Vision Sensor (e.g., Camera, Photocell) Patents (Class 700/259)
  • Patent number: 11351681
    Abstract: The purpose of the invention is to provide a method for charging a robot and apparatus thereof. The invention according to the environment map and robot self-positioning information which is the position and orientation of the robot in the environment map, moves the robot to a position near a potential or registered charging pile; uses acquisition apparatuses such as laser to carry out line extraction of the structural data of the identification when the robot moves to short-range pile-searching connecting area, and combines with the preset structural data of the identification template, to carry out the recognition of the charging pile, after the collected structural data of the identification and the structural data of the identification template satisfy the preset matching degree, then the charging pile can be connected to the robot for charging.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: June 7, 2022
    Assignee: SHANGHAI SLAMTEC CO., LTD.
    Inventors: Jing Bai, Yuxiang Li, Shikai Chen
  • Patent number: 11345042
    Abstract: A robot system according to the present invention comprises a control apparatus for controlling a robot, and a video display apparatus connected to the control apparatus. The video display apparatus comprises a display unit which displays an image of a real space containing the robot, in real time as the image is taken by a camera, and an augmented reality image processing unit which causes a virtual image of an end effector or robot peripheral equipment of the robot to be displayed on the display unit in superimposed fashion on a real image of the robot taken by the camera. According to the robot system, even when the end effector or the robot peripheral equipment is not present, a robot teaching task can be performed by assuming that they are present.
    Type: Grant
    Filed: November 12, 2019
    Date of Patent: May 31, 2022
    Assignee: Fanuc Corporation
    Inventor: Toshiaki Kamoi
  • Patent number: 11345027
    Abstract: A simulation device according to the present disclosure includes: a model arrangement unit which arranges three-dimensional models of a feeder, a robot and a receiving device in virtual space; a workpiece supply unit which arranges the three-dimensional model of the workpiece on the conveyor surface; and a robot operation control unit which causes the robot to operate so as to move the workpiece on the conveyor surface to over the receiving surface, in which the workpiece supply unit includes: a reference position calculation part which calculates a position and orientation of the workpiece to be newly arranged, according to set conditions; a workpiece area setting part which sets a workpiece area occupied by the workpiece; an interference area setting part which sets an interference area adjacent to the workpiece area; a display control part which displays a screen indicating the workpiece area and the interference area; and a supply position adjustment part which adjusts a relative position of the workpiece
    Type: Grant
    Filed: April 28, 2020
    Date of Patent: May 31, 2022
    Assignee: FANUC CORPORATION
    Inventor: Hiroyuki Yoneyama
  • Patent number: 11338435
    Abstract: A gripping system includes a hand that grips a workpiece, a robot that supports the hand and changes at least one of a position and a posture of the hand, and an image sensor that acquires image information from a viewpoint interlocked with at least one of the position and the posture of the hand. Additionally, the gripping system includes a construction module that constructs a model by machine learning based on collection data. The model corresponds to at least a part of a process of specifying an operation command of the robot based on the image information acquired by the image sensor and hand position information representing at least one of the position and the posture of the hand. An operation module executes the operation command of the robot based on the image information, the hand position information, and the model, and a robot control module operates the robot based on the operation command of the robot operated by the operation module.
    Type: Grant
    Filed: November 19, 2018
    Date of Patent: May 24, 2022
    Inventors: Shota Ishikawa, Koji Sokabe, Keisuke Nakamura, Masaru Adachi, Yuichi Sasaki, Antoine Pasquali, Thomas Wilmotte
  • Patent number: 11338441
    Abstract: A calibration system for robot tool including a robot arm adopting a first coordinate system, a tool arranged on a flange of the robot arm, and an imaging device adopting a second coordinate system is disclosed, wherein an image sensing area is established by the image device. A calibration method is also disclosed and includes steps of: controlling the robot arm to move for leading a tool working point (TWP) of the tool enters the image sensing area; recording a current gesture of the robot arm as well as a specific coordinate of the TWP currently in the second coordinate system; obtaining a transformation matrix previously established for describing a relationship between the first and the second coordinate systems; and importing the specific coordinate and the current gesture to the transformation matrix for calculating an absolute position of the TWP in the first coordinate system.
    Type: Grant
    Filed: March 5, 2020
    Date of Patent: May 24, 2022
    Assignee: DELTA ELECTRONICS, INC.
    Inventors: Yi-Jiun Shen, Yu-Ru Huang, Hung-Wen Chen
  • Patent number: 11338442
    Abstract: A robot apparatus which does assembly by tilting a workpiece which is to be a fitting component, and bringing a part of a surface of the workpiece which is the fitting component and a part of a surface of a workpiece which is to be a fitted component, into contact with each other a plurality of times, when inserting the workpiece which is the fitting component into the workpiece which is the fitted component.
    Type: Grant
    Filed: June 12, 2019
    Date of Patent: May 24, 2022
    Assignee: Canon Kabushiki Kaisha
    Inventor: Takayuki Ogawara
  • Patent number: 11338823
    Abstract: An ADV includes a method to combine data from multiple sensors. The method compresses video data from a camera to generate compressed video data. The compressed video data are segmented. The method time synchronizes each segment of the compressed video data with data from other sensors. The method then combines each segment of the compressed video data with the corresponding time-synchronized sensor data for the other sensors. In one embodiment, each segment of the compressed video data is independently decodable. In another embodiment, each segment of the compressed video data includes a compressed video unit that is prepended with a buffered portion of the compressed video data that immediately precede the compressed video unit. The length of the compressed video unit is smaller than the length of the independently decodable segment to offer finer granularity in time synchronizing the compressed video data with the other sensor data with a tradeoff.
    Type: Grant
    Filed: April 29, 2019
    Date of Patent: May 24, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Shuangcheng Guo, Shuai Wang, Shengjin Zhou, Ji Wan, Haidong Liu, Ning Qu, Hongshun Shen, Manjiang Zhang
  • Patent number: 11331694
    Abstract: A parcel supply method and apparatus, an electronic device and a storage medium, which relate to the technical field of automation. The method comprises: recognizing information about a parcel on a transport belt (S110); obtaining state information about transport vehicles used for transporting the parcel (S120); according to the information about the parcel, the state information about the transport vehicles and state information of a mechanical arm used for grasping the parcel, determining a dispatch task for grasping and placing the parcel (S130); and dispatching, according to the dispatch task, the mechanical arm to grasp the parcel and place the parcel on a corresponding transport vehicle, so that the transport vehicle transports the parcel (S140). In the method, it can be ensured that a parcel is accurately grasped and placed, and accordingly, it can be ensured that automatic parcel supply can be implemented.
    Type: Grant
    Filed: September 20, 2018
    Date of Patent: May 17, 2022
    Assignee: Beijing Jingdong Zhenshi Information Technology Co., Ltd.
    Inventors: Min Liu, Genyun Zhang
  • Patent number: 11325260
    Abstract: A method of operating a mobile robot includes displaying, on a display unit, a photographing menu including a first photographing item for allowing the mobile robot to perform a specific motion for photographing and a second photographing item for allowing the mobile robot to photograph a user, displaying a screen for guiding a motion setting of the mobile robot on the display unit when the first photographing item is selected, performing, by the mobile robot, a corresponding motion based on an input motion setting for a first reference time when the motion setting of the mobile robot is input, and displaying a result screen on the display unit after the first reference time has elapsed.
    Type: Grant
    Filed: June 12, 2019
    Date of Patent: May 10, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Junhee Yeo, Seunghee Kim, Yongjae Kim
  • Patent number: 11321575
    Abstract: A method for liveness detection includes: acquiring a first depth map captured by a depth sensor and a first target image captured by an image sensor; performing quality detection on the first depth map to obtain a quality detection result of the first depth map; and determining a liveness detection result of a target object in the first target image based on the quality detection result of the first depth map. The present disclosure can improve the accuracy of liveness detection.
    Type: Grant
    Filed: May 18, 2020
    Date of Patent: May 3, 2022
    Assignee: BEIJING SENSETIME TECHNOLOGY DEVELOPMENT CO., LTD.
    Inventors: Tianpeng Bao, Liwei Wu, Kai Yang
  • Patent number: 11288836
    Abstract: Provided are an apparatus and method for managing a feature point map. The method includes generating an initial travel path through which an environmental information collecting entity moves, determining the generated initial travel path as a travel path for detection and controlling the environmental information collecting entity along the determined travel path for detection, receiving environmental information from the environmental information collecting entity, extracting feature point information from the environmental information, generating a feature point map from the feature point information, and storing the feature point map.
    Type: Grant
    Filed: March 18, 2020
    Date of Patent: March 29, 2022
    Assignee: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE
    Inventors: Sang Heon Park, Young Suk Yoon, Hyun Woo Cho, Sung Uk Jung
  • Patent number: 11285606
    Abstract: A control device includes a processor which, when an accessory is fitted onto an apparatus, controls a driver such that the accessory interferes with operation of a movable part of the apparatus, acquires data indicating a position of the movable part at which the accessory interferes with the operation of the movable part, and controls the driver such that the movable part is driven within a movable range which is set based on the acquired data indicating the position of the movable part.
    Type: Grant
    Filed: September 13, 2019
    Date of Patent: March 29, 2022
    Assignee: CASIO COMPUTER CO., LTD.
    Inventors: Kenji Nakayama, Toshiya Kuno
  • Patent number: 11281906
    Abstract: A monitor device includes a camera for capturing a motion image of a motion of a robot device and an acceleration sensor for detecting an operational status of the robot device. A storage control unit for a robot controller performs control for storing, in a storage unit, a motion image captured by the camera and attached with a time, and control for storing, in the storage unit, an acceleration acquired from an acceleration sensor and attached with a time. When the operational status of the robot device deviates from a reference operational status, an extraction unit extracts, from the storage unit, a motion image in a period preceding the deviation from the reference operational status and stores the extracted motion image in the storage unit.
    Type: Grant
    Filed: June 10, 2020
    Date of Patent: March 22, 2022
    Assignee: FANUC CORPORATION
    Inventor: Masafumi Ooba
  • Patent number: 11279023
    Abstract: A system and method is provided for determining grasping positions for two-handed grasps of industrial objects. The system may include a processor configured to determine a three dimensional (3D) voxel grid for a 3D model of a target object. In addition, the processor may be configured to determine at least one pair of spaced apart grasping positions on the target object at which the target object is capable of being grasped with two hands at the same time based on processing the 3D voxel grid for the target object with a neural network trained to determine grasping positions for two-handed grasps of target objects using training data. Such training data may include 3D voxel grids of a plurality of 3D models of training objects and grasping data including corresponding pairs of spaced-apart grasping positions for two-handed grasps of the training objects. Also, the processor may be configured to provide output data that specifies the determined grasping positions on the target object for two-handed grasps.
    Type: Grant
    Filed: February 28, 2017
    Date of Patent: March 22, 2022
    Assignee: Siemens Industry Software Inc.
    Inventors: Erhan Arisoy, Guannan Ren, Rafael Blumenfeld, Ulrich Raschke, Suraj Ravi Musuvathy
  • Patent number: 11276194
    Abstract: Provided are a method and a device that can efficiently generate a training dataset.
    Type: Grant
    Filed: March 28, 2019
    Date of Patent: March 15, 2022
    Assignee: National University Corporation Nara Institute of Science and Technology
    Inventors: Keita Tomochika, Takuya Kiyokawa, Tsukasa Ogasawara, Jun Takamatsu, Ming Ding
  • Patent number: 11267138
    Abstract: The present invention is provided to achieve smooth devanning or depalletizing of rectangular packages while managing various situations. Package identification codes 10a, 10b, 10c, 10d are displayed at a predetermined position of each of four surfaces of front, back, left and right or on each of all surfaces of a package 5A having a rectangular shape, and code data-of the identification codes is identified by a predetermined controller via a reading unit. The code data includes size information of a height size and a width size of a code display surface of the package 5A. The controller of a robot having the reading unit and a robot hand is configured to position the robot hand with the package 5A based on a code display position and the size information.
    Type: Grant
    Filed: November 6, 2018
    Date of Patent: March 8, 2022
    Inventors: Hideki Iino, Kiyoshi Aoki, Hayato Horikoshi
  • Patent number: 11260531
    Abstract: An end effector calibration assembly includes an electronic controller, a first camera assembly communicatively coupled to the electronic controller, and a second camera assembly communicatively coupled to the electronic controller. A first image capture path of the first camera assembly intersects a second image capture path of the second camera assembly. The electronic controller receives image data from the first camera assembly, receives image data from the second camera assembly, and calibrates a position of the robot end effector based on the image data received from the first camera assembly and the second camera assembly.
    Type: Grant
    Filed: October 5, 2018
    Date of Patent: March 1, 2022
    Assignee: Advanced Solutions Life Sciences, LLC
    Inventors: Scott Douglas Cambron, Kyle Eli
  • Patent number: 11253999
    Abstract: A machine learning device includes a state observation unit for observing, as state variables, an image of a workpiece captured by a vision sensor, and a movement amount of an arm end portion from an arbitrary position, the movement amount being calculated so as to bring the image close to a target image; a determination data retrieval unit for retrieving the target image as determination data; and a learning unit for learning the movement amount to move the arm end portion or the workpiece from the arbitrary position to a target position. The target position is a position in which the vision sensor and the workpiece have a predetermined relative positional relationship. The target image is an image of the workpiece captured by the vision sensor when the arm end portion or the workpiece is disposed in the target position.
    Type: Grant
    Filed: March 22, 2019
    Date of Patent: February 22, 2022
    Assignee: FANUC CORPORATION
    Inventors: Fumikazu Warashina, Yuutarou Takahashi
  • Patent number: 11256266
    Abstract: The present invention relates to a method of controlling a cart robot in a movement restricted area and a cart robot for implementing the same. A cart robot which controls movement thereof in a movement restricted area according to an embodiment of the present invention includes a positioning sensor configured to receive a signal from a transmission module, a movement unit configured to move the cart robot, and a controller configured to control the movement unit to park the cart robot around the movement restricted area when the positioning sensor receives data for notifying that the cart robot enters the movement restricted area from the transmission module.
    Type: Grant
    Filed: August 21, 2019
    Date of Patent: February 22, 2022
    Assignee: LG ELECTRONICS INC.
    Inventor: Dongeun Lee
  • Patent number: 11247341
    Abstract: A control apparatus includes a force sensation information acquiring unit for acquiring force sensation information representing a magnitude of at least one of a force and a torque at a distal end of a manipulator while a target item is being transported; a mass information acquiring unit for acquiring mass information representing a mass of the item; a plan information acquiring unit for acquiring plan information representing content of a plan of a trajectory; a force sensation estimating unit for estimating a magnitude of at least one of a force and a torque to be detected at the distal end of the manipulator; and a first detecting unit for detecting an abnormality, based on the magnitude of at least one of the force and the torque represented by the force sensation information and the magnitude of at least one of the force and the torque estimated by the estimating unit.
    Type: Grant
    Filed: May 24, 2020
    Date of Patent: February 15, 2022
    Assignee: MUJIN, Inc.
    Inventors: Yoshiki Kanemoto, Rosen Diankov
  • Patent number: 11240181
    Abstract: Systems and methods involving AI-assisted service provisioning and modification for delivering message-based services.
    Type: Grant
    Filed: November 9, 2020
    Date of Patent: February 1, 2022
    Assignee: Jiseki Health, Inc.
    Inventors: Chandra Nagaraja, Tushar Vasisht
  • Patent number: 11207788
    Abstract: A hand control apparatus including an extracting unit extracting a grip pattern of an object having a shape closest to that of the object acquired by a shape acquiring unit from a storage unit storing and associating shapes of plural types of objects and grip patterns, a position and posture calculating unit calculating a gripping position and posture of the hand in accordance with the extracted grip pattern, a hand driving unit causing the hand to grip the object based on the calculated gripping position and posture, a determining unit determining if a gripped state of the object is appropriate based on information acquired by at least one of the shape acquiring unit, a force sensor and a tactile sensor, and a gripped state correcting unit correcting at least one of the gripping position and the posture when it is determined that the gripped state of the object is inappropriate.
    Type: Grant
    Filed: February 4, 2019
    Date of Patent: December 28, 2021
    Assignee: FANUC CORPORATION
    Inventors: Wenjie Chen, Tetsuaki Kato, Kaimeng Wang
  • Patent number: 11209790
    Abstract: An actuator control system includes: a transmission control unit configured to transmit final data, which is a final result of the computation by a sensor output computation unit, and to transmit intermediate data before transmitting the final data; and a command value computation unit configured to compute a command value for driving an actuator, based on the intermediate data and the final data transmitted by the transmission control unit.
    Type: Grant
    Filed: April 3, 2017
    Date of Patent: December 28, 2021
    Assignee: OMRON CORPORATION
    Inventors: Taku Oya, Hiroyuki Yanagi, Yasuaki Abe, Yuki Taniyasu
  • Patent number: 11202543
    Abstract: A cleaner including a base defining a suction chamber, a brush roll driven by a brush roll motor, a sensor configured to sense a parameter related to a floor; and a controller having a memory and electronic processor. The controller is configured to receive the parameter, control the brush roll motor based on the parameter and a first floor coefficient, determine a second floor coefficient based on the parameter, and control the brush roll motor based on the second floor coefficient.
    Type: Grant
    Filed: January 16, 2019
    Date of Patent: December 21, 2021
    Assignee: Techtronic Floor Care Technology Limited
    Inventors: Kevin Pohlman, Christopher M. Charlton
  • Patent number: 11199852
    Abstract: A mobile robot includes a travel drive unit configured to move a main body, an image acquisition unit configured to acquire a plurality of images by continuously photographing surroundings of the main body, a storage configured to store the plurality of continuous images acquired by the image acquisition unit, a sensor unit having one or more sensors configured to sense an object during the movement of the main body, and a controller configured to, in response to the sensing of the object by the sensor unit, select an image acquired at a specific point in time earlier than an object sensing time of the sensor unit from among the plurality of continuous images based on a moving direction and a moving speed of the main body, and recognize an attribute of the object included in the selected image acquired at the specific point in time.
    Type: Grant
    Filed: August 24, 2017
    Date of Patent: December 14, 2021
    Assignee: LG ELECTRONICS INC.
    Inventors: Dongki Noh, Juhyeon Lee, Junghwan Kim, Seungmin Baek, Wonkeun Yang
  • Patent number: 11200695
    Abstract: There is provided a system including one or a plurality of information processing apparatuses that individually or cooperatively realize functions including a first image acquisition function of acquiring a first image of an object, an angle information acquisition function of acquiring angle information indicating an angle of the object in the first image, a dictionary data generation function of generating dictionary data based on the first image and the angle information, a second image acquisition function of acquiring a second image of the object different from the first image; and an angle estimation function of estimating an angle of the object in the second image based on the second image and the dictionary data.
    Type: Grant
    Filed: November 28, 2017
    Date of Patent: December 14, 2021
    Assignee: Sony Interactive Entertainment Inc.
    Inventors: Norio Nagatsuka, Takeshi Yamagishi
  • Patent number: 11194334
    Abstract: An autonomous mobile device includes a communicator, a map information storage, a mover, a path generator, and a moving controller. The communicator receives first mark information stored in a mark information storage from a mark management server device. The map information storage stores map information concerning a delivery area. The mover moves the autonomous mobile device. The path generator sets a first object to which a first mark is attached as a first delivery destination, and generates a path from a moving start position of the autonomous mobile device to the first delivery destination based on the first mark information and the map information. The moving controller controls the mover to move the autonomous mobile device to the first delivery destination based on the path.
    Type: Grant
    Filed: November 17, 2017
    Date of Patent: December 7, 2021
    Assignee: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA
    Inventors: Yoshihiro Sugishita, Masatsugu Fujita, Tatsuo Sakai
  • Patent number: 11192254
    Abstract: The present disclosure is a robot system including a robot that performs work on a workpiece; a controller that controls the robot; a first camera that captures an image of the workpiece while being moved relative to the workpiece by means of the operation of the robot; and a second camera that is capable of acquiring, in synchronization with image capturing by the first camera, an image that represents the relative positional relationship between the first camera and the workpiece. The controller includes a correcting unit that corrects, on the basis of the image acquired by the second camera, the image-capturing timing of the first camera so that an image is captured at a position at which the workpiece is appropriately captured in the field of view of the first camera.
    Type: Grant
    Filed: November 7, 2019
    Date of Patent: December 7, 2021
    Assignee: FANUC CORPORATION
    Inventor: Kenshirou Oono
  • Patent number: 11185992
    Abstract: A service robot includes a robot body, a main post vertically mounted on the robot body, and at least one service unit provided on the main post to be movable vertically and to be rotatable, and including a service tool. The service unit includes a main plate that is disposed in an inner space of the main post, and a mounting member that is provided to be rotatable along an outer circumferential surface of the main post, and coupled to the main plate. The service tool is mounted on the mounting member, a vertical driving device is disposed in the inner space of the main post to move the main plate vertically, and a rotation driving device is installed on the main plate to rotate the mounting member.
    Type: Grant
    Filed: July 22, 2019
    Date of Patent: November 30, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventor: Hun Keon Ko
  • Patent number: 11181317
    Abstract: Provided is a metal touch sensing apparatus in which recognition performance thereof is improved, a plurality of touch parts are successively manipulated to enter into a specific mode, thereby preventing a refrigerator from being malfunctioned, and touch sensitivity of the refrigerator to be touched for the manipulation is visually adjusted, and a home appliance including the touch apparatus and a method for controlling the same.
    Type: Grant
    Filed: February 7, 2020
    Date of Patent: November 23, 2021
    Assignee: LG Electronics Inc.
    Inventor: Seungje Park
  • Patent number: 11179853
    Abstract: A robot includes an arm via which the robot is configured to perform an operation on a workpiece conveyed in a conveyance direction on a conveyor, and a visualizer which is configured to visualize positional deviation of the robot from the conveyor in at least one of a first direction perpendicular to the conveyance direction and a second direction perpendicular to both the conveyance direction and the first direction.
    Type: Grant
    Filed: September 10, 2019
    Date of Patent: November 23, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Haruhiko Koike, Koichi Kirihara
  • Patent number: 11175676
    Abstract: A method of controlling a mobile robot includes a learning initial operation of acquiring images for respective points, generating descriptors that respectively correspond to a plurality of feature points extracted from the images, and generating nodes that correspond to the images acquired at the respective points, a label generation operation of generating a label descriptor based on the plurality of descriptors, a localization initial operation of acquiring a localization image when a jumping case occurs, and generating respective localization descriptors corresponding to a plurality of localization feature points extracted from the localization image, a comparison target selection operation of matching the label descriptor to each of the localization descriptors and selecting one or more comparison target nodes corresponding to the matched label descriptor, and a last node selection operation of selecting a node estimated as the current position among the one or more comparison target node.
    Type: Grant
    Filed: October 20, 2017
    Date of Patent: November 16, 2021
    Assignee: LG ELECTRONICS INC.
    Inventors: Seungwook Lim, Taekyeong Lee, Dongki Noh
  • Patent number: 11169509
    Abstract: A robotic unit for manipulating items and products may receive assistance from a product management system if an exception occurs indicating the robotic unit cannot complete a given task with respect to handling the product. The product management system may be associated with a plurality of different assistance centers and response centers providing different types or levels of assistance. The product management system can classify the exception according to hierarchal tiers to determine the type of assistance required. The product management system can then generate and direct an intervention request to one of the response centers based on the classification. The assistance and response centers may be equipped and staffed to provide particularized assistance to the robotic unit. In an example, the robotic unit may store data and instructions received from the assistance and response center for future implementation.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: November 9, 2021
    Assignee: ABB Schweiz AG
    Inventors: Gregory A. Cole, Carlos W. Morato
  • Patent number: 11167422
    Abstract: Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. Systems, methods, apparatuses and computer-readable media instructions are disclosed for interactions with and control of robotic systems, in particular, pick and place systems using soft robotic actuators to grasp, move and release target objects.
    Type: Grant
    Filed: March 30, 2018
    Date of Patent: November 9, 2021
    Assignee: SOFT ROBOTICS, INC.
    Inventors: Michael Rosenstein, Jeff Curhan, Joshua Aaron Lessing, Ryan Knopf, Daniel Harburg, Mark Chiappetta
  • Patent number: 11167414
    Abstract: A robot includes a robot body, a control processor, a detection circuit, a memory, and a determining circuit. The control processor is configured to control the robot body to perform a work on a workpiece while the workpiece is conveyed. The detection circuit is configured to detect external force which the robot body receives from the workpiece. The memory is to store a threshold force. The determining circuit is configured to determine whether the external force is equal to or larger than the threshold force.
    Type: Grant
    Filed: April 26, 2018
    Date of Patent: November 9, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Takeshi Yokoyama, Takahiko Kanamori, Keisuke Yonehara
  • Patent number: 11166769
    Abstract: In some embodiments, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can include a feedback device supported by the body and configured to provide feedback to a user in response to a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode. The function can include at least one: controlling a camera that images a surgical site, instrument clutching to reposition the hand controller apparatus, a pre-set surgery routine, or an operation to control the surgical tool. The change from the first mode to the second mode can be configured to occur within the same function.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: November 9, 2021
    Assignee: Titan Medical Inc.
    Inventors: Brandon Michael Kelly, Michael Darter Collins, Chad Clayton Walters, Jonathan Bradley Duke, Zachary Kevin Durand
  • Patent number: 11161250
    Abstract: The present invention comprises: a main body; an information collecting unit for receiving input of user information; a moving guide unit configured to enable a part of a user's body to be in contact with the main body; a moving unit configured to move the main body; and a control unit which, when sensing that a part of a user's body is in contact with the moving guide unit, controls the moving unit so that the main body moves along a moving route extracted from the user information, wherein the control unit controls the moving unit to allow the main body to move according to a walking speed of the user.
    Type: Grant
    Filed: March 22, 2017
    Date of Patent: November 2, 2021
    Assignee: LG ELECTRONICS INC.
    Inventors: Jungho Yeom, Youngwoo Kim, Dami Choe, Darae Kim
  • Patent number: 11158117
    Abstract: This disclosure relates to methods, non-transitory computer readable media, and systems that use a local-lighting-estimation-neural network to estimate lighting parameters for specific positions within a digital scene for augmented reality. For example, based on a request to render a virtual object in a digital scene, a system uses a local-lighting-estimation-neural network to generate location-specific-lighting parameters for a designated position within the digital scene. In certain implementations, the system also renders a modified digital scene comprising the virtual object at the designated position according to the parameters. In some embodiments, the system generates such location-specific-lighting parameters to spatially vary and adapt lighting conditions for different positions within a digital scene.
    Type: Grant
    Filed: May 18, 2020
    Date of Patent: October 26, 2021
    Assignee: Adobe Inc.
    Inventors: Kalyan Sunkavalli, Sunil Hadap, Nathan Carr, Mathieu Garon
  • Patent number: 11147638
    Abstract: Systems and methods for navigation and control of an implant positioning device are discussed. For example, a method can include operations for accessing an implant plan, establishing a 3-D coordinate system, receiving tracking information, generating control signals, and sending the control signals to the implant positioning device. The implant plan can include location and orientation data describing an ideal implant location and orientation in reference to an implant host. The 3-D coordinate system can provide spatial orientation for the implant positioning device and the implant host. The tracking information can identify current location and orientation data within the 3-D coordinate system for the implant positioning device and implant host during a procedure. The control signals can control operation of the implant positioning device to assist a surgeon in positioning the implant according to the implant plan.
    Type: Grant
    Filed: January 7, 2019
    Date of Patent: October 19, 2021
    Assignee: Blue Belt Technologies, Inc.
    Inventors: Constantinos Nikou, Branislav Jaramaz, Benjamin Oliver McCandless
  • Patent number: 11135722
    Abstract: A simulation device for simulating the operations of a robot that follows a workpiece when the workpiece is conveyed by a conveyer that conveys workpieces along an arc-shaped track. The simulation device includes a robot model arranging section that arranges a robot model in virtual space; a conveyer model arranging section that arranges a conveyer model in the virtual space, the conveyer model being capable of conveying a workpiece model along an arc-shaped virtual track; a workpiece model arranging section that arranges a workpiece model on the conveyer model in the virtual space; a detection device model arranging section that arranges a detection device model in the virtual space capable of detecting the workpiece model; an operation range setting section that sets a following operation range of the robot model in the virtual space; and a simulation execution section that executes simulations.
    Type: Grant
    Filed: October 19, 2017
    Date of Patent: October 5, 2021
    Assignee: FANUC CORPORATION
    Inventors: Hiroyuki Atohira, Yoshiharu Nagatsuka
  • Patent number: 11122380
    Abstract: Methods and systems are provided for providing one or more sound component to a viewer within a media presentation space by a robot having one or more speakers. A method includes an operation for establishing a connection to a media device that is presenting media content to the viewer, and an operation for capturing input from a plurality of sensors for obtaining a map of the media presentation space. The method additionally provides for identifying a position of the viewer and a speaker configuration in the media presentation space. The method allows the robot to move to a location based on the map of the media presentation space, the position of the viewer and the speaker configuration. Moreover, the method provides an operation for receiving one or more sound components for presentation to the user.
    Type: Grant
    Filed: February 21, 2018
    Date of Patent: September 14, 2021
    Assignee: Sony Interactive Entertainment Inc.
    Inventor: Erik Beran
  • Patent number: 11110610
    Abstract: A workbench system comprising: a workbench; a multi-axis robot; a visible light projector; and a controller; wherein the workbench and the robot are located in a common workspace; the controller is configured to: determine a movement operation for the robot; and, using the determined movement operation, control the visible light projector to project a visible light indication onto at least one of a surface of the workbench and a surface of the workspace; the visible light indication indicates a limited area of the workbench and/or workspace, the limited area corresponding to a limited volume of space; and the movement operation is such that, if the robot performs the movement operation, the robot moves entirely within only the limited volume of space.
    Type: Grant
    Filed: June 18, 2019
    Date of Patent: September 7, 2021
    Assignee: BAE Systems plc
    Inventors: David Samuel John Holmes, Martin Knott, Daniel James Middleton
  • Patent number: 11106967
    Abstract: Methods, apparatus, and computer-readable media for determining and utilizing corrections to robot actions. Some implementations are directed to updating a local features model of a robot in response to determining a human correction of an action performed by the robot. The local features model is used to determine, based on an embedding generated over a corresponding neural network model, one or more features that are most similar to the generated embedding. Updating the local features model in response to a human correction can include updating a feature embedding, of the local features model, that corresponds to the human correction. Adjustment(s) to the features model can immediately improve robot performance without necessitating retraining of the corresponding neural network model.
    Type: Grant
    Filed: July 3, 2017
    Date of Patent: August 31, 2021
    Assignee: X DEVELOPMENT LLC
    Inventors: Krishna Shankar, Nicolas Hudson, Alexander Toshev
  • Patent number: 11097898
    Abstract: Provided are an electronic apparatus for transporting an item and an operation method thereof. The operation method includes identifying characteristic information of the item, identifying whether the identified characteristic information comprises main characteristic information associated with planned placement, based on a result of whether the identified characteristic information comprises the main characteristic information, identifying a placement space corresponding to the main characteristic information among a plurality of placement spaces or identifying one placement space among the plurality of placement spaces, and controlling a transport device to transport the item to a location corresponding to the identified placement space.
    Type: Grant
    Filed: September 16, 2020
    Date of Patent: August 24, 2021
    Assignee: Coupang Corp.
    Inventors: Hyun Yop Jung, Kyung Tae Kang, Dae Yong Jang, Da Young Kim, Jeong Seok Oh
  • Patent number: 11097421
    Abstract: An trajectory information generating unit for generating trajectory information defining a trajectory for which a picking hand picks a work at a first position and arranges the work at a second position, an execution control unit for operating a picking apparatus based on trajectory information generated by the trajectory information generating unit, and an execution time estimating unit for estimating a period of time from when the picking apparatus receives an instruction for starting an operation on a work to a time when the operation of the picking apparatus on the work is ended are included. The trajectory information generating unit may adjust an amount of calculation based on an estimation result of the execution time estimating unit.
    Type: Grant
    Filed: October 3, 2019
    Date of Patent: August 24, 2021
    Assignee: MUJIN, INC.
    Inventor: Rosen Diankov
  • Patent number: 11090808
    Abstract: Automatic calculation of a trajectory by taking the interference with an obstacle into account may be performed by calculating trajectory information representing a trajectory on which (i) the picking hand picks, on the first position, the work with a posture associated with the first position included in the first combination; and (ii) the picking hand arranges, on the second position, the work with a posture associated with the second position included in the first combination, and determining whether an interference is present or absent on the trajectory represented by the trajectory information calculated in the calculating a trajectory.
    Type: Grant
    Filed: October 3, 2019
    Date of Patent: August 17, 2021
    Assignee: MUJIN, INC.
    Inventor: Rosen Diankov
  • Patent number: 11094221
    Abstract: A method and system of visually communicating navigation instructions can use translational and rotational arrow cues (TRAC) defined in an object-centric frame while displaying a single principal view that approximates the human's egocentric view of the actual object. A visual guidance system and method can be used to pose a physical object within three-dimensional (3D) space. Received pose data (402) indicates a current position and orientation of a physical object within 3D space, such that the pose data can provide a view of the physical object used to generate a virtual view of the physical object in 3D space. At least two of six degrees of freedom (6DoF) error can be calculated (404) based on a difference between the current position of the physical object and a target pose of the physical object.
    Type: Grant
    Filed: August 2, 2019
    Date of Patent: August 17, 2021
    Assignee: University of Utah Research Foundation
    Inventors: Jacob J Abbott, David E. Usevitch
  • Patent number: 11090811
    Abstract: An apparatus for labeling support structures includes: a chassis having a locomotive assembly; an effector assembly having a first end coupled to the chassis and a second end movable relative to the chassis; a label modification unit at the second end of the effector assembly, the label modification unit including an image sensor; and a controller coupled to the locomotive assembly, the effector assembly and the label modification unit, the controller configured to: obtain label modification data defining a location of a low powered display relative to a reference feature on a support structure for modifying content displayed by the display; control the locomotive assembly to travel to the support structure; detect the reference feature via image data captured at the image sensor; control the effector assembly to place the label modification unit at the location; and control the effector assembly and the label modification unit to modify the content.
    Type: Grant
    Filed: November 13, 2018
    Date of Patent: August 17, 2021
    Assignee: Zebra Technologies Corporation
    Inventor: Robert E. Beach
  • Patent number: 11077560
    Abstract: A manipulator system includes at least one manipulator and a control device assigned to the manipulator; and at least one mobile operating device for controlling the at least one manipulator. In addition, an electronic display device is provided, which is arranged to display at least one optically readable identifier, and at least one optical reading device is provided and arranged to detect the displayed optically readable identifier. The manipulator system is arranged to release control of the manipulator by means of the mobile operating device when the optically readable identifier has been correctly detected by the optical reading device.
    Type: Grant
    Filed: November 29, 2016
    Date of Patent: August 3, 2021
    Assignee: KUKA Roboter GmbH
    Inventor: Yevgen Kogan
  • Patent number: 11077558
    Abstract: Unmanned ground vehicles configured for compact manipulator stowing are disclosed. In some examples, an unmanned ground vehicle includes a main body and a drive system supported by the main body. The drive system includes right and left driven track assemblies mounted on right and left sides of the main body. A manipulator arm is pivotally coupled to the main body and configured to extend from a stowed position to an extended position, and the manipulator arm in the stowed position is contained entirely within a geometric volume of the right and left driven track assemblies.
    Type: Grant
    Filed: August 7, 2017
    Date of Patent: August 3, 2021
    Assignee: FLIR DETECTION, INC.
    Inventors: Timothy R. Ohm, Annan Michael Mozeika, Richard Therrien, James Lindsay