Mobile Robot Patents (Class 901/1)
  • Patent number: 11911704
    Abstract: Methods and systems are provided for providing real world assistance by a robot utility and interface device (RUID) are provided. A method provides for identifying a position of a user in a physical environment and a surface within the physical environment for projecting an interactive interface. The method also provides for moving to a location within the physical environment based on the position of the user and the surface for projecting the interactive interface. Moreover, the method provides for capturing a plurality of images of the interactive interface while the interactive interface is being interacted with by the use and for determining a selection of an input option made by the user.
    Type: Grant
    Filed: January 11, 2022
    Date of Patent: February 27, 2024
    Assignee: Sony Interactive Entertainment Inc.
    Inventors: Javier Fernandez Rico, Erik Beran, Michael Taylor, Ruxin Chen
  • Patent number: 11911906
    Abstract: A method for controlling a patrolling robot is provided. The method includes the steps of: acquiring, as first situation information on the patrolling robot, at least one of weight information on a support coupled to the patrolling robot and image information on the support and information on a location of the patrolling robot in a patrolling place; and determining a task and a travel route of the patrolling robot on the basis of the first situation information.
    Type: Grant
    Filed: May 21, 2021
    Date of Patent: February 27, 2024
    Assignee: Bear Robotics, Inc.
    Inventor: John Jungwoo Ha
  • Patent number: 11911912
    Abstract: A robot device according to various embodiments comprises a camera, a robot arm, and a control device electrically connected to the camera and the robot arm, wherein the control device can be configured to collect a robot arm control record about a random operation, acquire, from the camera, a camera image in which a working space of the robot arm is photographed, implement an augmented reality model by rendering a virtual object corresponding to an object related to objective work in the camera image, and update a control policy for the objective work by performing image-based policy learning on the basis of the augmented reality model and the control record.
    Type: Grant
    Filed: December 12, 2019
    Date of Patent: February 27, 2024
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Sohee Lee, Junhong Min, Kyungshik Roh, Sukjune Yoon, Minyong Choi
  • Patent number: 11906973
    Abstract: An electronic device and method for controlling a robot is provided. The electronic device includes a wireless communication unit, a camera, a touch display, a memory, and a processor configured to be operatively connected to the wireless communication unit, the camera, the touch display, and the memory. The processor is configured to recognize a marker of the robot photographed using the camera; generate an indicator indicating a space around the recognized robot; acquire location information for moving the robot to an area within the indicator by using the touch display; and transmit the acquired location information to the robot to move the robot to a location corresponding to the acquired location information.
    Type: Grant
    Filed: January 14, 2021
    Date of Patent: February 20, 2024
    Assignee: Samsung Electronics Co., Ltd
    Inventors: Jinseon Yoo, Harkjoon Kim, Sungbin Kuk, Jimin Kim, Eunjoo Mo, Chiyoung Ahn, Heeyoung Cho
  • Patent number: 11903539
    Abstract: A surface cleaning apparatus includes a proximity-triggered user interface, and configured to provide one or more indicia to a user based on the proximity of the user to the surface cleaning apparatus. The surface cleaning apparatus can be provided with one or more proximity sensors, and the user interface is configured to receive input from the one or more proximity sensors and provide one or more indicia to the user based on the input.
    Type: Grant
    Filed: October 21, 2019
    Date of Patent: February 20, 2024
    Assignee: BISSELL Inc.
    Inventor: David M. Miller
  • Patent number: 11904456
    Abstract: Inspection robots with center encoders are described. An example inspection robot may have a housing, and a drive module, where the drive module has a wheel and a motor and is operatively coupled to the housing. The example inspection robot may also have an encoder to provide a movement value, where the encoder is positioned within a footprint of the housing. The example inspection robot may also have a controller with an encoder conversion circuit to calculate a distance value in response to the movement value, a location circuit to determine at least one of a robot location value or a robot speed value, and a position command circuit to provide a position action command in response to the robot location value or the robot speed value. The drive module may be responsive to the position action command to move the inspection robot.
    Type: Grant
    Filed: April 26, 2022
    Date of Patent: February 20, 2024
    Assignee: Gecko Robotics, Inc.
    Inventors: Dillon R. Jourde, Edwin H. Cho, Mark Cho, Kevin Y. Low
  • Patent number: 11904475
    Abstract: A robot and an operating system, a control device, a control method and a storage medium thereof, wherein the robot includes a processor configured to execute the following operation commands: controlling the robot to move to a designated position corresponding to an interaction scenario, wherein the interaction scenario is a scenario in which the robot interacts with a user; controlling the robot to perform an operation corresponding to an operation of the user in the interaction scenario, thereby realizing the robot can perform a complex interaction with the user based on the colorful interaction scenario and solving the technical problem of the prior art that the interaction scenario and the interactive content between the user and the robot are excessively monotonous.
    Type: Grant
    Filed: March 6, 2019
    Date of Patent: February 20, 2024
    Assignee: BEIJING MAGIC PAL TECHNOLOGY CO., LTD.
    Inventor: Peng Liu
  • Patent number: 11904470
    Abstract: Systems, apparatus, and methods are described for robotic learning and execution of skills. A robotic apparatus can include a memory, a processor, sensors, and one or more movable components (e.g., a manipulating element and/or a transport element). The processor can be operatively coupled to the memory, the movable elements, and the sensors, and configured to obtain information of an environment, including one or more objects located within the environment. In some embodiments, the processor can be configured to learn skills through demonstration, exploration, user inputs, etc. In some embodiments, the processor can be configured to execute skills and/or arbitrate between different behaviors and/or actions. In some embodiments, the processor can be configured to execute skills and/or behaviors using cached trajectories or plans. In some embodiments, the processor can be configured to execute skills requiring navigation and manipulation behaviors.
    Type: Grant
    Filed: August 8, 2023
    Date of Patent: February 20, 2024
    Assignee: Diligent Robotics, Inc.
    Inventors: Andrea Lockerd Thomaz, Vivian Yaw-Wen Chu, Peter Worsnop, Reymundo Gutierrez, Lauren Hutson, Shuai Li, Anjana Nellithimaru, Frank Mathis
  • Patent number: 11897133
    Abstract: Implementations utilize deep reinforcement learning to train a policy neural network that parameterizes a policy for determining a robotic action based on a current state. Some of those implementations collect experience data from multiple robots that operate simultaneously. Each robot generates instances of experience data during iterative performance of episodes that are each explorations of performing a task, and that are each guided based on the policy network and the current policy parameters for the policy network during the episode. The collected experience data is generated during the episodes and is used to train the policy network by iteratively updating policy parameters of the policy network based on a batch of collected experience data. Further, prior to performance of each of a plurality of episodes performed by the robots, the current updated policy parameters can be provided (or retrieved) for utilization in performance of the episode.
    Type: Grant
    Filed: August 1, 2022
    Date of Patent: February 13, 2024
    Assignee: GOOGLE LLC
    Inventors: Sergey Levine, Ethan Holly, Shixiang Gu, Timothy Lillicrap
  • Patent number: 11884338
    Abstract: A driverless transportation vehicle for piece goods has a chassis, a traction drive, a load-transfer device with a load-transfer drive, and a control system. The chassis has at least two wheels arranged on an axle and the traction drive is configured to drive the wheels. The load-transfer device picks up an item of piece goods and transfer its center of mass on the vehicle. The control system controls the traction drive to prevent the transportation vehicle from tilting about the axle of the chassis, while the driverless transportation vehicle balances on only the at least two wheels. The control system additionally actuates the load-transfer drive in such a way that the position of the center of mass of the cargo is adapted for a driving maneuver that is to be carried out.
    Type: Grant
    Filed: February 17, 2020
    Date of Patent: January 30, 2024
    Assignee: Körber Supply Chain Logistics GmbH
    Inventors: Peter Enenkel, Michael Matt, Max Umbach
  • Patent number: 11882797
    Abstract: An automatic detection and recovery device for residual agricultural mulch film, and a method of using the device, comprising a quadcopter, a wheeled robot (9), and a host computer (8); the quadcopter is provided with a controller (1), a near infrared water content analyzer, and a WiFi module that are used to measure water content in soil and communicate with the host computer; the wheeled robot (9) comprises a water sprinkling device (2), a soil grabbing device (3), a sifting device (4), a delivery device (5), a recognition device (6), and a sorting device (7).
    Type: Grant
    Filed: February 24, 2020
    Date of Patent: January 30, 2024
    Assignee: NANTONG UNIVERSITY
    Inventors: Liang Hua, Zeguang Zhang, Jiahan You, Yisheng Huang, Ping Lu
  • Patent number: 11884390
    Abstract: A computing system is providing for managing a fleet of spraying vehicles by selecting one or more field zones to be sprayed by a fleet of spraying vehicles. The system reviews spraying requirements including material and quantity to be sprayed and reviews spraying vehicle parameters for each spraying vehicle in of the fleet. The system then calculates a travel plan for each spraying vehicle such that the selected field zones can be sprayed accordingly without spraying areas outside the selected field zones. Once in operation, the system verifies travel plan execution of each spraying vehicle and adjusts one or more travel plans in case of vehicle malfunctions, unexpected weather conditions, and unexpected field obstacles.
    Type: Grant
    Filed: March 20, 2019
    Date of Patent: January 30, 2024
    Assignee: SKYX LTD.
    Inventors: Eylon Sorek, Itzhak Turkel
  • Patent number: 11878425
    Abstract: Methods, apparatus, systems, and computer-readable media are provided for optimizing robot-implemented tasks based at least in part on historical task and location correlated duration data collected from one or more robots. Historical task and location correlated duration data may, in some implementations, include durations of different tasks performed in different locations by one or more robots in one or more particular environments, and knowledge of such durations may be used to optimize tasks performed by the same or different robots in the future.
    Type: Grant
    Filed: December 27, 2021
    Date of Patent: January 23, 2024
    Assignee: GOOGLE LLC
    Inventors: Gregory Prisament, Laura Stoia, Yuchen Wu, Alan Thompson
  • Patent number: 11878419
    Abstract: Systems, apparatuses and methods may provide for controlling one or more end effectors by generating a semantic labelled image based on image data, wherein the semantic labelled image is to identify a shape of an object and a semantic label of the object, associating a first set of actions with the object, and generating a plan based on an intersection of the first set of actions and a second set of actions to satisfy a command from a user through actuation of one or more end effectors, wherein the second set of actions are to be associated with the command.
    Type: Grant
    Filed: June 26, 2020
    Date of Patent: January 23, 2024
    Assignee: Intel Corporation
    Inventors: David Israel Gonzalez Aguirre, Javier Felip Leon, Javier Sebastian Turek, Javier Perez-Ramirez, Ignacio J. Alvarez
  • Patent number: 11878420
    Abstract: The invention discloses high-precision mobile robot management and scheduling system, and relates to the technical field of industrial robots, comprising industrial robot, AGV, secondary positioning device and upper computer, wherein the secondary positioning devices are arranged on corresponding workstations of processing machine tool, when the processing machine tool performs processing tasks, the upper computer selects the AGV arranged with industrial robot and navigates the same to the secondary positioning device, and after the secondary positioning device and the chassis of the industrial robot are locked, the industrial robot can assist the processing machine tool in parts machining. The system in the invention perfectly combines the mobile robot and fixed robot, thereby achieving not only flexibility of mobile robot, but also the high precision of the fixed robot.
    Type: Grant
    Filed: December 26, 2019
    Date of Patent: January 23, 2024
    Inventors: Xiaopu Fan, Ning Song
  • Patent number: 11878408
    Abstract: A robotic system includes a multi-sectional show robot. The multi-sectional show robot includes a primary robot with a controller and one or more sensors. The one or more sensors are configured to acquire feedback indicative of an environment surrounding the primary robot. The multi-sectional show robot also includes a secondary robot configured to removably couple to the primary robot to transition the multi-sectional show robot between a disengaged configuration, in which the primary robot is decoupled from the secondary robot, and an engaged configuration, in which the primary robot is coupled to the secondary robot. The controller is configured to operate the primary robot based on the feedback and a first control scheme with the multi-sectional show robot in the disengaged configuration and to operate the primary robot based on a second control scheme with the multi-sectional show robot in the engaged configuration.
    Type: Grant
    Filed: April 8, 2021
    Date of Patent: January 23, 2024
    Assignee: Universal City Studios LLC
    Inventors: Aaron Chandler Jeromin, Akiva Meir Krauthamer, Timothy Fitzgerald Garnier, Elam Kevin Hertzler, Matthew Sean Pearse, Samuel James Knox, Lee Marvin Wilson, Kimberly Anne Humphreys, Cody Daniel Nichoson, Trace Andrew Dressen
  • Patent number: 11875572
    Abstract: The embodiments of the disclosure provide a space recognition method, an electronic device and a non-transitory computer-readable storage medium. The method includes the following steps. Sensor data for detecting obstacle positions is obtained from a sensor associated with an electronic device. A plurality of coordinates respectively corresponding to the obstacle positions are generated based on the sensor data. Boundary line information of a space surrounding the electronic device is updated according to the coordinates until an optimization condition is met for each boundary line. A spatial range of the space surrounding the electronic device is identified based on the boundary line information. The spatial range is used to guide a movement of the electronic device.
    Type: Grant
    Filed: February 19, 2021
    Date of Patent: January 16, 2024
    Assignee: ALi Corporation
    Inventors: Yu-Wei Fang, Shui Shih Chen, Chia Jui Kuo
  • Patent number: 11864897
    Abstract: Systems and methods for determining whether a user employs System 1 type thinking or System 2 type thinking when engaged in a task are disclosed. The systems and methods include determining one or more properties of the task based on information regarding the task received from a database storing information regarding the task, determining one or more properties of the user with respect to the task, determining a state of the user based on one or more physiological sensors configured to sense one or more characteristics of the user, and determining that the user employs System 1 type thinking or System 2 type thinking when engaged in the task based on the determined one or more properties of the task, the determined one or more properties of the user, and the determined state of the user.
    Type: Grant
    Filed: April 12, 2021
    Date of Patent: January 9, 2024
    Assignee: Toyota Research Institute, Inc.
    Inventors: Rumen Iliev, Kent Lyons, Charlene C. Wu, Matthew Lee, Yanxia Zhang, Yue Weng
  • Patent number: 11865706
    Abstract: A robot includes: a moving mechanism; an elevating mechanism including columnar members; a table which is configured to be elevated and lowered by the elevating mechanism; an arm base which is configured to be elevated and lowered by the elevating mechanism; an arm which is attached to the arm base; a sensor which is configured to detect an object placed on the table and the surrounding area of the robot; and a controller. A circumscribed space circumscribing the robot except for the arm is in the shape of a cuboid having a bottom face that is a face of a quadrilateral that circumscribes, in a top view, the shape of the robot except for the arm. The arm has a structure capable of accessing the outside of the circumscribed space.
    Type: Grant
    Filed: July 2, 2021
    Date of Patent: January 9, 2024
    Assignee: DAILY COLOR INC.
    Inventor: Yasunori Kamiya
  • Patent number: 11864495
    Abstract: Disclosed is a robot lawnmower including a body frame, a main wheel disposed on both sides of the body frame, a motor to drive the main wheel, a first edge blade provided in a region of the body frame corresponding to the main wheel and coupled to be rotatable with respect to the body frame by receiving a driving force of the motor, and a second edge blade disposed between the body frame and the main wheel to rotate together with the main wheel and cut a grass by a relative rotation of the first edge blade and the main wheel.
    Type: Grant
    Filed: March 16, 2021
    Date of Patent: January 9, 2024
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Jinwook Yoon, Hyunki Bae, Hyunkoo Kang, Taegyu Kim, Wonyoung Seo
  • Patent number: 11851120
    Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.
    Type: Grant
    Filed: June 16, 2021
    Date of Patent: December 26, 2023
    Assignee: Boston Dynamics, Inc.
    Inventors: Gina Christine Fay, Alex Yu Khripin, Eric Whitman
  • Patent number: 11856290
    Abstract: For processing a signal from an event-based sensor having an array of sensing elements facing a scene, the method comprises: receiving the signal including, for each sensing element, successive events originating from said sensing element depending on variations of incident light from the scene; analyzing the signal to detect a frequency pattern in a light profile sensed by at least one sensing element; and extracting information from the scene in response to detection of the frequency pattern.
    Type: Grant
    Filed: March 4, 2022
    Date of Patent: December 26, 2023
    Assignee: PROPHESEE
    Inventors: Amos Sironi, Marc Rousseau, Christoph Posch, Xavier Lagorce
  • Patent number: 11845183
    Abstract: Implementations utilize deep reinforcement learning to train a policy neural network that parameterizes a policy for determining a robotic action based on a current state. Some of those implementations collect experience data from multiple robots that operate simultaneously. Each robot generates instances of experience data during iterative performance of episodes that are each explorations of performing a task, and that are each guided based on the policy network and the current policy parameters for the policy network during the episode. The collected experience data is generated during the episodes and is used to train the policy network by iteratively updating policy parameters of the policy network based on a batch of collected experience data. Further, prior to performance of each of a plurality of episodes performed by the robots, the current updated policy parameters can be provided (or retrieved) for utilization in performance of the episode.
    Type: Grant
    Filed: August 1, 2022
    Date of Patent: December 19, 2023
    Assignee: GOOGLE LLC
    Inventors: Sergey Levine, Ethan Holly, Shixiang Gu, Timothy Lillicrap
  • Patent number: 11834206
    Abstract: An outer space-based reusable manufacturing and assembly system including at least one joint that comprises at least one receiver component, at least one strut that engages the at least one receiver component on the at least one joint and a joining element that provides for engaging and disengaging the at least one joint with at least the at least one strut so that either the at least one joint and the at least one strut are usable for another mission. Two other systems are also disclosed.
    Type: Grant
    Filed: April 13, 2018
    Date of Patent: December 5, 2023
    Assignee: REDWIRE SPACE, INC.
    Inventors: Eric R. Joyce, Michael P. Snyder, Maxwell H. Fagin, Daniel J. Riley
  • Patent number: 11832774
    Abstract: The present disclosure relates to a method for detecting a skidding of a robot, a mapping method and a chip. A method for detecting a skidding of a robot, comprising the following steps: By an odometer on existing driving wheels of a robot and a gyroscope and a processor in a body of the robot, a first angle change rate generated by two driving wheels within a preset time and a second angle change rate generated by the gyroscope within the preset time are detected and calculated, so as to determine an angular velocity change error rate of the robot. Finally, by judging whether the angular velocity change error rate is greater than or equal to a preset value, it is determined whether the robot is in the skidding state.
    Type: Grant
    Filed: August 6, 2018
    Date of Patent: December 5, 2023
    Assignee: AMICRO SEMICONDUCTOR CO., LTD.
    Inventors: Yongyong Li, Gangjun Xiao
  • Patent number: 11819997
    Abstract: A mobile robot is configured for operation in a commercial or industrial setting, such as an office building or retail store. The robot can patrol one or more routes within a building, and can detect violations of security policies by objects, building infrastructure and security systems, or individuals. In response to the detected violations, the robot can perform one or more security operations. The robot can include a removable fabric panel, enabling sensors within the robot body to capture signals that propagate through the fabric. In addition, the robot can scan RFID tags of objects within an area, for instance coupled to store inventory. Likewise, the robot can generate or update one or more semantic maps for use by the robot in navigating an area and for measuring compliance with security policies.
    Type: Grant
    Filed: October 9, 2019
    Date of Patent: November 21, 2023
    Assignee: COBALT ROBOTICS INC.
    Inventors: Travis J. Deyle, Erik Schluntz
  • Patent number: 11815676
    Abstract: An active imaging system uses a MEMS Micro-Mirror Array to form and scan an optical beam over a first portion of scene within a first edge region of the field-of-view of the optical receiver in the direction of motion of the imaging system. In addition to tip and tilt control of the mirrors, the MMA may have piston control which can be used to minimize diffraction losses when focusing and scanning the beam, provide wavefront correction or to compensate for path length variations. The MMA may be partitioned into segments to independently form and scan a plurality of optical beams, which may be used to scan the first or different portions of the scene. The different segments may be provided with reflective coatings at different wavelengths to provide for multi-spectral imaging. The different segments may be used to combine multiple optical sources to increase power or provide multi-spectral illumination.
    Type: Grant
    Filed: September 17, 2020
    Date of Patent: November 14, 2023
    Assignee: Raytheon Company
    Inventors: Gerald P. Uyeno, Sean D. Keller, Benn H. Gleason
  • Patent number: 11813751
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating paths for a robot based on optimizing multiple objectives. One of the methods includes: receiving, by a motion planner, request to generate a path for a robot between a start point and an end point in a workcell of the robot, wherein the workcell is associated with one or more soft margin values that define spaces in which the robot should avoid when transitioning between points in the workcell; classifying path segments within the workcell as being inside the soft margin or outside the soft margin; generating a respective cost for each of the plurality of path segments within the workcell; generating a plurality of alternative paths; evaluating the plurality of alternative paths according to the respective costs; and selecting an alternative path based on respective total costs of the plurality of alternative paths.
    Type: Grant
    Filed: August 28, 2020
    Date of Patent: November 14, 2023
    Assignee: Intrinsic Innovation LLC
    Inventors: Ryan Butterfoss, Jean-Francois Dupuis
  • Patent number: 11813752
    Abstract: A mobile manipulation control method of a quadruped robot with an operation arm, including: obtaining current pose information of the legged mobile manipulator; decomposing a task into subtasks, and prioritizing the subtasks; based on the pose information and a dynamic model, generating a motion trajectory under each subtask; based on the dynamic model, optimizing an optimal plantar force of a supporting leg and an end-of-arm force under each subtask; based on a multi-task spatial projection method, calculating desired control quantity of all joints under different subtasks; and (d) optimizing the optimal plantar force and the desired control quantity with the whole-body dynamic model as a constraint to obtain control torques; and based on the control torques, controlling the legged mobile manipulator's motion. A control system is further provided.
    Type: Grant
    Filed: June 6, 2023
    Date of Patent: November 14, 2023
    Assignee: Shandong University
    Inventors: Xuewen Rong, Aizhen Xie, Teng Chen, Guoteng Zhang, Yibin Li, Guanglin Lu, Jian Bi, Yong Fan
  • Patent number: 11815883
    Abstract: A conveyance system includes a plurality of conveyance robots, a storage unit, a stability information acquisition unit, a selection unit, and a system controller, which serves as a controller. The plurality of conveyance robots convey a wagon that accommodates a conveyed object. The storage unit stores robot information regarding features that the plurality of respective conveyance robots include. The stability information acquisition unit acquires stability information regarding stability when the conveyed object is conveyed. The selection unit selects one of the plurality of conveyance robots based on the robot information and the stability information that have been acquired. The system controller instructs the one conveyance robot that has been selected to convey the conveyed object.
    Type: Grant
    Filed: November 12, 2020
    Date of Patent: November 14, 2023
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Tomohisa Takai, Yuhei Yamaguchi, Satoshi Toyoshima, Yuta Watanabe, Tetsuya Taira, Mikio Honda, Shiro Oda, Nobuhisa Otsuki
  • Patent number: 11813742
    Abstract: A configuration that exerts floor reaction force directly to a force sensor in a foot of a legged mobile robot requires a sensor having a large withstand load. A foot (10f) includes an upper frame (44) that is connected to a movable leg and receives the load of a robot, a lower frame (48) that is deployed under the upper frame (44) and contacts with a walking surface, a high rigidity spring (50) attached the lower frame (48) and elastically supporting the upper frame (44) against the load, and a plurality of sensor mechanisms that detect floor reaction force at positions different from each other on the lower frame (48).
    Type: Grant
    Filed: October 19, 2020
    Date of Patent: November 14, 2023
    Assignee: SONY INTERACTIVE ENTERTAINMENT INC.
    Inventors: Yuta Koda, Koichi Obana
  • Patent number: 11810587
    Abstract: In example implementations, an apparatus is provided. The apparatus includes a microphone, a radar, a memory, and a processor in communication with the microphone, the radar, and the memory. The microphone is to receive audio signals. The radar is to collect data on users in a location. The memory is to store known body positions associated with having a side-conversation. The processor is to determine that a user is having a side-conversation based on the data collected by the radar compared to the known body positions associated with having a side-conversation and filter noise associated with the side-conversation received by the microphone from a direction associated with the user.
    Type: Grant
    Filed: July 26, 2019
    Date of Patent: November 7, 2023
    Assignee: Hewlett-Packard Development Company, L.P.
    Inventors: Alexander Wayne Clark, Hui Leng Lim, Chi So
  • Patent number: 11793379
    Abstract: An autonomous cleaning robot includes a drive system to move the autonomous cleaning robot about a floor surface in a space, a cleaning system to clean a floor surface in the space as the drive system moves the autonomous cleaning robot about the floor surface, and a controller configured to execute instructions to perform one or more operations.
    Type: Grant
    Filed: March 26, 2021
    Date of Patent: October 24, 2023
    Assignee: iRobot Corporation
    Inventors: Christopher V. Jones, Markku Suomi
  • Patent number: 11797082
    Abstract: An event driven sensor (EDS) is used for simultaneous localization and mapping (SLAM) and in particular is used in conjunction with a constellation of light emitting diodes (LED) to simultaneously localize all LEDs and track EDS pose in space. The EDS may be stationary or moveable and can track moveable LED constellations as rigid bodies. Each individual LED is distinguished at a high rate using minimal computational resources (no image processing). Thus, instead of a camera and image processing, rapidly pulsing LEDs detected by the EDS are used for feature points such that EDS events are related to only one LED at a time.
    Type: Grant
    Filed: November 4, 2021
    Date of Patent: October 24, 2023
    Assignee: Sony Interactive Entertainment Inc.
    Inventor: Sergey Bashkirov
  • Patent number: 11797013
    Abstract: Collision avoidance for a mobile machine having a plurality of sensors is disclosed. The mobile machine is avoided from colliding with a collision object by fusing sensor data received from the plurality of sensors to obtain a plurality of data points corresponding to the collision object, calculating a closed-form solution of a distance between the mobile machine and each of the plurality of data points, calculating a maximum allowed velocity of the mobile machine based on the shortest distance between the mobile machine and the plurality of data points and a current velocity of the mobile machine, and controlling the mobile machine to move according to the maximum allowed velocity.
    Type: Grant
    Filed: December 25, 2020
    Date of Patent: October 24, 2023
    Assignees: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP, UBTECH ROBOTICS CORP LTD
    Inventors: Dejun Guo, Kang-Hao Peng, Dan Shao, Yang Shen, Huan Tan
  • Patent number: 11780078
    Abstract: The present invention relates to a self-moving device (100). The self-moving device (100) includes a body (20), a walking mechanism (40) disposed on the body (20) and configured to drive the self-moving device (100) to walk, a connecting arm (60) connected to the body (20), and a control module (11) configured to control the walking mechanism (40) to drive the self-moving device (100) to walk within a defined area. The connecting arm (60) is selectively connected to at least one of at least two working heads (200) configured to perform different work tasks. The connecting arm (60) includes a connecting structure (64) configured to be connected to the working head (200) and a connecting component (62) configured to connect the connecting structure (64) to the body (20).
    Type: Grant
    Filed: March 12, 2020
    Date of Patent: October 10, 2023
    Assignee: Positec Power Tools (Suzhou) Co., Ltd.
    Inventors: Ka Tat Kelvin Wong, Fengli Zhao
  • Patent number: 11780090
    Abstract: An apparatus, system and method of for certifying a sensor that at least partially navigates an autonomous mobile robot. The apparatus may include at least a robot body; at least one light source resident on the robot body proximate to the sensing camera such that the at least one light source is capable of at least partially irradiating a field of view (FoV) of the sensing camera, wherein the at least one light source has characteristics substantially mated to the sensing camera; and at least one processing system that provides the at least partial navigation. The at least one processing system may execute the steps of: actuating the at least one light source at a predetermined time and for a predetermined duration; monitoring data from the sensing camera for confirmation of the actuating; calculating at least one of the latency, throughput, and reactivity of the sensing camera based on the monitoring; and at least partially navigating based on the calculating.
    Type: Grant
    Filed: March 29, 2019
    Date of Patent: October 10, 2023
    Assignee: JABIL INC.
    Inventors: Charles Martin, Christopher Jones
  • Patent number: 11776280
    Abstract: A method performed by an apparatus is described. The method includes receiving map data that is based on first image data, second image data, and a similarity metric. The first image data can be received from a first vehicle and represent an object. The second image data can be received from a second vehicle and represent the object. The similarity metric can be associated with the object represented in the first image data and the object represented in the second image data. The method can also include storing, by a vehicle, the received map data and localizing the vehicle based on the stored map data.
    Type: Grant
    Filed: August 31, 2021
    Date of Patent: October 3, 2023
    Assignee: QUALCOMM Incorporated
    Inventors: Onkar Jayant Dabeer, Kiran Somasundaram, Radhika Dilip Gowaikar, Ravi Teja Sukhavasi
  • Patent number: 11771291
    Abstract: A robot includes a controller configured to: detect a virtual wall signal; identify a virtual wall according to a signal threshold and the virtual wall signal; and when the virtual wall is identified, adjust the signal threshold, and control the robot to travel along an outer side of the virtual wall according to an adjusted signal threshold and the virtual wall signal, such that a driving wheel of the robot is located at the outer side of the virtual wall when the robot is traveling along the outer side of the virtual wall; wherein the outer side of the virtual wall is a side of the virtual wall within an active region of the robot.
    Type: Grant
    Filed: June 4, 2021
    Date of Patent: October 3, 2023
    Assignees: BEIJING XIAOMI MOBILE SOFTWARE CO., LTD., BEIJING ROBOROCK TECHNOLOGY CO., LTD.
    Inventors: Haojian Xie, Yongfeng Xia
  • Patent number: 11766303
    Abstract: Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations; and drive, using a drive component, the linkage to move according to the movement profile.
    Type: Grant
    Filed: December 13, 2022
    Date of Patent: September 26, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Roman L. Devengenzo, Bruce M. Schena, David W. Robinson
  • Patent number: 11760570
    Abstract: A storage array system including an open undeterministic transport surface, a navigation array disposed in connection with the transport surface, the navigation array includes a distributed feature, a first waypoint at a first position of the distributed feature, a second waypoint displaced from the first waypoint along the distributed feature and offset with respect to the first waypoint in a direction angled to the distributed feature, and a guided bot, arranged to traverse the transport surface, with a non-holonomic steering system, the guided bot having a bot pose determination system employing sensor data detecting the distributed feature, wherein the guided bot includes a controller configured to generate a substantially smooth curved bot traverse path on the transport surface connecting the first and second waypoints with a predetermined optimal trajectory of the guided bot along the traverse path determined based on a bot dynamic model.
    Type: Grant
    Filed: September 14, 2021
    Date of Patent: September 19, 2023
    Assignee: Symbotic LLC
    Inventors: Edward A MacDonald, Forrest Buzan, John F Keating, Juergen D Conrad, Armin Ataei-Esfahani
  • Patent number: 11764553
    Abstract: A smart power transmission line inspection system, related to the technical field of robotic inspection. The smart power transmission line inspection system comprises an inspection robot, an activation/deactivation device, and a control and processing terminal. The activation/deactivation device is used for activating or deactivating the inspection robot according to an activation/deactivation instruction. The inspection robot is used for inspection along a power transmission line according to an inspection instruction, and the inspection robot is also used for obtaining inspection data and for transmitting the inspection data to the control and processing terminal, wherein the inspection instruction is a pre-set inspection instruction pre-set for the inspection robot, or the inspection instruction is sent by the control and processing terminal and received by the inspection robot.
    Type: Grant
    Filed: March 27, 2020
    Date of Patent: September 19, 2023
    Assignee: GUANGDONG KEYSTAR INTELLIGENCE ROBOT CO., LTD.
    Inventors: Fang Li, Shaochun Jia, Jixian Wu, Jiaju Xue, Yangyong Zhang, Guangmian Fan, Peng Ge
  • Patent number: 11741336
    Abstract: Implementations set forth herein relate to generating training data, such that each instance of training data includes a corresponding instance of vision data and drivability label(s) for the instance of vision data. A drivability label can be determined using first vision data from a first vision component that is connected to the robot. The drivability label(s) can be generated by processing the first vision data using geometric and/or heuristic methods. Second vision data can be generated using a second vision component of the robot, such as a camera that is connected to the robot. The drivability labels can be correlated to the second vision data and thereafter used to train one or more machine learning models. The trained models can be shared with a robot(s) in furtherance of enabling the robot(s) to determine drivability of areas captured in vision data, which is being collected in real-time using one or more vision components.
    Type: Grant
    Filed: December 19, 2019
    Date of Patent: August 29, 2023
    Assignee: GOOGLE LLC
    Inventors: Ammar Husain, Joerg Mueller
  • Patent number: 11731651
    Abstract: Systems and methods are disclosed for optimizing values of a set of tunable parameters of an autonomous driving vehicle (ADV). The controllers can be a linear quadratic regular, a “bicycle model,” a model-reference adaptive controller (MRAC) that reduces actuation latency in control subsystems such as steering, braking, and throttle, or other controller (“controllers”). An optimizer selects a set tunable parameters for the controllers. A task distribution system pairs each set of parameters with each of a plurality of simulated driving scenarios, and dispatches a task to the simulator to perform the simulation with the set of parameters. Each simulation is scored. A weighted score is generated from the simulation. The optimizer uses the weighted score as a target objective for a next iteration of the optimizer, for a fixed number of iterations. A physical real-world ADV is navigated using the optimized set of parameters for the controllers in the ADV.
    Type: Grant
    Filed: September 30, 2020
    Date of Patent: August 22, 2023
    Assignee: BAIDU USA LLC
    Inventors: Weiman Lin, Yu Cao, Yu Wang, Qi Luo, Shu Jiang, Xiangquan Xiao, Longtao Lin, Jinghao Miao, Jiangtao Hu
  • Patent number: 11726487
    Abstract: A method for identifying a doorway, including receiving, with a processor of an automated mobile device, sensor data of an environment of the automated mobile device from one or more sensors coupled with the processor, wherein the sensor data is indicative of distances to objects within the environment; identifying, with the processor, a doorway in the environment based on the sensor data; marking, with the processor, the doorway in an indoor map of the environment; and instructing, with the processor, the automated mobile device to execute one or more actions upon identifying the doorway, wherein the one or more actions comprises finishing a first task in a first work area before crossing the identified doorway into a second work area to perform a second task.
    Type: Grant
    Filed: April 26, 2021
    Date of Patent: August 15, 2023
    Assignee: AI Incorporated
    Inventor: Ali Ebrahimi Afrouzi
  • Patent number: 11726481
    Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.
    Type: Grant
    Filed: November 2, 2021
    Date of Patent: August 15, 2023
    Assignee: Boston Dynamics, Inc.
    Inventors: Alexander Douglas Perkins, Kevin Blankespoor
  • Patent number: 11715293
    Abstract: Methods, devices, and systems for identifying charging devices are provided. In one aspect, a method of identifying a charging device include: capturing an infrared image and a depth image of a current field of view with a depth camera; determining, according to the infrared image, that there are one or more suspected charging device areas that satisfy first specified conditions; determining, according to the depth image, that there is a target charging device area whose height relative to a depth camera is within a specified range in the one or more suspected charging device areas; and identifying the charging device according to the target charging device area. The first specified conditions indicate that a gray-scale value of each of pixels in an area is greater than a second specified value, and a number of the pixels in the area is greater than a third specified value.
    Type: Grant
    Filed: August 13, 2019
    Date of Patent: August 1, 2023
    Assignee: Hangzhou Ezviz Software Co., Ltd.
    Inventors: Nicong Jiang, Jianhua Zhu, Bingwei Shen, Bin Guo, Haiqing Jiang
  • Patent number: 11712142
    Abstract: A system of robotic cleaning devices and a method of a master robotic cleaning device of controlling at least one slave robotic cleaning device. The method performed by a master robotic cleaning device of controlling at least one slave robotic cleaning device includes detecting obstacles, deriving positional data from the detection of obstacles, positioning the master robotic cleaning device with respect to the detected obstacles from the derived positional data, controlling movement of the master robotic cleaning device based on the positional data, and submitting commands to the at least one slave robotic cleaning device to control a cleaning operation of said at least one slave robotic cleaning device, the commands being based on the derived positional data, wherein the cleaning operation of the slave robotic cleaning device is controlled as indicated by the submitted commands.
    Type: Grant
    Filed: November 4, 2020
    Date of Patent: August 1, 2023
    Inventor: Anders Haegermarck
  • Patent number: 11701442
    Abstract: Implementations of the disclosed subject matter provide a method of receiving, at an actuated mobile device, at least one dosage level for a predetermined area, where the at least one dosage level is based on a first dosage of ultraviolet (UV) light to be output from at least one light source for at least a portion of the predetermined area. The method may include moving the actuated mobile device in a path within the predetermined area and outputting the UV light from the at least one light source onto one or more first surfaces based on the received at least one dosage level. The method may include moving the actuated mobile device within the path, and outputting the UV light onto one or more second surfaces based on the received at least one dosage level.
    Type: Grant
    Filed: March 31, 2020
    Date of Patent: July 18, 2023
    Assignee: UVD Robots ApS
    Inventors: Thomas Rubaek, Efraim Vitzrabin, John Erland Østergaard, Rune K. Larsen
  • Patent number: 11691293
    Abstract: A robot including a plurality of joints each configured to rotate about an axis line; a torque sensor S1 configured to detect torque about the axis line of a target joint as one of the plurality of joints; angle information detection units configured to detect information related to a rotation angle of each of the joints about the axis line; a torque change amount estimation unit configured to estimate a change amount of the torque detected by the torque sensor due to a load other than the torque about the axis line of the target joint based on the detected information; and a correction unit configured to correct the torque detected by the torque sensor by using the estimated change amount.
    Type: Grant
    Filed: August 14, 2019
    Date of Patent: July 4, 2023
    Assignee: FANUC CORPORATION
    Inventors: Kazutaka Nakayama, Kenichiro Oguri