Collision Prevention Patents (Class 700/255)
  • Patent number: 11508248
    Abstract: Disclosed is a method for predicting collisions and conflicts between multiple moving bodies.
    Type: Grant
    Filed: May 29, 2018
    Date of Patent: November 22, 2022
    Assignee: IUCF-HYU (INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY)
    Inventors: Deok-Soo Kim, Je Hyun Cha, Joong Hyun Ryu, Mok Won Lee, Chan Young Song, Young Song Cho
  • Patent number: 11468371
    Abstract: A method of explaining the reasons for a prediction made by a machine learning ensemble prediction process as to the probability of an outcome for a target observation following training on a plurality of training observations determines the similarity between the target observation and each training observation of a set of said training observations; selects a fraction of the training observations that are most similar to said target observation; ranks the training observations by similarity of each training observation to the target observation; and determines the significance of the features of the ranked training observations to the prediction based upon the increase in variance in a local prediction model when a feature is removed from the local model.
    Type: Grant
    Filed: September 22, 2018
    Date of Patent: October 11, 2022
    Assignee: Securonix, Inc.
    Inventors: Igor A. Baikalov, Joseph Samuel Miller, Tanuj Gulati, Rakesh Palacherla
  • Patent number: 11465335
    Abstract: A cutting assembly and a cutter are provided, wherein, in an apparatus for additive manufacturing with a filament, a deposition head has a body and an applicator for fixing a run of filament to a surface at a deposition location ending at a deposition termination point. The cutter assembly has a fixation element for fixing the cutter assembly relative to the deposition head, and a cutter movable relative to the fixation element. The deposition head has a deposition termination configuration and a cutting configuration, and after fixing the run of filament, the deposition head transitions from the deposition termination configuration to the cutting configuration. The cutter cuts the filament only when the deposition head is in the cutting configuration.
    Type: Grant
    Filed: June 29, 2018
    Date of Patent: October 11, 2022
    Assignee: Arevo, Inc.
    Inventor: Steven George Manuel
  • Patent number: 11440196
    Abstract: A method includes receiving sensor data representing a first object in an environment and generating, based on the sensor data, a first state vector that represents physical properties of the first object. The method also includes generating, by a first machine learning model and based on the first state vector and a second state vector that represents physical properties of a second object previously observed in the environment, a metric indicating a likelihood that the first object is the same as the second object. The method further includes determining, based on the metric, to update the second state vector and updating, by a second machine learning model configured to maintain the second state vector over time and based on the first state vector, the second state vector to incorporate into the second state vector information concerning physical properties of the second object as represented in the first state vector.
    Type: Grant
    Filed: December 17, 2019
    Date of Patent: September 13, 2022
    Assignee: X Development LLC
    Inventors: Sean Kirmani, Guy Satat, Michael Quinlan
  • Patent number: 11409295
    Abstract: A robot uses types of behavior such as approach, follow, avoid, and so forth to move about an environment and interact with a user. An occupancy map provides information about obstacles in the environment. A predicted trajectory of the user is determined that is indicative of expected locations and confidence of those expected locations. The predicted trajectory may be based on the user's movement and the occupancy map. Based on the predicted trajectory and the occupancy map, a target point and a path to the target point is determined. The path may also be based on a proxemic cost map that specifies how regions with respect to the user may be traversed.
    Type: Grant
    Filed: August 31, 2018
    Date of Patent: August 9, 2022
    Assignee: AMAZON TECHNOLOGIES, INC.
    Inventors: Sandeep Samdaria, Amin Hani Atrash, Saurabh Gupta, Sven Cremer, Raumi Sidki
  • Patent number: 11407106
    Abstract: An electronic device is provided. The electronic device includes at least one processor and a memory. The memory stores instructions that, when executed, cause the at least one processor to identify a task corresponding to a task execution instruction acquired by an input device of the electronic device, identify user information corresponding to the task, identify a target spot of the electronic device for executing the task, based on the task and the user information, with respect to a position of a user corresponding to the identified user information, and control a driving circuit of the electronic device to move the electronic device to the identified target spot.
    Type: Grant
    Filed: October 15, 2018
    Date of Patent: August 9, 2022
    Inventors: Jin-Won Kim, Jung-Gap Kuk, Seung-Beom Han, Dong-Sik Chang
  • Patent number: 11377097
    Abstract: An automated valet parking method and an apparatus thereof are provided. The method includes transmitting a target position and a guide route from a parking infrastructure to a vehicle, performing autonomous driving toward the target position along the guide route; performing autonomous parking at the target position.
    Type: Grant
    Filed: December 30, 2019
    Date of Patent: July 5, 2022
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventor: Tae Dong Oh
  • Patent number: 11358334
    Abstract: Disclosed are a 4D printing method using thermal anisotropy and thermal transformation, and the resulting product. The method includes (a) artificially planning transverse printing paths and longitudinal printing paths on a specimen to impose a thermal anisotropy to the specimen, (b) sequentially and alternately forming transversely printed layers and longitudinally printed layers on the specimen by printing a thermoplastic polymer in transverse and longitudinal directions to build a 3D printed product, (c) heating the 3D printed product so that the 3D printed product thermally transforms in a specific direction, and (d) controlling heating time to obtain a 4D printed product having a desired final shape which is formed through the transformation of the 3D printed product over the heating time.
    Type: Grant
    Filed: July 31, 2019
    Date of Patent: June 14, 2022
    Inventors: Keun Park, Bona Goo
  • Patent number: 11345035
    Abstract: Provided is a control system of an industrial robot that enables a robot to be stopped safely while reducing a load on a mechanical unit and avoiding interference with the peripheral environment when a command for which an excessive load is applied to the mechanical unit of the robot is received.
    Type: Grant
    Filed: March 5, 2020
    Date of Patent: May 31, 2022
    Assignee: FANUC CORPORATION
    Inventor: Takahiro Okamoto
  • Patent number: 11339580
    Abstract: Embodiments of the invention provide a pool cleaner control system to locate and remove debris from an aquatic environment. The control system comprises an imaging device configured to be mounted on a housing of a pool cleaner and a controller in communication with the imaging device and configured to control the imaging device to acquire one or more primary images from the imaging device. The primary image is received by the controller from the imaging device. Debris is identified within the aquatic environment and a path score is calculated for at least two potential paths having debris within the aquatic environment. The pool cleaner is navigated along a selected path, the selected path being the one of the at least two potential paths having a highest path score.
    Type: Grant
    Filed: August 22, 2018
    Date of Patent: May 24, 2022
    Assignee: PENTAIR WATER POOL AND SPA, INC.
    Inventors: Kevin Braidic, John Rotundo, Daniel B. Freve, William Sowerwine
  • Patent number: 11271773
    Abstract: The invention relates to an arrangement and a method performing data exchange between various integrated circuits, IC, (3,4,5,6,7) in an automotive control system wherein the data are exchanged by a bus and has the object to enable ASIL C/D system coverage and to tie various ICs (clocks, regulators, memory interfaces, sensor signal conditioners, power management ICs etc.) This is solved the data are exchanged by a bus being ASIL C/D compliant and forming a common protocol to exchange information among the integrated circuits (3,4,5,6,7). The method is solved by functions implemented within the bus as setting the frequency of operation; arbitrating roles of the integrated circuits as master or slave device; checking integrity of exchanged data; frame repetition; detecting bus stuck-at failure modes; filtering or denouncing failures and warnings from peripheral devices; detecting remote out of specification local clock; and monitoring and predicting system reliability and profiling maintenance events.
    Type: Grant
    Filed: June 14, 2018
    Date of Patent: March 8, 2022
    Assignee: Renesas Electronics America Inc.
    Inventors: Manjit Singh, Serge Di Matteo, Jan Krellner, Kenneth C. Kwok
  • Patent number: 11238717
    Abstract: A method includes receiving first position data from at least one of a TOF sensor or a LIDAR. The first position data is representative of a position of a human within a hazardous environment. The method further includes receiving second position data associated with a plurality of wearable sensors associated with a plurality of personnel. The method further includes comparing the first position data to the second position data to identify a match between the first position data and the second position data. The method further includes sensing a signal to an alert device associated with the hazardous environment such that the alert device issues an alert in response to the first position data failings to match the second position data.
    Type: Grant
    Filed: December 8, 2020
    Date of Patent: February 1, 2022
    Assignee: Transocean Sedco Forex Ventures Limited
    Inventors: Paul Johnson, Travis McGuire
  • Patent number: 11235469
    Abstract: A robot controller is a robot controller that couples a three-dimensional measuring device configured to perform three-dimensional measurement of an object using a laser beam and a human detection sensor configured to detect a person based on an image obtained by imaging a detection range including the object, the robot controller including a human detection signal receiver configured to receive, from the human detection sensor, a signal indicating that the person is present within the detection range and a robot arm controller configured to control a robot arm based on the signal. When the human detection signal receiver receives, from the human detection sensor, the signal indicating that the person is present within the detection range, the robot arm controller controls the robot arm to set an emitting direction of the laser beam to a direction different from a direction of the person.
    Type: Grant
    Filed: June 25, 2019
    Date of Patent: February 1, 2022
    Assignee: SEIKO EPSON CORPORATION
    Inventors: Hirosada Horiguchi, Shuichi Wakabayashi, Makiko Hino, Kei Kamakura
  • Patent number: 11235465
    Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
    Type: Grant
    Filed: February 5, 2019
    Date of Patent: February 1, 2022
    Assignee: REALTIME ROBOTICS, INC.
    Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones
  • Patent number: 11230008
    Abstract: The disclosure relates to an optimisation method for calculating an optimised movement path of a coating robot (1), including the following steps: defining consecutive path points of the movement path using path point data, wherein the path point data defines the spatial position and orientation of the application device (7) at each path point; calculating possible robot configurations for the individual path points of the movement path, wherein each robot configuration includes all axial positions of all robot axes (A1-A7) and at least some of the path points can be reached optionally via multiple different robot configurations; calculating a path point-related and preferable also sequence-related quality value individually for the different possible robot configurations of the individual path points, such that each robot configuration is assigned a respective quality value; and—selecting one of the possible robot configurations for the individual path points according to the quality value of the differen
    Type: Grant
    Filed: September 4, 2017
    Date of Patent: January 25, 2022
    Assignee: Dürr Systems AG
    Inventor: Sven Schweigler
  • Patent number: 11207778
    Abstract: Systems and a method determine a sequence of joint values of an external axis along a sequence of targets. Inputs are received, including robot representation, tool representation, sequence of targets, kinematics of the axis joints, and/or type of robot-axis motion. For each target, it is generated at least one weight factor table representing, for each available configuration of the axis joint motion, a combined effort of the robot motion and the axis motion depending on the type of combined robot-axis motion. Valid weight factor values of the table are determined by simulating collision free trajectories for reaching the target. The sequence of joint values of the at least one external axis is determined by finding from the weight factor table a sequence of joint values for which the sum of their corresponding weight factors for reaching the target location sequence is minimized.
    Type: Grant
    Filed: June 30, 2017
    Date of Patent: December 28, 2021
    Assignee: Siemens Industry Software Ltd.
    Inventor: Moshe Hazan
  • Patent number: 11207777
    Abstract: A robot controlling device inputs an operation state of a worker from a sensor. The robot controlling device calculates a position vector and a velocity vector of each of the robot and the worker from the operation state of the robot and the operation state of the worker, generates a risk determination area (an area where the robot is stopped, an area where the robot is evacuated, and an area where the robot is decelerated) around each of the robot and the worker, determines a risk based on overlapping between the generated risk determination area of the robot and the generated risk determination area of the worker, generates a collision avoidance trajectory in which collision between the robot and the worker is avoided from a result of the determination, and controls the robot based on the generated collision avoidance trajectory.
    Type: Grant
    Filed: December 31, 2018
    Date of Patent: December 28, 2021
    Assignee: Hitachi, Ltd.
    Inventors: Nobuaki Nakasu, Kei Imazawa
  • Patent number: 11179850
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning a path of motion for a robot. In some implementations, a candidate path of movement is determined for each of multiple robots. A swept region, for each of the multiple robots, is determined that the robot would traverse through along its candidate path. At least some of the swept regions for the multiple robots is aggregated to determine amounts of overlap among the swept regions at different locations. Force vectors directed outward from the swept regions are assigned, wherein the force vectors have different magnitudes assigned according to the respective amounts of overlap of the swept regions at the different locations. A path for a particular robot to travel is determined based on the swept regions and the assigned magnitudes of the forces.
    Type: Grant
    Filed: April 24, 2019
    Date of Patent: November 23, 2021
    Assignee: Intrinsic Innovation LLC
    Inventors: Jean-Francois Dupuis, Keegan Go, Maryam Bandari
  • Patent number: 11172997
    Abstract: Described herein are systems, apparatus, and methods for precise placement and guidance of tools during a surgical procedure, particularly a spinal surgical procedure. The system features a portable robot arm with an end effector for precise positioning of a surgical tool. The system requires only minimal training by surgeons/operators, is intuitive to use, and has a small footprint with significantly reduced obstruction of the operating table. The system works with existing, standard surgical tools, does not require increased surgical time or preparatory time, and safely provides the enhanced precision achievable by robot-assisted systems.
    Type: Grant
    Filed: November 20, 2015
    Date of Patent: November 16, 2021
    Assignee: KB Medical, SA
    Inventors: Szymon Kostrzewski, Olivier Chappuis, Billy Nussbaumer, Daniel Gehriger, Roderik Berthelin
  • Patent number: 11115477
    Abstract: A session control apparatus, a session control method, and a session control program may maintain a quality of input data output to a processing module. A processing module has a defined condition regarding a quality of the input data. The session control apparatus includes a selection unit and a switching unit. The selection unit selects a second device when the input data fails to satisfy the condition. The switching unit switches a first device that outputs the input data to the processing module to the second device selected by the selection unit.
    Type: Grant
    Filed: November 29, 2018
    Date of Patent: September 7, 2021
    Assignee: OMRON Corporation
    Inventors: Tetsuji Yamato, Taiji Yoshikawa
  • Patent number: 11112801
    Abstract: An operation method of a robot for leading a follower to a destination within an open space includes: calculating a distance between the follower and the robot; when it is determined that the distance is not greater than a threshold, determining a pre-movement location of the robot in the open space and an orientation of the robot, and calculating a linear speed and an angular speed for the robot based on the pre-movement location and the orientation of the robot and the destination; moving according to the linear speed and the angular speed; determining whether the robot has arrived at the destination according to the current position; and repeating the previous steps when it is determined that the robot has not arrived at the destination.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: September 7, 2021
    Assignee: National Chiao Tung University
    Inventors: Kai-Tai Song, Yu-Heng Chiu, Shao-Huan Song
  • Patent number: 11104007
    Abstract: Provided are an apparatus and method for controlling a robot. The apparatus includes an active force detector configured to detect an active force, to which a natural force caused by a physical interaction between a user and a robot and not reflecting an operation intention of the user is applied, applied by the user to the robot operating through the physical interaction with the user, a compensator configured to determine a compensation force for actively compensating for the natural force applied to the active force by using a method of optimizing an internal parameter of a predefined dynamics model, and a controller configured to determine an operation instruction for controlling an operation of the robot from a result obtained by applying the compensation force determined by the compensator to the active force detected by the active force detector and operate the robot.
    Type: Grant
    Filed: January 2, 2020
    Date of Patent: August 31, 2021
    Assignee: Research & Business Foundation Sungkyunkwan University
    Inventors: Ja Choon Koo, Kyeong Ha Lee, Seung Guk Baek, Hyun Jin Lee
  • Patent number: 11087200
    Abstract: In Multi-Policy Decision-Making (MPDM), many computationally-expensive forward simulations are performed in order to predict the performance of a set of candidate policies. In risk-aware formulations of MPDM, only the worst outcomes affect the decision making process, and efficiently finding these influential outcomes becomes the core challenge. Recently, stochastic gradient optimization algorithms, using a heuristic function, were shown to be significantly superior to random sampling. In this disclosure, it was shown that accurate gradients can be computed-even through a complex forward simulation—using approaches similar to those in dep networks. The proposed approach finds influential outcomes more reliably, and is faster than earlier methods, allowing one to evaluate more policies while simultaneously eliminating the need to design an easily-differentiable heuristic function.
    Type: Grant
    Filed: March 16, 2018
    Date of Patent: August 10, 2021
    Assignee: THE REGENTS OF THE UNIVERSITY OF MICHIGAN
    Inventors: Edwin Olson, Dhanvin H. Mehta, Gonzalo Ferrer
  • Patent number: 11086314
    Abstract: Provided is a robotic device including: a chassis including a set of wheels; one or more motors for driving the set of wheels; a suspension system; a rechargeable battery for providing power to the robotic device; a controller for controlling movement of the robotic device; a processor; a set of sensors; and, a signal boosting device. Further provided is a method for providing a mobile signal boost including: providing a robotic device including: a chassis including a set of wheels; a motor for driving the set of wheels; a suspension system; a rechargeable battery for providing power to the device; a control system module for controlling the movement of the device; a processor; and, a set of sensors; providing a signal boosting device coupled to the robotic device; and, transporting the signal boosting device to one or more locations within an environment of the robotic device by the robotic device.
    Type: Grant
    Filed: January 9, 2019
    Date of Patent: August 10, 2021
    Assignee: AI Incorporated
    Inventor: Ali Ebrahimi Afrouzi
  • Patent number: 11072071
    Abstract: A robot system models the behavior of a user when the user occupies an operating zone associated with a robot. The robot system predicts future behaviors of the user, and then determines whether those predicted behaviors interfere with anticipated behaviors of the robot. When such interference may occur, the robot system generates dynamics adjustments that can be implemented by the robot to avoid such interference. The robot system may also generate dynamics adjustments that can be implemented by the user to avoid such interference.
    Type: Grant
    Filed: September 19, 2017
    Date of Patent: July 27, 2021
    Assignee: AUTODESK, INC.
    Inventors: Evan Atherton, David Thomasson, Heather Kerrick, Hui Li
  • Patent number: 11045948
    Abstract: A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N?1 or N pieces of trajectory information respectively indicating N?1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N?1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.
    Type: Grant
    Filed: February 5, 2020
    Date of Patent: June 29, 2021
    Assignee: MUJIN, INC.
    Inventor: Rosen Diankov
  • Patent number: 10953538
    Abstract: A control device that outputs a command for a robot includes a machine learning device that learns a command for the robot. The machine learning device includes a state observation unit that observes a state of the robot and a state of a person present in a peripheral area of the robot, as state variables representing a current state of an environment, a determination data acquisition unit that acquires determination data representing an interference state between the robot and the person, and a learning unit that learns the state of the robot, the state of the person present in the peripheral area of the robot, and the command for the robot obtained by associating the state of the robot and the state of the person present in the peripheral area of the robot by using the state variables and the determination data.
    Type: Grant
    Filed: August 6, 2018
    Date of Patent: March 23, 2021
    Assignee: Fanuc Corporation
    Inventors: Tetsuro Matsudaira, Shuu Inoue
  • Patent number: 10899006
    Abstract: Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.
    Type: Grant
    Filed: May 1, 2018
    Date of Patent: January 26, 2021
    Assignee: X Development LLC
    Inventor: Benjamin Holson
  • Patent number: 10849591
    Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.
    Type: Grant
    Filed: April 18, 2018
    Date of Patent: December 1, 2020
    Assignees: INTUITIVE SURGICAL OPERATIONS, INC., SIEMENS HEALTHCARE GMBH
    Inventors: Mahdi Azizian, Jonathan M. Sorger, Holger Kunze, Lutz Blohm
  • Patent number: 10824166
    Abstract: A method of distributing task regions for a plurality of cleaning devices, including: dividing a task map into a plurality of basic sub-regions according to concave corners corresponding to the shape of the task map; combining each two adjacent basic sub-regions, and calculating basic cleaning time corresponding to each of the combined basic sub-regions; repeatedly combining each two adjacent basic sub-regions according to the basic cleaning time, and obtaining a basic partition result; selecting starting blocks according to positions of the plurality of task sub-regions in the basic partitioning result; combining the task sub-regions according to the position of each starting block, the position of each task sub-region, and the cleaning time corresponding to each task sub-region, and obtaining the task region distribution result; enabling cleaning devices to perform cleaning tasks according to the position of each cleaning device and the task region distribution result.
    Type: Grant
    Filed: May 13, 2019
    Date of Patent: November 3, 2020
    Assignee: QUANTA COMPUTER INC.
    Inventors: Tao-Chih Hsu, Yang-Sheng Wang, Chun-Ting Chen, Yu-Ching Chen
  • Patent number: 10816989
    Abstract: A method of distributing task areas, adapted to a cleaning device, is provided, including: receiving a task map; obtaining a shape that corresponds to the task map; dividing the task map into a plurality of sub-regions according to a plurality of recesses in the shape; merging the two adjacent sub-regions that have a common long side or short side, and obtaining a plurality of merge results that correspond to each of the merge actions; calculating a plurality of cleaning times for each of the merge results for the cleaning device; selecting the merge result that has the shortest cleaning times as a first distribution result; and enabling the cleaning device to perform a cleaning task according to the first distribution result.
    Type: Grant
    Filed: November 5, 2018
    Date of Patent: October 27, 2020
    Assignee: QUANTA COMPUTER INC.
    Inventors: Yu-Ching Chen, Tao-Chih Hsu, Yang-Sheng Wang, Chun-Ting Chen
  • Patent number: 10802494
    Abstract: A method for motion planning for autonomous moving objects (AMO) includes continuously computing or updating a time-dependent trajectory of an AMO to a destination by a computing device avoiding obstacles en route to the destination. The time-dependent trajectory is computed using one or more motion planning computation procedures. The method further includes performing a switching to another motion planning computation procedure when an obstacle is detected or not detected anymore. An obstacle is determined to be detected when a point on the computed trajectory lies within or touches a guard area (GA) around the obstacle. The border of the GA has a certain distance from the detected obstacle.
    Type: Grant
    Filed: February 16, 2017
    Date of Patent: October 13, 2020
    Assignee: NEC CORPORATION
    Inventors: Francesco Alesiani, Chairit Wuthishuwong
  • Patent number: 10773385
    Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.
    Type: Grant
    Filed: October 11, 2019
    Date of Patent: September 15, 2020
    Assignee: MUJIN, Inc.
    Inventors: Rosen Nikolaev Diankov, Huan Liu, Denys Kanunikov
  • Patent number: 10766492
    Abstract: A driving assistance method detects a behavior of a moving object causing a blind spot area around a host vehicle, predicts a probability of action that the moving object takes when an obstacle is present in the blind spot area, according to a road structure around the host vehicle, and compares the behavior of the moving object with the probability of action that the moving object takes, so as to predict an action of the moving object.
    Type: Grant
    Filed: March 2, 2017
    Date of Patent: September 8, 2020
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Takuya Nanri, Fang Fang
  • Patent number: 10723025
    Abstract: In some aspects, computer-implemented methods for selecting a robotic tool path for a manufacturing processing system to execute a material processing sequence in three-dimensional space can include: providing to a computer-readable product including robotic system data of a robotic tool handling system and workpiece data relating to a processing path of a tool along the workpiece; generating a plurality of possible robotic tool paths to be performed to move the tool along the processing path; identifying one or more obstacles, or an absence of obstacles, associated with the robotic tool paths; comparing robotic tool paths based on a predetermined robotic parameter to be controlled as the tool moves from the start point to the end point; and based on the identified obstacles, determining feasible tool paths, between the start point and the end point that avoid the obstacles, that can be obtained by adjusting the predetermined robotic parameter.
    Type: Grant
    Filed: July 10, 2018
    Date of Patent: July 28, 2020
    Assignee: Hypertherm, Inc.
    Inventors: Waseem Khan, Mohammad Keshmiri, Chahe Bakmazjian, Liguo Huo
  • Patent number: 10646998
    Abstract: A system and method for optimizing resource usage of a robot, the method including: receiving a first request to execute a first task, where the first task requires a first set of resources of the robot; causing the execution of the first task; receiving a second request to execute at least a second task, wherein the second task requires a second set of resources of the robot; determining whether any resources of the first set of resources and the second set of resources includes at least one overlapping resource; modifying at least one of the first task and the at least a second task when at least one overlapping resource is determined by omitting at the least one overlapping resource; and executing of the first task and the at least a second task as modified.
    Type: Grant
    Filed: November 21, 2018
    Date of Patent: May 12, 2020
    Assignee: INTUITION ROBOTICS, LTD.
    Inventors: Roy Amir, Itai Mendelsohn, Dor Skuler, Shay Zweig
  • Patent number: 10583561
    Abstract: In one embodiment, a virtual boundary is provided in the global coordinates of the area map and is converted into a plurality of line segments corresponding to a plurality of partial maps. In one embodiment, a physical boundary indicator is used during a training/mapping run, with the location added to the area map and the physical boundary indicator later moved. In one embodiment, the virtual boundary changes over time to change cleaning areas, act as a gate, change associated cleaning mode, etc. In one embodiment, virtual areas with boundaries are selected by a user.
    Type: Grant
    Filed: June 1, 2018
    Date of Patent: March 10, 2020
    Assignee: NEATO ROBOTICS, INC.
    Inventors: Sarath Kumar Suvarna, Bryant Pong
  • Patent number: 10558193
    Abstract: To optimize an automatically optimized machining time for machining a workpiece in a machine tool, an original parts program is loaded into a machine tool controller. The machining of the workpiece using the original parts program is simulated, where a motion path generated by the original parts program in the machine tool is determined. The motion path is classified into at least one area of potential optimization in which there is no workpiece contact. The at least one area of potential optimization is assigned a tolerance space. An optimized motion path is determined within the tolerance space. The machining of the workpiece using the modified parts program is simulated. The optimized motion path is displayed and marked. Once a user has approved the modification in the parts program, machining of the workpiece takes place using the modified parts program.
    Type: Grant
    Filed: March 15, 2017
    Date of Patent: February 11, 2020
    Assignee: SIEMENS AKTIENGESELLSCHAFT
    Inventors: Thomas Pitz, Ralf Spielmann
  • Patent number: 10556349
    Abstract: A robotic system is disclosed. The robotic system includes a robot with an arm. The arm is configured to be selectively extendable and retractable. An enclosure is coupled to a distal end of the arm. The enclosure includes a limited range network. The limited range network is configured to communicate with another computing device, when the arm is selectively extended.
    Type: Grant
    Filed: June 6, 2017
    Date of Patent: February 11, 2020
    Inventor: Maan Alduaiji
  • Patent number: 10532462
    Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.
    Type: Grant
    Filed: May 16, 2019
    Date of Patent: January 14, 2020
    Assignee: MUJIN, Inc.
    Inventors: Rosen Diankov, Huan Liu, Denys Kanunikov
  • Patent number: 10421199
    Abstract: A skin for a robot includes a first composite layer structure, a second composite layer structure and a number of first insulating protrusions. The first composite layer structure is used to be arranged on a housing of the robot, and includes a base adhesive layer arranged on the housing of robot, a first supporting layer stacked on the base adhesive layer and a first silver conductive adhesive layer stacked on the first supporting layer. The second composite layer structure covers the first composite layer, and includes a second silver conductive adhesive layer stacked on the first composite layer structure, and a second supporting layer stacked on the second silver conductive adhesive layer. The first insulating protrusions are arranged between the first silver conductive adhesive layer and the second silver conductive adhesive layer, and separate the first silver conductive adhesive layer and the second silver conductive adhesive layer.
    Type: Grant
    Filed: December 21, 2017
    Date of Patent: September 24, 2019
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Bin He, Hailang Zhou, Musen Zhang
  • Patent number: 10398516
    Abstract: A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a pitch rotation axis and to a second one of the limbs by a second revolute joint having a yaw rotation axis; a first drive gear disposed about the pitch rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the yaw rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the pitch rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the yaw rotation axis, the second drive shaft extending along the first
    Type: Grant
    Filed: July 22, 2016
    Date of Patent: September 3, 2019
    Assignee: CMR SURGICAL LIMITED
    Inventors: Thomas Bates Jackson, Luke David Ronald Hares, Keith Marshall, Steven James Randle
  • Patent number: 10395502
    Abstract: In one example, the present disclosure describes a device, computer-readable medium, and method for providing smart mobility assistance. For instance, in one example, a device includes a set of sensors, a processor, a first set of feedback mechanisms, and a communication device. The set of sensors is to monitor an area surrounding a user of a mobility assistance device. The processor is to detect a hazard in the surrounding area, based on the monitoring. The first set of feedback mechanisms is to provide the user with an alert that notifies the user of the hazard. The communication device is to send a notification to a third party informing the third party of the hazard.
    Type: Grant
    Filed: October 8, 2018
    Date of Patent: August 27, 2019
    Assignee: AT&T Intellectual Property I, L.P.
    Inventors: Enrique Eulloqui, Mary Ellen Nester, Mimi Gourley, Jessica Garza, John Staggs, Larry Pearson, Renee Irby, Morgan Waldon, Yvonne Galindo
  • Patent number: 10345814
    Abstract: A control system which for use in a host motor vehicle is configured and intended for recognizing motor vehicles traveling ahead, to the side, and/or behind and preferably stationary objects situated ahead, based on surroundings data obtained from at least one surroundings sensor associated with the host motor vehicle. The at least one surroundings sensor is configured for providing an electronic controller of the control system with surroundings data that represent an area in front of the host motor vehicle.
    Type: Grant
    Filed: August 2, 2017
    Date of Patent: July 9, 2019
    Assignee: TRW AUTOMOTIVE GMBH
    Inventors: Martin Keller, Christian Goette, Torsten Bertram, Andreas Homann, Christian Wissing, Karl-Heinz Glander, Carsten Hass, Till Nattermann, Markus Buss
  • Patent number: 10339370
    Abstract: A method of determining obstacle collision by using an object moving path includes: acquiring a topological skeleton corresponding to a path area on an image including a moving path of an object and an obstacle; determining, from among skeleton points forming the topological skeleton, branch points that are interconnecting points between branches of the topological skeleton; determining a target branch from among the branches by using the branch points; selecting, from among points forming the target branch, a plurality of target points to determine whether the moving path is a collision path of the object; and determining whether the moving path is the collision path by using the target points.
    Type: Grant
    Filed: November 23, 2016
    Date of Patent: July 2, 2019
    Assignee: HANWHA DEFENSE CO., LTD.
    Inventor: JinHan Lee
  • Patent number: 10266201
    Abstract: A guidance system may derive a K-turn path when a vehicle reaches an end of a first way line in a field. The guidance system may send the K-turn path to a steering controller to turn the vehicle around in a headland area to the beginning of a second way-line in the field. A first segment of the K-turn path may turn the vehicle along a first path in a forward direction and a second segment of the K-turn path may turn the vehicle along a second path in a reverse direction. A third segment of the K-turn path may turn the vehicle along a third path in the forward direction to a starting location of the second way-line. The K-turn path uses less area than other types of turns reducing the amount of headland used for turning around the vehicle.
    Type: Grant
    Filed: November 10, 2016
    Date of Patent: April 23, 2019
    Assignee: AGJUNCTION LLC
    Inventors: Tri M. Dang, Timothy J. Sullivan
  • Patent number: 10245729
    Abstract: A sensorized covering, prearranged for covering at least part of a movable structure of an automated device. The sensorized covering is useful for sensing an actual impact or anticipating an imminent impact to the automated device. The sensorized covering includes one or more covering modules wherein each covering module may include contact sensors and/or proximity sensors, a loading bearing structure and/or controls. The individual sensorized modules may be independently connected or controlled, or connected together and collectively controlled. Examples of the automated device my include a movable robots or an automated guided vehicles (AGVs).
    Type: Grant
    Filed: May 16, 2017
    Date of Patent: April 2, 2019
    Assignee: Comau S.p.A.
    Inventors: Stefano Bordegnoni, Francesco Ciniello, Giuseppe Colombina
  • Patent number: 10220514
    Abstract: A method for controlling a manipulator, with the method being particularly suitable for the respecting of predetermined monitoring limits. The method operates by initiating a halting movement or a speed capping based on an identified actual override trend, and is thus suitable, in particular, for path movements by means of spline interpolation.
    Type: Grant
    Filed: December 8, 2015
    Date of Patent: March 5, 2019
    Assignee: KUKA Roboter GmbH
    Inventors: Holger Tronnier, Günther Wiedemann, Stefan Burkhart, Andreas Aurnhammer, Manfred Hüttenhofer
  • Patent number: 10214207
    Abstract: A vehicle, a method and a vehicle observability enhancing system are provided. The system is configured to determine if a host vehicle is positioned within selectively one of an observable zone (A) of at least one detected vehicle, or an unsafe unobservable zone (B) of the at least one detected vehicle. If the host vehicle is positioned within the observable zone (A), the system is arranged to generate a control signal indicative of maintaining the host vehicle in the observable zone (A) of the at least one detected vehicle for at least a predefined time duration before the host vehicle is allowed to enter an unsafe unobservable zone (B) of the at least one detected vehicle.
    Type: Grant
    Filed: September 30, 2016
    Date of Patent: February 26, 2019
    Assignee: Volvo Car Corporation
    Inventors: Jonas Nilsson, Mattias Erik Brannstrom, Mohammad Ali
  • Patent number: 10192195
    Abstract: Systems and methods are provided herein for coordinating motion between components of an inventory system. A first set of instructions associated with a first task to be performed by a first robotic device may be received. A second set of instructions associated with a second task to be performed by a second robotic device may be received. The first and second robotic devices may be configured to utilize corresponding operational areas that may overlap to define an area of overlap. Light information representative of the spatial condition of at least one of the robotic devices may be projected onto a projection surface. The light information may be utilized to determine that at least one of the first and second robotic devices is utilizing the area of overlap. A remedial action may be performed to coordinate motion of the first and second robotic devices within the area of overlap.
    Type: Grant
    Filed: October 25, 2016
    Date of Patent: January 29, 2019
    Assignee: Amazon Technologies, Inc.
    Inventor: Jeremiah David Brazeau