Having Particular Operator Interface (e.g., Teaching Box, Digitizer, Tablet, Pendant, Dummy Arm) Patents (Class 700/264)
  • Patent number: 10328585
    Abstract: A robot control device provided correspondingly to each of a plurality of robots, individually, includes an input interface unit, a control unit, an output interface unit, and a safety circuit unit. The input interface unit receives a signal from an outside of the robot control device. The control unit stops an operation of the corresponding robot when determining that a safety signal is not input to the input interface unit. The output interface unit outputs a signal to the outside of the robot control device. The safety circuit unit has a function of monitoring whether a failure occurs in the safety circuit unit. The safety circuit unit outputs a signal same as the safety signal to the output interface unit when determining that no failure occurs in the safety circuit unit, and determining that the safety signal is input to the input interface unit.
    Type: Grant
    Filed: November 2, 2016
    Date of Patent: June 25, 2019
    Assignee: DENSO WAVE INCORPORATED
    Inventor: Hiroshi Endo
  • Patent number: 10300606
    Abstract: Technologies pertaining to human-robot interaction are described herein. The robot includes a computer-readable memory that comprises a model that, with respect to successful completions of a task, is fit to observed data, where at least some of such observed data pertains to a condition that is controllable by the robot, such as position of the robot or distance between the robot and a human. A task that is desirably performed by the robot is to cause the human to engage with the robot. The model is updated while the robot is online, such that behavior of the robot adapts over time to increase the likelihood that the robot will successfully complete the task.
    Type: Grant
    Filed: April 9, 2018
    Date of Patent: May 28, 2019
    Assignee: Microsoft Technology Licensing, LLC
    Inventors: Dinei A. Florencio, Douglas Guimarães Macharet, Dan Bohus
  • Patent number: 10279480
    Abstract: Methods, apparatus, and computer readable media applicable to robots, such as balancing robots. Some implementations are directed to determining multiple measures of a property of a robot for a given time and determining a final measure of the property of the robot for the given time based on the multiple measures. One or more control commands may be generated based on the final measure of the property and provided to one or more actuators of the robot.
    Type: Grant
    Filed: October 21, 2016
    Date of Patent: May 7, 2019
    Assignee: X DEVELOPMENT LLC
    Inventors: Benjamin Holson, Jeffrey Bingham, Ben Berkowitz
  • Patent number: 10224859
    Abstract: A motor control device includes a detecting unit configured to detect rotation of a motor to be controlled and output a rotation detection value related to the rotation; a drive control unit configured to perform drive control to rotate the motor at a control target value increasing with time based on the rotation detection value; and an abnormality detection unit configured to perform an abnormality detection process for detecting an abnormality in the drive control based on the rotation detection value and a predetermined threshold. The drive control unit performs control to stop rotation of the motor when the abnormality is detected.
    Type: Grant
    Filed: March 19, 2018
    Date of Patent: March 5, 2019
    Assignee: RICOH COMPANY, LTD.
    Inventors: Hiroyuki Kiguchi, Takeo Seki, Natsuko Ishizuka, Takuya Murata
  • Patent number: 10210773
    Abstract: A method including determining an orientation of a display of a welding torch relative to a joint of a workpiece, displaying, on the display of the welding torch during a welding operation, a graphical representation of a welding parameter in relation to a predetermined threshold range for the welding parameter as a position of the welding torch changes, the orientation of the welding torch changes, a movement of the welding torch changes, or some combination thereof, and rotating the graphical representation of the welding parameter based at least in part on the determined orientation of the display of the welding torch relative to the joint. The graphical representation of the welding parameter is associated with the position of the welding torch relative to the joint, the orientation of the welding torch relative to the joint, the movement of the welding torch relative to the joint, or some combination thereof.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: February 19, 2019
    Assignee: Illinois Tool Works Inc.
    Inventors: William Joshua Becker, Jeffrey Dale Weber, Jeremy John Erdmann
  • Patent number: 10201435
    Abstract: A robotic assembly control system is disclosed. The robotic assembly control system includes an exoskeleton apparatus adapted to be worn by a user, at least one robotic assembly, the at least one robotic assembly controlled by the user by way of the exoskeleton, and at least one mobile platform, the at least one mobile platform controlled by the user and wherein the at least one robotic assembly is attached to the at least one mobile platform.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: February 12, 2019
    Assignee: DEKA Products Limited Partnership
    Inventors: Dirk A. van der Merwe, Christopher C. Langenfeld, Stewart M. Coulter, Christopher M. Werner, Michael J. Slate, Ethan D. Stern
  • Patent number: 10200669
    Abstract: A system that incorporates teachings of the present disclosure may, for example, receive a request for a telepresence seat at an event, obtain media content comprising event images of the event that are captured by an event camera system, receive images that are captured by a camera system at a user location, and provide the media content and video content representative of the images to a processor for presentation at a display device utilizing a telepresence configuration that simulates the first and second users being present at the event, where the providing of the first and second video content establishes a communication session between the first and second users. Other embodiments are disclosed.
    Type: Grant
    Filed: July 5, 2017
    Date of Patent: February 5, 2019
    Assignee: AT&T Intellectual Property I, L.P.
    Inventors: Tara Hines, Andrea Basso, Aleksey Ivanov, Jeffrey Mikan, Nadia Morris
  • Patent number: 10166673
    Abstract: A portable apparatus for controlling a robot and a method therefor. The portable apparatus includes: an orientation sensor adapted for measuring orientation of the portable apparatus; an HMI device adapted for detecting two-dimensional manual motion relative to the HMI device; and a processing unit adapted for receiving a first signal representing the measured orientation of the portable apparatus and a second signal representing the detected two-dimensional manual motion relative to the HMI device and controlling a part of the robot to move in a direction in consideration of the measured orientation of the portable apparatus and the detected two-dimensional manual motion relative to the HMI device.
    Type: Grant
    Filed: August 12, 2016
    Date of Patent: January 1, 2019
    Assignee: ABB Schweiz AG
    Inventors: Maciej Orman, Wanli Jiang, Carlos Martinez, Jacek Plesnar
  • Patent number: 10127792
    Abstract: Systems and methods for increasing situational awareness for a tool operator and an individual approaching a working field of the tool are described. An example method includes activating a first device, where the first device has a working field and has an operational path configured to intersect a barrier. A proximity sensor of the second device then detects a presence of an object in a sensor zone of the second device. The second device transmits a wireless signal to the first device indicating the presence of the object in the sensor zone of the second device. Then at least one of the first device and the second device issues a first alert indicating the presence of the object in the sensor zone of the second device.
    Type: Grant
    Filed: May 12, 2017
    Date of Patent: November 13, 2018
    Assignee: The Boeing Company
    Inventors: James J. Troy, Gary E. Georgeson, Scott W. Lea, Daniel J. Wright
  • Patent number: 10086513
    Abstract: A wearable robot device includes a frame, a detector provided on the frame for collecting information on a force applied from a user, a controller for determining a required amount of torque necessary for an operation of the wearable robot device based on the information collected by the detector, and for determining a sound corresponding to the required amount of torque, and an output unit for outputting the determined sound.
    Type: Grant
    Filed: June 15, 2016
    Date of Patent: October 2, 2018
    Assignee: HYUNDAI MOTOR COMPANY
    Inventors: Jung Mi Park, Hyunjin Kang, Jimin Han, Jia Lee
  • Patent number: 10076425
    Abstract: The invention refers to the area of control of a limb device in the form of an artificial limb for a human or a robot limb.
    Type: Grant
    Filed: May 18, 2017
    Date of Patent: September 18, 2018
    Assignee: OTTO BOCK HEALTHCARE GMBH
    Inventors: Dario Farina, Dejan Popovic, Bernhard Graimann, Marko Markovic, Strahinja Dosen
  • Patent number: 10048851
    Abstract: A robot operation apparatus includes a touch panel, a display, an operation detecting unit capable of detecting a touch operation or a drag operation on the touch panel, a motion command generating unit that generates a motion command for operating a robot, and a display control unit that controls display content of the display. The motion command generating unit performs a motion speed determining process in which a motion speed of the robot is determined based on a slide distance that is a distance from a start position of a drag operation detected by the operation detecting unit to a current position. The display control unit performs a speed graphics display process in which a speed graphics in which the slide distance and the motion speed of the robot are correlated and that changes in aspect in accompaniment with changes in the slide distance is displayed on the display.
    Type: Grant
    Filed: March 21, 2016
    Date of Patent: August 14, 2018
    Assignee: DENSO WAVE INCORPORATED
    Inventors: Daisuke Yui, Motoki Kanada, Atsuko Sugano, Hirota Touma
  • Patent number: 9958862
    Abstract: A method and apparatus for controlling an industrial robot relative to an intuitive motion coordinate system. The current 3D position of a touch-screen teach pendant relative to the robot is sensed, and an operator-centric frame of reference is developed relative to the robot-centric frame of reference. A simulacra of the robot is generated, oriented so as to correspond with an operator view of the robot from the current position of the controller, and displayed on the pendant. A motion-control construction, generated and displayed on the pendant, is adapted to receive jog commands from the operator indicative of a respective incremental movement of the simulacra in the operator-centric frame of reference. Each jog command is transformed from the operator-centric frame of reference to the robot-centric frame of reference, and the robot moved in accordance with the transformed jog command.
    Type: Grant
    Filed: August 8, 2014
    Date of Patent: May 1, 2018
    Assignee: Yaskawa America, Inc.
    Inventors: Chetan Kapoor, Ratheesh Rajan
  • Patent number: 9927809
    Abstract: Various techniques are described to facilitate the control of an unmanned aerial vehicle (UAV). A graphical user interface (GUI) is provided that allows a user to control a UAV using familiar gestures. The GUI may include live video that is captured and transmitted by a UAV, which may be displayed in a display window on a portable computing device. Upon a user interacting with the display window, the video may be updated to display a new UAV perspective by changing a zoom level, panning, rotating, etc., based upon the type of user interaction. In response to the user interaction, a command may be generated and transmitted to the UAV, causing the UAV to navigate to a location to reflect the change in perspective. Upon the UAV moving to the new position, the live video data that is displayed may match the perspective indicated by the user gesture.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: March 27, 2018
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventors: Nathan L. Tofte, Brian N. Harvey
  • Patent number: 9894317
    Abstract: There is provided an information processing device, including: a camera that captures a real space; a communication unit that communicates with a terminal device used by a remote user; a streaming control unit that streams a first video captured by the camera from the communication unit to the terminal device if the information processing device itself is selected by the remote user from among a plurality of devices that capture the real space; and a display that displays a user image of the remote user while the first video is being streamed to the terminal device.
    Type: Grant
    Filed: May 12, 2015
    Date of Patent: February 13, 2018
    Assignee: SONY CORPORATION
    Inventor: Hiroaki Tobita
  • Patent number: 9782895
    Abstract: A pendant provided with a touch panel is provided as a robot operating apparatus. Using the pendant, an operating position of, for example, an operator's touch operation on the touch panel is detected. In the pendant, by calculation responding to the touch operation, a coordinate system having axes is set on the touch panel in response to the touch operation, in which the axes are associated with the axes of a robot. A determination area is also set on the touch panel in the periphery of a start position of the touch operation. The determination area has a predetermined size. In the pendant, an axis being operated of the robot is selected based on an arrival position of the touch operation in the determination area. An operating area on the touch panel is set with the arrival position as the center of the determination area, ensuring a highly-reliable touch operation.
    Type: Grant
    Filed: March 21, 2016
    Date of Patent: October 10, 2017
    Assignee: DENSO WAVE INCORPORATED
    Inventors: Motoki Kanada, Atsuko Sugano, Hirota Touma
  • Patent number: 9779551
    Abstract: The invention relates to a method for generating content in augmented reality mode for an equipment item (E) situated in the real world, by employing a mobile terminal (1) provided with a screen (11), the method comprising: a step of determining an augmented reality database stored in an augmented reality server (S1), a step of reading, using the mobile terminal, a matrix code (20) or an electronic tag associated with said equipment item (E), said matrix code (20) or said electronic tag respectively coding or comprising an address linked to a content, a step of memorizing said address, a step of generating a graphical interface component (Wx) corresponding to said address allowing access to said content, a step of memorizing the graphical interface component (Wx) in the database (DB) stored in the augmented reality server (S1).
    Type: Grant
    Filed: March 23, 2015
    Date of Patent: October 3, 2017
    Assignee: SCHNEIDER ELECTRIC INDUSTRIES SAS
    Inventors: Tewfik Meftah, Benoit Jacquemin
  • Patent number: 9749596
    Abstract: Systems and methods for cloud-based surveillance are disclosed. At least one mobile Input Capture Device (ICD) and the at least one computing device are communicatively connected to the cloud-based analytics platform. The at least one mobile ICD captures and transmits input data to the cloud-based analytics platform. The cloud-based analytics platform processes and analyzes input data from the at least one mobile ICD; and generates commands and updates to the at least one mobile ICD based on the processing and analyzing of the input data. Authorized users are operable to access to the cloud-based analytics platform via a user interface over the at least one computing device.
    Type: Grant
    Filed: July 27, 2016
    Date of Patent: August 29, 2017
    Assignee: KIP SMRT P1 LP
    Inventor: Martin A. Renkis
  • Patent number: 9724789
    Abstract: A mobile welding system that does not rely exclusively on a track to define the path of the welder.
    Type: Grant
    Filed: November 21, 2014
    Date of Patent: August 8, 2017
    Assignee: Lincoln Global, Inc.
    Inventors: William T. Matthews, Patrick S. Wahlen, Stephen R. Cole, Bruce A. Schlee, Keith L. Schlee
  • Patent number: 9703282
    Abstract: A portable manipulation command input device, including a sub-console panel attachable to and removable from an automatic lathe apparatus main unit, and includes an input unit to receive input of a manipulation command to the automatic lathe apparatus main unit, a display unit to display information on the automatic lathe apparatus main unit, and a radio communication unit to communicate with the automatic lathe apparatus main unit. The sub-console panel includes a detection unit and a control unit formed with the automatic lathe apparatus main unit. The detection unit includes a radio ID tag and a radio ID reader detecting the sub-console panel being placed within a predetermined range of the automatic lathe apparatus main unit. Depending on a detection result by the detection unit, the control unit allows or restricts manipulations of the automatic lathe apparatus main unit, and allows display of the information even when restricting the manipulations.
    Type: Grant
    Filed: October 3, 2013
    Date of Patent: July 11, 2017
    Assignees: CITIZEN HOLDINGS CO., LTD., CITIZEN MACHINERY CO., LTD., MITSUBISHI ELECTRIC CORPORATION
    Inventors: Shigeo Yanagidaira, Takaichi Nakaya, Hitoshi Matsumoto, Kazuhiko Sannomiya, Shoji Oda
  • Patent number: 9662790
    Abstract: A robot controller and a robot system capable of stably changing the orientation of a front end of a robot by applying a force to the front end, and moving each axis to a desired position. The robot controller for moving the robot based on the force applied to the robot includes a control point specifying part which specifies a control point in relation to the robot, and an operation commanding part which outputs a command so that the robot performs rotational movement about the control point. The robot has a structure constituted by sequentially combining three or more axes including at least three rotation axes, and rotation centerlines of the three rotation axes intersect at an origin of a centerline-intersecting axis, the centerline-intersecting axis corresponding to one of the three rotation axes. The control point specifying part specifies the origin of the centerline-intersecting axis as the control point.
    Type: Grant
    Filed: April 13, 2015
    Date of Patent: May 30, 2017
    Assignee: FANUC CORPORATION
    Inventor: Takahiro Iwatake
  • Patent number: 9643317
    Abstract: A method of controlling a robot system including an articulated robot and a control device is provided. The articulated robot includes links connected by joints, motors configured to drive the joints respectively, and detection devices configured to detect rotation amounts of the joints respectively. The control device controls the motors. The method includes the steps of, by the control device, recording movement information of the joints based on outputs of the detection devices; when detecting an abnormality in the operation of the articulated robot, determining presence or absence of a failure in the articulated robot based on the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality; and specifying a failure portion of the articulated robot if it is determined that there is a failure in the articulated robot in the step of determining.
    Type: Grant
    Filed: May 14, 2015
    Date of Patent: May 9, 2017
    Assignee: Canon Kabushiki Kaisha
    Inventors: Akira Yajima, Takayuki Ogawara, Hidetada Asano
  • Patent number: 9621839
    Abstract: A processing system at least including a processing apparatus including a robot configured to perform, in accordance with operation commands, processes on a container that contains an object to be processed in a biochemistry, biotechnology, or life science field includes an image capturing apparatus and a monitoring apparatus. The image capturing apparatus continuously captures a moving image of the processes. The monitoring apparatus includes a storage unit, a list display unit, and a playback unit. The storage unit stores the moving image captured by the image capturing apparatus. The list display unit displays at least one of a list of the processes and a list of operation information items of each indicating an operation the robot. The playback unit plays the moving image from a timing corresponding to a process specified from the list of processes or an operation information item specified from the list of operation information items.
    Type: Grant
    Filed: February 2, 2016
    Date of Patent: April 11, 2017
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Takashi Nagasaki, Takashi Suyama, Hirokazu Kariyazaki
  • Patent number: 9579800
    Abstract: The invention relates to a hand-held operating device for operating an industrial robot, the device including a graphical operator interface having a touch-sensitive display for displaying at least one virtual operating element, which represents a function for operating the robot, and which can be operated by touching the operating element with a finger of an operating person or a pen, a control unit for controlling the graphical operator interface and for communicating with a robot controller, a haptic mark associated with at least one virtual operating element and designed as a guide, which haptic mark is arranged in a display frame; that surrounds the touch-sensitive display at least in some areas and/or is arranged in frame segments of the display frame and by means of which haptic mark the finger of an operating person or the pin can be guided in the direction of the at least one operating element.
    Type: Grant
    Filed: March 28, 2013
    Date of Patent: February 28, 2017
    Assignee: REIS GROUP HOLDING GMBH & CO. KG
    Inventor: Franz Som
  • Patent number: 9573272
    Abstract: The invention relates to an operating method for a positioning system 1, in particular for the structural assembly of aircraft, wherein the positioning system 1 comprises a plurality of positioners 2a, 2b, 2c, each of which has at least one manipulator M. The manipulators M grasp a component B and manipulate it in a synchronized manner, while it is jointly grasped by the manipulators M.
    Type: Grant
    Filed: October 15, 2012
    Date of Patent: February 21, 2017
    Assignee: BA Assembly & Turnkey Systems GmbH
    Inventors: Alexander Meiβner, Jens Häcker, Dirk Poppe, Nihat Biyiklioglu, Taoufik Mbarek
  • Patent number: 9545720
    Abstract: The present application discloses implementations that involve shutdowns of a robotic system. An example may include controlling, by a robotic system, a plurality of motors of the robotic system with a central processing unit (CPU). The example may also include determining, by the robotic system, an error condition of the robotic system, where the error condition prevents the CPU from controlling at least one of the plurality of motors. The example may also include causing a plurality of motor driver boards to control the plurality of motors of the robotic system in response to determining the error condition of the robotic system. The example may also include receiving, by the plurality of motors, one or more commands from the plurality of motor driver boards to move the robotic system to a stationary position and park the robotic system in the stationary position.
    Type: Grant
    Filed: February 1, 2016
    Date of Patent: January 17, 2017
    Assignee: X Development LLC
    Inventors: Nobuyuki Ito, Junichi Urata
  • Patent number: 9545719
    Abstract: A teaching device and a teaching method for a robotic arm are disclosed. The teaching device comprises a robotic arm, a control device and a gesture recognition module. The gesture recognition module detects a control gesture signal and transmits the detected control gesture signal to the control device. After receiving the control gesture signal, the control device teaches the robotic arm to move and switches between an arm movement mode and a hand movement mode. In an arm movement mode, the control device, aided by an arm ambient image shown on an eye frame and an arm control gesture, teaches an arm unit to move to a target at a high velocity. In the hand movement mode, the control device, aided by a hand vicinity image shown on an eye-in-hand frame and a hand control gesture, teaches a hand unit to move the processing target at a low velocity.
    Type: Grant
    Filed: December 9, 2014
    Date of Patent: January 17, 2017
    Assignee: QUANTA STORAGE INC.
    Inventors: Chung-Hsien Huang, Shih-Chih Ho
  • Patent number: 9486920
    Abstract: In a control apparatus for a robot arm, the feedback rule generating section generates a feedback rule in accordance with relationship between a time point of generation of a stimulus and variation in behavior after elapse of a reaction time in taught data as detected by the information variation point detecting section and the behavior variation point detecting section. The motion generating section generates a motion of the robot arm based on motion information, an information variation point, a behavior variation point, and the feedback rule. The controller controls the motion of the robot arm.
    Type: Grant
    Filed: February 21, 2014
    Date of Patent: November 8, 2016
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Yudai Fudaba, Yuko Tsusaka, Taichi Sato
  • Patent number: 9483040
    Abstract: An automatically generating program and device are provided which can easily and accurately create an operation program with no need of providing an image data input device. The program, causes a work head to move relative to a work object and to carry out desired work, includes the steps of displaying a reference data input window which allows input of shape data of the work object or a work region (STEP 201), taking in image data of the work object or the work region (STEP 202), compensating for distortion in the taken-in image data (STEP 203), displaying a movement path input window which allows designation of a movement path with the compensated image data displayed as a background (STEP 204), and automatically generating the operation program based on the movement path that is designated on the movement path input window (STEP 205).
    Type: Grant
    Filed: January 30, 2012
    Date of Patent: November 1, 2016
    Assignee: MUSASHI ENGINEERING, INC.
    Inventor: Kazumasa Ikushima
  • Patent number: 9471904
    Abstract: Methods and systems for proactively preventing hazardous or other situations in a robot-cloud interaction are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices. The task logs may include information associated with tasks performed by the plurality of robotic devices. The method may also include a computing system determining information associated with hazardous situations based on the information associated with the task logs. For example, the hazardous situations may comprise situations associated with failures of one or more components of the plurality of robotic devices. According to the method, information associated with a contextual situation of a first robotic device may be determined, and when the information associated with the contextual situation is consistent with information associated with the one or more hazardous situations, an alert indicating a potential failure of the first robotic device may be provided.
    Type: Grant
    Filed: April 8, 2015
    Date of Patent: October 18, 2016
    Assignee: Google Inc.
    Inventors: James J. Kuffner, Jr., Ryan Hickman
  • Patent number: 9403277
    Abstract: Systems and methods for cloud-based surveillance are disclosed. At least one mobile Input Capture Device (ICD) and the at least one computing device are communicatively connected to the cloud-based analytics platform. The at least one mobile ICD captures and transmits input data to the cloud-based analytics platform. The cloud-based analytics platform processes and analyzes input data from the at least one mobile ICD; and generates commands and updates to the at least one mobile ICD based on the processing and analyzing of the input data. Authorized users are operable to access to the cloud-based analytics platform via a user interface over the at least one computing device.
    Type: Grant
    Filed: October 14, 2015
    Date of Patent: August 2, 2016
    Assignee: SMARTVUE CORPORATION
    Inventor: Martin A. Renkis
  • Patent number: 9407881
    Abstract: Systems and methods for cloud-based surveillance for a target surveillance area are disclosed. At least two mobile input capture devices (ICDs) are communicatively connected to a cloud-based analytics platform via a data communication device. At least one user device can access to the cloud-based analytics platform. The cloud-based analytics platform automatically analyzes received 2-Dimensional (2D) video and/or image inputs for generating 3-Dimensional (3D) surveillance data and providing 3D display for a target surveillance area. In one embodiment, the at least two mobile ICDs are Unmanned Aerial Vehicles (UAVs).
    Type: Grant
    Filed: September 25, 2015
    Date of Patent: August 2, 2016
    Assignee: Smartvue Corporation
    Inventor: Martin A. Renkis
  • Patent number: 9387589
    Abstract: A robotic system includes a robot, sensors which measure status information including a position and orientation of the robot and an object within the workspace, and a controller. The controller, which visually debugs an operation of the robot, includes a simulator module, action planning module, and graphical user interface (GUI). The simulator module receives the status information and generates visual markers, in response to marker commands, as graphical depictions of the object and robot. An action planning module selects a next action of the robot. The marker generator module generates and outputs the marker commands to the simulator module in response to the selected next action. The GUI receives and displays the visual markers, selected future action, and input commands. Via the action planning module, the position and/or orientation of the visual markers are modified in real time to change the operation of the robot.
    Type: Grant
    Filed: February 25, 2014
    Date of Patent: July 12, 2016
    Assignee: GM Global Technology Operations LLC
    Inventors: Leandro G. Barajas, David W Payton, Li Yang Ku, Ryan M Uhlenbrock, Darren Earl
  • Patent number: 9387587
    Abstract: A method for operating an industrial robot by means of an operating device, including a step of touching a virtual operating element on a touch-sensitive display of a graphical user interface, said display being surrounded by a frame, wherein a function associated with the operating element is triggered when the virtual operating element is touched. In order to increase the safety of the operation of the industrial robot and to be able to adjust the position of the industrial robot in the desired range, the speed or distance of a deflection of a finger of an operating person during the touching of the virtual operating element of the touch display is detected.
    Type: Grant
    Filed: April 5, 2013
    Date of Patent: July 12, 2016
    Assignee: REIS GROUP HOLDING GMBH & CO. KG
    Inventor: Franz Som
  • Patent number: 9387590
    Abstract: A method for operating an industrial robot by means of an operating device, including a step of touching a virtual operating element of a touch display of a graphical user interface. A function associated with the operating element is triggered when the virtual operating element is touched, the movement of the industrial robot being carried out relative to a robot coordinate system and the movement on the touch display being carried out relative to a display coordinate system. In order to be able to simply align the coordinate systems of the operating device and of the industrial robot with each other, the display coordinate system is recalibrated after a relative movement of the operating device with respect to the robot coordinate system.
    Type: Grant
    Filed: April 5, 2013
    Date of Patent: July 12, 2016
    Assignee: REIS GROUP HOLDING GMBH & CO. KG
    Inventor: Franz Som
  • Patent number: 9333647
    Abstract: The invention relates to a method for operating an industrial robot by means of an operating device comprising a graphical user interface having a touch display. To improve the operating safety of the industrial robot, at least one virtual operating element representing a function of the industrial robot is displayed on the touch display, a control signal associated with said virtual operating element is sent to a safety controller, and an image is produced by means of the safety controller, which image is then displayed on the touch display. If the image is touched on the touch display, feedback is given to the safety controller so that a function of the industrial robot can be carried out if the displayed image and touching of said image on the touch display match.
    Type: Grant
    Filed: April 5, 2013
    Date of Patent: May 10, 2016
    Assignee: REIS GROUP HOLDING GMBH & CO. KG
    Inventor: Franz Som
  • Patent number: 9302398
    Abstract: In a robot system according to the present invention, an operation panel includes a biometric information acquisition unit configured to acquire biometric information of an operator who uses the operation panel. The robot system includes a biometric information storage unit configured to store biometric information of a plurality of operators, an operator determination unit configured to determine an operator who uses the operation panel by matching the biometric information acquired by the biometric information acquisition unit with the biometric information stored by the biometric information storage unit when the operation panel is activated or when a predetermined operation is executed for the operation panel, and a limitation unit configured to individually limit executable functions for the operator determined by the operator determination unit.
    Type: Grant
    Filed: March 5, 2015
    Date of Patent: April 5, 2016
    Assignee: FANUC CORPORATION
    Inventors: Ryoutarou Inaba, Tomoki Oya
  • Patent number: 9280159
    Abstract: The present application discloses implementations that involve shutdowns of a robotic system. An example may include controlling, by a robotic system, a plurality of motors of the robotic system with a central processing unit (CPU). The example may also include determining, by the robotic system, an error condition of the robotic system, where the error condition prevents the CPU from controlling at least one of the plurality of motors. The example may also include causing a plurality of motor driver boards to control the plurality of motors of the robotic system in response to determining the error condition of the robotic system. The example may also include receiving, by the plurality of motors, one or more commands from the plurality of motor driver boards to move the robotic system to a stationary position and park the robotic system in the stationary position.
    Type: Grant
    Filed: May 4, 2015
    Date of Patent: March 8, 2016
    Assignee: Google Inc.
    Inventors: Nobuyuki Ito, Junichi Urata
  • Patent number: 9270973
    Abstract: A system that incorporates teachings of the present disclosure may, for example, receive a request for a telepresence seat at an event, obtain media content comprising event images of the event that are captured by an event camera system, receive images that are captured by a camera system at a user location, and provide the media content and video content representative of the images to a processor for presentation at a display device utilizing a telepresence configuration that simulates the first and second users being present at the event, where the providing of the first and second video content establishes a communication session between the first and second users. Other embodiments are disclosed.
    Type: Grant
    Filed: April 9, 2015
    Date of Patent: February 23, 2016
    Assignee: AT&T INTELLECTUAL PROPERTY I, LP
    Inventors: Tara Hines, Andrea Basso, Aleksey Ivanov, Jeffrey Mikan, Nadia Morris
  • Patent number: 9250624
    Abstract: The invention relates to an industrial robot and a method for programming an industrial robot, for which the industrial robot is guided manually to a virtual surface (25) in the room, at which point the industrial robot is selected such that it cannot be guided any further manually. Next, that force (F) and/or torque acting on the industrial robot when an attempt is made to guide the industrial robot further manually is ascertained and stored, despite reaching the virtual surface (25).
    Type: Grant
    Filed: December 10, 2008
    Date of Patent: February 2, 2016
    Assignee: KUKA Roboter GmbH
    Inventor: Uwe Zimmermann
  • Patent number: 9248875
    Abstract: A driving flipper with a robotic arm and a method for protecting the robotic arm. A robotic platform having a main frame and at least one obstacle climbing flipper with a robotic arm. The robotic arm has a folded mode substantially parallel to the longitudinal axis of the obstacle climbing flipper. The robotic arm has an operational mode protruding away from the longitudinal axis in an angle of at least 45 degrees.
    Type: Grant
    Filed: April 17, 2013
    Date of Patent: February 2, 2016
    Assignee: Robo-Team Ltd.
    Inventors: Yosi Wolf, Elad Levy, Itamar Borowitz, Daniel Cantor, Yehonatan Asher, Mor Rotbart, Mark Vaynberg
  • Patent number: 9248574
    Abstract: A teaching data generator includes a storage device. An arithmetic device includes a first window display section to cause a display device to display a first window displaying first images respectively corresponding to some pieces of work unit job data stored in the storage device and included in teaching data. The first images are arranged in an execution order of pieces of work respectively corresponding to the some pieces of the work unit job data. A first job editing section performs an editing operation including replacing the some pieces of the work unit job data with other pieces of the work unit job data stored in the storage device, and changing the execution order. A teaching data generation section generates the teaching data based on a display content of the first window changed in accordance with the editing operation.
    Type: Grant
    Filed: December 17, 2013
    Date of Patent: February 2, 2016
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Kenji Matsukuma, Makoto Umeno, Takashi Suyama
  • Patent number: 9224181
    Abstract: Disclosed herein are various embodiments of systems and methods for visualizing, analyzing, and managing telepresence devices operating in a telepresence network of healthcare facilities. A user may selectively view a global view of all telepresence devices, telepresence devices within a particular region, the details of a particular telepresence device, and/or the details of a particular healthcare facility. At one viewing level, a user may view a plan view map of a healthcare facility and visualize the navigational history of a telepresence device. At another viewing level, a user may view a plan view map of a healthcare facility and visualize telemetry data of a patient associated with a selected room. At another viewing level, a user may selectively view various graphical representations of telepresence device statistics and usage information with respect to health ratings for each of a plurality of patients.
    Type: Grant
    Filed: October 30, 2014
    Date of Patent: December 29, 2015
    Assignee: INTOUCH TECHNOLOGIES, INC.
    Inventors: Marco Pinter, Greg Brallier, Scott Ross
  • Patent number: 9216509
    Abstract: Systems and methods for cloud-based social surveillance are disclosed. At least one mobile robot patrol a certain surveillance area and capture data content through various function modules. A computing device coupled with each robot collects and sends the data to a cloud-based analytics platform via network for surveillance real-time or near-real-time analysis. A cloud-based analytics platform is comprised of at least one cloud server, at least one cloud database, communication network, and user interface. Authorized users access the information related to their corresponding predetermined surveillance environment inputs and/or analytics of the inputs within the system via a user interface and/or override commands or updates generated based on the analysis.
    Type: Grant
    Filed: October 1, 2014
    Date of Patent: December 22, 2015
    Assignee: Smartvue Corporation
    Inventor: Martin A. Renkis
  • Patent number: 9204934
    Abstract: A manipulator system includes a master manipulator configured to send an input command, a slave manipulator configured to operate according to the input command, an image capturing unit configured to acquire an image of an object, a display device placed in front of the operator and configured to display the image acquired by the image capturing unit, a detection device configured to detect the direction of an operator's face of the operator with respect to the display device, and a control unit configured to determine whether the direction of the operator's face is within a predetermined angle with respect to the display device based on the detection result in the detection device, and to shift an operation mode of the slave manipulator between a first control mode and a second control mode in which an operation is limited more than in the first control mode based on a determination result.
    Type: Grant
    Filed: January 6, 2014
    Date of Patent: December 8, 2015
    Assignee: OLYMPUS CORPORATION
    Inventors: Ryohei Ogawa, Kosuke Kishi
  • Patent number: 9138893
    Abstract: A robot teaching system according to an embodiment includes a robot, a sensor, a screen generator, an adjuster, and a job generator. The sensor measures measured values relating to operations of the robot. The screen generator generates a teaching operation screen that includes guidance information intended for the teacher. The adjuster adjusts parameters for generating a job based on specified values relating to the operations of the robot and input in the teaching operation screen, and the measured values of the sensor associated with the specified values, the parameters defining an operation command including corrections of the operations of the robot. The job generator generates the job in which the parameters adjusted by the adjuster are incorporated.
    Type: Grant
    Filed: December 25, 2013
    Date of Patent: September 22, 2015
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Ryoichi Nagai, Yukio Hashiguchi, Tetsuro Izumi
  • Patent number: 9125679
    Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
    Type: Grant
    Filed: March 16, 2011
    Date of Patent: September 8, 2015
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, David C. Shafer
  • Patent number: 9119655
    Abstract: A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator further includes a switch and at least one controller configured to control operation of the surgical manipulator in a first operating mode or a second operating mode. The at least one controller is also configured to determine a commanded pose to which the energy applicator is advanced based on a summation of a plurality of input forces and torques and transition between the operating modes by adjusting the plurality of input forces and torques in response to actuation of the switch.
    Type: Grant
    Filed: August 2, 2013
    Date of Patent: September 1, 2015
    Assignee: STRYKER CORPORATION
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, Jose Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer, John Ketchel
  • Patent number: 9069348
    Abstract: A portable remote controller includes a display color setting unit, a display color information storage unit, and a teaching data display unit. The display color setting unit sets display colors for instructions for making a robot execute a predetermined behavior. The display color information storage unit stores the display colors set by the display color setting unit in association with the instructions. The teaching data display unit displays teaching data created by teaching on a display unit on the basis of the display colors.
    Type: Grant
    Filed: December 12, 2011
    Date of Patent: June 30, 2015
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yumie Kubota, Seishiro Sakaguchi
  • Patent number: 9043027
    Abstract: A method of controlling an operation of a robotically-controlled surgical instrument can include receiving a first input signal at a controller indicative of a user's readiness to actuate the surgical instrument to perform a surgical procedure, outputting an output signal from the controller to provide feedback to the user in response to the received first input signal, receiving a second input signal at the controller confirming the user's readiness to actuate the surgical instrument, outputting an actuation signal from the controller in response to receiving the second input signal, and actuating the surgical instrument to perform the surgical procedure based on the actuation signal.
    Type: Grant
    Filed: May 30, 2012
    Date of Patent: May 26, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Kevin Durant, Michael Hanuschik, Paul W. Mohr, Jack Hsia