed by modeling a movement of the device between a current state and a second state, the device being supported during said movement by at least on a first leg, and then from an instant in which the center of pressure on the ground is changed, at least on a second leg; and applying said movement command; wherein said optimization is performed on the assumption that the gravity potential energy of the device in the second state is a local maximum as a function of time.
    Type: Grant
    Filed: October 1, 2012
    Date of Patent: April 19, 2016
    Assignee: Commissariat A L'Energie Atomique Et Aux Energies Alternatives
    Inventor: Alain Micaelli
  • Patent number: 9317035
    Abstract: When a moving body is remotely operated, a delay in transmission of an image and information acquired from the moving body becomes a problem since immediate transmission of an operation to the moving body cannot be expected. When a frame rate is decreased or a resolution is reduced to decrease the amount of image data to prevent transmission delay of the image data, it is difficult to grasp motions of other moving bodies. As a result, when a certain amount of time is required to transmit a camera image and a moving obstacle, the movement of the obstacle and the movement of the moving body are estimated. The estimated image is generated based on a current image, and is presented to an operator via a monitor. Accordingly, it is possible to reduce instability and a risk associated with transmission delay to safely operate the moving body.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: April 19, 2016
    Assignee: HITACHI, LTD.
    Inventors: Ryosuke Nakamura, Azusa Amino, Taishi Ueda
  • Patent number: 9304501
    Abstract: Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.
    Type: Grant
    Filed: July 13, 2015
    Date of Patent: April 5, 2016
    Assignee: Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno
    Inventor: George L. Danko