Specific Enhancing Or Modifying Technique (e.g., Adaptive Control) Patents (Class 700/250)
  • Patent number: 11353887
    Abstract: The present disclosure provides a robot centroid position adjustment method as well as an apparatus and a robot using the same. The method includes: obtaining initial values; obtaining a waist velocity adjustment value; calculating a current value of the centroid position; and determining whether a current value of the centroid position is equal to the planning value of the centroid position; if the current value of the centroid position is not equal to the planning value of the centroid position, obtaining the current value of the centroid position to take as the initial value of the centroid position and returning to the step of obtaining the waist velocity adjustment value until the current value of the centroid position is equal to the planning value of the centroid position. In such a manner, the balance ability of the robot can be improved.
    Type: Grant
    Filed: September 30, 2019
    Date of Patent: June 7, 2022
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Youjun Xiong, Yuesong Wang, Mingguo Zhao
  • Patent number: 11347197
    Abstract: A servo motor controller includes: a servo motor; a driven member which is driven by the servo motor and in which a load acting on a drive axis is varied depending on the position of the driven member; a position detection portion and a speed detection portion for the driven member; and a motor control portion, where the motor control portion includes: a position control portion which calculates a speed command based on a positional error between a position command for the driven member and the position FB; a speed control portion which calculates a torque command by multiplying a speed error between the speed command and the speed FB by a speed gain and/or adding a torque offset to the speed error; and a change portion which changes at least one of the speed gain and the torque offset according to the position of the driven member.
    Type: Grant
    Filed: July 5, 2018
    Date of Patent: May 31, 2022
    Assignee: FANUC CORPORATION
    Inventors: Yuuki Kumamoto, Satoshi Ikai
  • Patent number: 11318615
    Abstract: A motion planning method for robot arms includes: calculating an arm angle range of each pose of a tail end of a robot arm in the motion trajectory; calculating a start arm angle value of a start pose of the tail end of the robot arm in the motion trajectory; calculating an arm angle proportion according to the start arm angle value and the arm angle range of the start pose; identifying an abruptly changing arm angle range in the arm angle range of each pose according to a upper boundary curve and a lower boundary curve; calculating an arm angle of a pose corresponding to the abruptly changing arm angle range; calculating arm angles corresponding to the other poses according to the arm angle proportion; and calculating an angle of a joint of the robot arm.
    Type: Grant
    Filed: December 30, 2019
    Date of Patent: May 3, 2022
    Assignee: CLOUDMINDS ROBOTICS CO., LTD.
    Inventors: Tianhao Wang, Shenhua Xu
  • Patent number: 11318614
    Abstract: A robot cleaner to avoid a stuck situation through artificial intelligence (AI) may acquire a surrounding map, based on the sensing information, determine escape path factors based on the surrounding map by using the compensation model, if the stuck situation of the robot cleaner is detected, and control the driving motor such that the robot cleaner travels, based on the determined escape path factors.
    Type: Grant
    Filed: November 25, 2019
    Date of Patent: May 3, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Kamin Lee, Kokeun Kim, Suyeon Kim, Seungah Chae
  • Patent number: 11308385
    Abstract: Systems, methods, devices, and other techniques are described herein for training and using neural networks to encode inputs and to process encoded inputs, e.g., to reconstruct inputs from the encoded inputs. A neural network system can include an encoder neural network, a trusted decoder neural network, and an adversary decoder neural network. The encoder neural network processes a primary neural network input and a key input to generate an encoded representation of the primary neural network input. The trusted decoder neural network processes the encoded representation and the key input to generate a first estimated reconstruction of the primary neural network input. The adversary decoder neural network processes the encoded representation without the key input to generate a second estimated reconstruction of the primary neural network input. The encoder and trusted decoder neural networks can be trained jointly, and these networks trained adversarially to the adversary decoder neural network.
    Type: Grant
    Filed: August 3, 2017
    Date of Patent: April 19, 2022
    Assignee: Google LLC
    Inventors: Martin Abadi, David Godbe Andersen
  • Patent number: 11305435
    Abstract: A robot includes a sensing circuit, a driving circuit, and a processor. The sensing circuit includes a first sensor and a second sensor. The first sensor is configured to receive a first sensing signal and the second sensor is configured to receive a second sensing signal. The driving circuit is configured to control an operation of a roller circuit and to control a forward direction of the roller circuit. The processor is coupled to the sensing circuit and the driving circuit. When the processor determines that, according to the first sensing signal and the second sensing signal, a sensing target is a bridge, the processor controls the roller circuit through the driving circuit to adjust the forward direction, such that the robot gets across the bridge.
    Type: Grant
    Filed: January 12, 2020
    Date of Patent: April 19, 2022
    Assignee: AmTRAN Technology Co., Ltd.
    Inventors: Kao-Min Lin, Yu-Ruei Li
  • Patent number: 11285838
    Abstract: Flexible mobile robot charging systems described herein can be automatically moved to the work areas of energy-depleted mobile robots to provide onboard battery recharging without requiring the mobile robots to spend time traveling to a fixed location battery recharging station located away from the work area or in a suboptimal location within the robotic work area. Accordingly, the efficiency and utilization of the mobile robots can be enhanced by eliminating non-value-added travel time of the mobile robots and the time and cost of setting up the battery recharging stations can be reduced using the mobile robot charging systems and methods.
    Type: Grant
    Filed: January 25, 2019
    Date of Patent: March 29, 2022
    Assignee: Target Brands, Inc.
    Inventors: Kevin Vliet, Gregory Lisso
  • Patent number: 11281207
    Abstract: The proposed system, Delayed Telop Aid (DTA), improves the teleoperator's ability to control the vehicle in a three step process. First, DTA predicts robot motion given the operators commands. Second, DTA creates synthetic images to produce a video feed that looks as if the robot communication link had no delay and no reduced bandwidth. Finally, DTA performs closed loop control on the robot platform to ensure that the robot follows the operator's commands. A closed loop control of the platform makes sure that the predicted pose after the delay (and therefore the image presented to the operator) is achieved by the platform. This abstracts away the latency-sensitive parts of the robot control, making the robot's behavior stable in the presence of poorly characterized latency between the operator and the vehicle.
    Type: Grant
    Filed: December 1, 2016
    Date of Patent: March 22, 2022
    Assignee: Robotic Research OpCo, LLC
    Inventors: Alberto Daniel Lacaze, Karl Murphy
  • Patent number: 11269350
    Abstract: A method for creating an environment map for a processing unit, which moves independently within an environment, wherein a detection device detects environmental features and/or objects within the environment, and wherein position data of the environmental features and/or objects are processed by an evaluation device into an environment map. In order to achieve intuitive user-processing unit interaction, the detected environmental features and/or objects are processed via 3D reconstruction into a photo-realistic, three-dimensional environment card.
    Type: Grant
    Filed: December 11, 2017
    Date of Patent: March 8, 2022
    Assignee: Vorwerk & Co. Interholding GmbH
    Inventor: Lorenz Hillen
  • Patent number: 11267124
    Abstract: A method and system are disclosed herein. The system includes a measuring device detecting a position and a travel distance of movement of the robot, a communication circuit, a memory, and a processor. The processor implements the method, including: specifying a robot coordinate system of the robot based on the measured position data, generating, using the processor, robot reference position data by converting the measured position data based on the specified robot coordinate system, performing, using the processor, position-based parameter optimization based on the robot reference position data, and storing, using a memory, a parameter optimized through the position-based parameter optimization; and transmitting, using a communication circuit, the stored optimized parameter to the robot to actuate movement of the robot based on the stored optimized parameter.
    Type: Grant
    Filed: November 12, 2019
    Date of Patent: March 8, 2022
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Inyoung Ko, Kyungshik Roh
  • Patent number: 11260527
    Abstract: A method for controlling a robot includes applying a setpoint force to a contact point; measuring a contact stiffness at the contact point; and slowing down the moving robot using its drives and/or braking the robot to apply the setpoint force to the contact point by the slowing down and/or slowed down robot depending on the measured contact stiffness, wherein the robot is slowed down before the setpoint force is reached.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: March 1, 2022
    Assignee: KUKA Deutschland GmbH
    Inventor: Yevgen Kogan
  • Patent number: 11252863
    Abstract: A system, for cutting a plurality of lawns, including: two or more robotic lawn mowers which each has a rechargeable energy storage, and a carrier, which includes: at least two holders, each of which is capable of retaining one of the two or more robotic lawn mowers, and two or more fences, each fence delineating an individual lawn of the plurality of lawns and configured to be operable while a respective of the two or more robotic lawn mowers is operating at the respective of the plurality of lawns.
    Type: Grant
    Filed: November 23, 2016
    Date of Patent: February 22, 2022
    Inventors: Kalle Andersson, Per Andersson
  • Patent number: 11249460
    Abstract: A numerical control device includes: a program analyzing unit analyzing a transition of a moving velocity of a machining head and a transition of a supply amount of a material supplied to a beam-irradiation position based on a machining program; a movement distance calculating unit calculating a first distance based on a result of analysis performed by the program analyzing unit, the first distance being a length of a first movement section to a first position at which addition of the material to the workpiece is started, the first movement section being a section through which the machining head is moved while the head is accelerated; and a condition command generating unit generating a supply command to increase the supply amount of the material per hour from zero to a command value according to a machining condition while the machining head is moved through the first movement section.
    Type: Grant
    Filed: October 19, 2018
    Date of Patent: February 15, 2022
    Assignee: MITSUBISHI ELECTRIC CORPORATION
    Inventors: Seiji Uozumi, Shun Kayashima, Nobuyuki Sumi
  • Patent number: 11250741
    Abstract: A signaling device for increasing visibility of a mobile robot. The signaling device comprises a signaling section, a body section, and a base section. The invention also discloses a system for increasing visibility of a mobile robot. The system comprises a mobile robot, a signaling device attached to the mobile robot and a remote terminal configured to at least one of monitoring and controlling at least one of the mobile robot and the signaling device.
    Type: Grant
    Filed: November 7, 2019
    Date of Patent: February 15, 2022
    Assignee: STARSHIP TECHNOLOGIES OÜ
    Inventors: Märt Liivik, Andrew Macks, Markus Zimmermann, Siim Viilup, Markus Järve, Tiit Liivik, Mikko Seppänen, Antti Mäkelä
  • Patent number: 11216959
    Abstract: Systems and methods for monitoring movements. A method includes detecting motion based on first localization data related to a localization device moving in a distinct motion pattern, wherein the first localization data is based on sensor readings captured by at least one sensor; correlating the detected motion to a known motion of the localization device based on respective times of the first localization data and of the localization device; localizing the localization device with respect to a map based on the correlation; tracking at least one first location of an object based on second localization data captured by the at least one sensor, wherein the at least one first location is on the map, wherein the tracking further comprises identifying at least one second location of the object based on the second localization data and determining the at least one first location based on the at least one second location.
    Type: Grant
    Filed: August 27, 2020
    Date of Patent: January 4, 2022
    Assignee: R-GO Robotics Ltd.
    Inventors: Nizan Horesh, Amir Bousani, Assaf Agmon
  • Patent number: 11202911
    Abstract: The present invention provides a closed-loop system for real-time control of epidural and/or subdural electrical stimulation comprising: means for applying to a subject neuromodulation with adjustable stimulation parameters, said means being operatively connected with a real-time monitoring component comprising sensors continuously acquiring feedback signals from said subject, said signals being neural signals and/or signals providing features of motion of said subject, said system being operatively connected with a signal processing device receiving said feedback signals and operating real-time automatic control algorithms, said signal processing device being operatively connected with said means and providing said means with new stimulation parameters, with minimum delay. The system of the invention improves consistency of walking in a subject with a neuromotor impairment.
    Type: Grant
    Filed: March 4, 2019
    Date of Patent: December 21, 2021
    Assignee: ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE (EPFL)
    Inventors: Gregoire Courtine, Nikolaus Wenger, Eduardo Martin Moraud, Silvestro Micera, Marco Bonizzato
  • Patent number: 11188753
    Abstract: A robot and/or a computer system may be used to generate position information of the robot operating in an operating space that is subdivided into a plurality of cells. The robot includes a sensor configured to acquire data related to the operating space. A memory of the robot and/or the computer server may store information regarding at least two of the cells and an indicator of a position information acquisition technique used to generate position information of the robot in a cell. The controller may be configured to acquire information related to a cell that the robot is positioned in and generate the position information of the robot based on the position information acquisition technique, the sensor data, and the cell information.
    Type: Grant
    Filed: May 14, 2020
    Date of Patent: November 30, 2021
    Assignee: LG Electronics Inc.
    Inventors: Sookhyun Yang, Jungsik Kim, Gyuho Eoh
  • Patent number: 11188056
    Abstract: This invention, a feedrate scheduling method for five-axis dual-spline curve interpolation, belongs to multi-axis NC (Numerical Control) machining filed, featured a feedrate scheduling method with constant speed at feedrate-sensitive regions under axial drive constraints for five-axis dual-spline interpolation. This method first discretizes the tool-tip spline with equal arc length, thus getting the relation between the axial motion and the toolpath by computing the first, second, and third order derivatives of the axial positions with respect to the tool-tip motion arc length. After that, determine the feedrate-sensitive regions with the constraints of axial drive limitations and the objective of balanced machining quality and efficiency. Finally, determine the acceleration/deceleration-start-point curve parameters by bi-directional scanning.
    Type: Grant
    Filed: January 7, 2018
    Date of Patent: November 30, 2021
    Assignee: DALIAN UNIVERSITY OF TECHNOLOGY
    Inventors: Zhenyuan Jia, Jianwei Ma, Dening Song, Siyu Chen, Guangzhi He, Fuji Wang, Wei Liu
  • Patent number: 11176813
    Abstract: An approach for analyzing and predicting a pattern of debris accumulation in area based on a deviation in mobility pattern. The approach includes receiving data from one or more sensors from an area and identifying objects based on the received data. The approach determines whether the received data is a first instance and stores the data. Based on the stored data, the approach analyzes, via machine learning, a mobility pattern associated with the retrieved data. Furthermore, the approach generates an actionable task list based on the analyzed data and instructs one or more computing devices based on the actionable task list.
    Type: Grant
    Filed: July 17, 2019
    Date of Patent: November 16, 2021
    Assignee: International Business Machines Corporation
    Inventors: Sarbajit K. Rakshit, John M. Ganci, Jr., James E. Bostick, Martin G. Keen
  • Patent number: 11173599
    Abstract: Some implementations of this specification are directed generally to deep machine learning methods and apparatus related to predicting motion(s) (if any) that will occur to object(s) in an environment of a robot in response to particular movement of the robot in the environment. Some implementations are directed to training a deep neural network model to predict at least one transformation (if any), of an image of a robot's environment, that will occur as a result of implementing at least a portion of a particular movement of the robot in the environment. The trained deep neural network model may predict the transformation based on input that includes the image and a group of robot movement parameters that define the portion of the particular movement.
    Type: Grant
    Filed: May 16, 2017
    Date of Patent: November 16, 2021
    Assignee: GOOGLE LLC
    Inventors: Sergey Levine, Chelsea Finn, Ian Goodfellow
  • Patent number: 11161244
    Abstract: A system for controlling a robotic arm performing insertion of a component along an insertion line accepts measurements of force experienced by the wrist of robotic arm at current position along insertion line and determines probability of value of the force conditioned on the current value of the position according to a probabilistic relationship for the force experienced by the wrist of the robotic arm along the insertion line as a probabilistic function of the positions of the wrist of the robotic arm along the line of insertion. The probabilistic function is learned from measurements of the operation repeatedly performed by one or multiple robotic arms having the configuration of the robotic arm under the control. The system determines a result of anomaly detection based on the probability of the current value of the force and controls the robotic arm based on the result of anomaly detection.
    Type: Grant
    Filed: January 22, 2019
    Date of Patent: November 2, 2021
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Daniel Nikolaev Nikovski, Devesh Jha, Diego Romeres
  • Patent number: 11123868
    Abstract: Provided is a robot system that can accurately sense contact between an arm of a robot or an instrument attached to the arm and another object.
    Type: Grant
    Filed: April 24, 2018
    Date of Patent: September 21, 2021
    Assignee: NACHI-FUJIKOSHI CORP.
    Inventors: Hiroyuki Nakashima, Masayasu Futagawa
  • Patent number: 11126191
    Abstract: Various embodiments for controlling a state of an autonomous vehicle that is to meet a user are provided. A receiver receives location information indicating a current location of the user. A memory stores a plurality of states of the autonomous vehicle. Each of the states at least one of visually or audibly distinguishes the autonomous vehicle. A sensor senses an environment of the autonomous vehicle to obtain environment information. A distance from a place of meeting the user to the current location of the user is calculated based on the location information. A first state is selected in accordance with the environment information. The autonomous vehicle is caused to change from a second state to the first state when the distance from the place of meeting the user to the current location of the user becomes smaller than or equal to a predetermined distance.
    Type: Grant
    Filed: July 23, 2018
    Date of Patent: September 21, 2021
    Assignee: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA
    Inventors: Kazunobu Konishi, Shuhei Matsui, Yuta Shimotsuma
  • Patent number: 11119484
    Abstract: A vacuum cleaner includes a main casing, a driving wheel, a camera, a distance calculation part, a self-position estimation part, a mapping part, and a controller. The driving wheel enables the main casing to travel. The camera is disposed on the main casing to capture an image in traveling direction side of the main casing. The distance calculation part calculates a distance to an object positioned in the traveling direction side based on the captured image. The self-position estimation part calculates a position of the main casing based on the captured image. The mapping part generates a map of a traveling place by using three-dimensional data based on calculation results by the distance calculation part and the self-position estimation part. The controller controls an operation of the driving wheel based on the three-dimensional data of the map generated by the mapping part, to make the main casing travel autonomously.
    Type: Grant
    Filed: June 7, 2017
    Date of Patent: September 14, 2021
    Assignee: TOSHIBA LIFESTYLE PRODUCTS & SERVICES CORPORATION
    Inventors: Hirokazu Izawa, Yuuki Marutani, Kota Watanabe
  • Patent number: 11106211
    Abstract: A framework combines vision and sample-efficient reinforcement-learning based on guided policy search for autonomous driving. A controller extracts environmental information from vision and is trained to drive using reinforcement learning.
    Type: Grant
    Filed: April 2, 2018
    Date of Patent: August 31, 2021
    Assignee: Sony Group Corporation
    Inventors: Su-Hui Chiang, Ming-Chang Liu
  • Patent number: 11084167
    Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.
    Type: Grant
    Filed: August 22, 2018
    Date of Patent: August 10, 2021
    Assignee: Boston Dynamics, Inc.
    Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
  • Patent number: 11084462
    Abstract: A method and an apparatus includes the monitoring of a control device. If a critical event occurs during monitoring of the control device, the control device is transferred (20) into a safe state, and it is determined whether a problem solution is available for the event that has occurred by way of a parameter modification of the control device in a problem-solving database. If the problem solution is available, a parameter data set is provided. In this regard, the parameter data set includes parameter information relating to a parameter to be modified of the control device. If the parameter information for the control device is valid, the parameter is modified according to the parameter information and the control device is released from the safe state.
    Type: Grant
    Filed: June 20, 2018
    Date of Patent: August 10, 2021
    Assignee: Bayerische Motoren Werke Aktiengesellschaft
    Inventors: Albrecht Neff, Michael Pitz
  • Patent number: 11059170
    Abstract: The present disclosure provides a joint limit detection method, apparatus, and robot with the same. The method includes: (a) determining a servo corresponding to a joint to be detected; (b) controlling an output shaft of the servo to rotate in a preset first direction; (c) measuring a rotational angle of the output shaft within a preset first duration; (d) determining whether the rotational angle of the output shaft is greater than a preset angle threshold; (e) repealing the steps (c) and (d) until the rotational angle of the output shaft is less than or equal to the preset angle threshold, if the rotational angle of the output shaft is greater than the angle threshold; and (f) determining a current rotational position of the output shaft as a first extreme position, if the rotational angle of the output shall is less than or equal to the angle threshold.
    Type: Grant
    Filed: March 20, 2019
    Date of Patent: July 13, 2021
    Assignee: UBTECH Robotics Corp
    Inventors: Youjun Xiong, Gaobo Huang, Hailang Zhou, Musen Zhang
  • Patent number: 11059173
    Abstract: The present disclosure provides a robot joint motion control method and apparatus as well as a robot using the same. The method includes: obtaining coordinates of a plurality of key points of a motion of a joint of the robot based on a preset linear control model; determining coordinates of two smooth connecting points respectively before and after each key point based on a preset time connecting factor; calculating a joint motion trajectory between each two adjacent smooth connecting points using a preset parabola connecting formula, based on the coordinates of the two smooth connecting points and the corresponding key point; and controlling the joint of the robot to move according to the joint motion trajectory between each two adjacent smooth connecting points. The present disclosure can avoid the joints of a robot from overshooting, thereby enhancing the user experience.
    Type: Grant
    Filed: December 30, 2018
    Date of Patent: July 13, 2021
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Jianxin Pang, Lifu Zhang, Wenhua Fan, Dong Liu
  • Patent number: 11057236
    Abstract: The present disclosure may be embodied in systems, methods, and computer readable media, and may allow for interactive responses by network-enabled objects, programs, and machines. Embodiments described are well-suited for communicating and responding using small-sized data messages, thus allowing for their implementation in standard messaging systems and by simple devices such as toys and other low-level electronic devices that may have limited processing capacity and/or memory. The present disclosure provides in one embodiment a method comprising receiving at least one broadcast message, each broadcast message in the at least one broadcast message comprising a plurality of identifiers and determining a highest priority identifier amongst the plurality of identifiers received in the at least one broadcast message. The method may further comprise identifying a command sequence associated with the highest priority identifier and executing the command sequence.
    Type: Grant
    Filed: January 9, 2019
    Date of Patent: July 6, 2021
    Assignee: DISNEY ENTERPRISES, INC.
    Inventors: Timothy M. Panec, Stephen A. Thornton
  • Patent number: 11046334
    Abstract: An arrangement for a work site includes a radio transmitter arrangeable at the work site for transmitting signals receivable by a radio receiver arranged on a vehicle at the work site. The radio transmitter is arranged to define a work site zone of the work site by means of the coverage of the radio signals from the radio transmitter. A predetermined vehicle operation condition for the vehicle is different in the work site zone when receiving the radio signals compared to outside the work site zone when not receiving the radio signals.
    Type: Grant
    Filed: November 24, 2016
    Date of Patent: June 29, 2021
    Assignee: Volvo Construction Equipment AB
    Inventors: Jimmie Wiklander, Johan Sjöberg
  • Patent number: 11039894
    Abstract: A port placement guide may include a base, a member, and at least one tracking element. The base can be configured to couple to a surface of a patient at a preliminary port location for a robotic arm. The member can be coupled to the base and can comprise a first end and a second end opposite the first end. The at least one tracking element can be coupled to the member and can be configured to allow tracking of the member relative to the preliminary port location.
    Type: Grant
    Filed: April 20, 2018
    Date of Patent: June 22, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Kent Anderson, Katherine Anderson
  • Patent number: 11036214
    Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for training an industrial plant controller that controls operation of an industrial plant. In one aspect, a method comprises generating training data using an industrial plant simulation model that simulates operation of the industrial plant. The industrial plant controller is trained by a reinforcement learning technique using the training data. The industrial plant controller is configured to process an input comprising a state vector characterizing a state of the industrial plant in accordance with a plurality of industrial plant controller parameters to generate an action selection policy output that defines a control action to be performed to control the operation of the industrial plant.
    Type: Grant
    Filed: December 11, 2019
    Date of Patent: June 15, 2021
    Assignee: Andritz Inc.
    Inventor: Arthur Gooch
  • Patent number: 11029695
    Abstract: Motion controls for a mobile drive unit adjust linear acceleration for laden mobile drive units to decrease the likelihood of the payload tipping or bouncing off the mobile drive unit and adjust angular acceleration to reduce the risk of the drive wheels slipping while the casters align with the direction of travel.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: June 8, 2021
    Assignee: Amazon Technologies, Inc.
    Inventors: Dragan Pajevic, Gabriel Hebert, Oliver Christoph Purwin
  • Patent number: 11000950
    Abstract: Systems, methods, devices, and other techniques are described for planning motions of one or more robots to perform at least one specified task. In some implementations, a task to execute with a robotic system using a tool is identified. A partially constrained pose is identified for the tool that is to apply during execution of the task. A set of possible constraints for the unconstrained pose parameter are selected for each unconstrained pose parameter. The sets of possible constraints are evaluated for the unconstrained pose parameters with respect to one or more task execution criteria. A nominal pose is determined for the tool based on a result of evaluating the sets of possible constraints for the unconstrained pose parameters with respect to the one or more task execution criteria. The robotic system is then directed to execute the task, including positioning the tool according to the nominal pose.
    Type: Grant
    Filed: June 1, 2018
    Date of Patent: May 11, 2021
    Assignee: X Development LLC
    Inventor: Ryan Butterfoss
  • 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: 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
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Brandon D. Itkowitz
  • 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
    Assignee: DENSO WAVE INCORPORATED
    Inventor: Noritaka Takamura
  • 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
    Assignee: GENERAL ELECTRIC COMPANY
    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
    Assignee: FANUC CORPORATION
    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
    Assignee: BEIJING XIAOMI MOBILE SOFTWARE CO., LTD.
    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
    Assignee: SONY CORPORATION
    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
    Assignee: FANUC CORPORATION
    Inventors: Satoshi Ikai, Naoto Sonoda, Ryoutarou Tsuneki