公开(公告)号：US12081202B2

公开(公告)日：2024-09-03

申请号：US18143791

申请日：2023-05-05

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans ,  Kerfegar Katrak

IPC分类号： H03K17/082 ,  H03K17/0812

CPC分类号： H03K17/082 ,  H03K17/0812

摘要： A feedback-diverse, dual-controller-architecture functional safety system includes: a first module; a second module; and an inter-module logic.

公开(公告)号：US11934185B2

公开(公告)日：2024-03-19

申请号：US17507670

申请日：2021-10-21

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans ,  Walid Dimachkie

IPC分类号： G05B9/03

CPC分类号： G05B9/03

摘要： Systems and methods for safety-enabled control by: establishing a wireless communication channel with a plurality of remote control units via the wireless interface device; in response to establishing the wireless communication channels, operating a system-under-control in a supervised mode based on input received from at least one of the plurality of remote control units; in response to a mode switch command received from a first remote control unit of the plurality of remote control units, providing the other remote control units with a request for a mode switch confirmation; and, in response to confirming receipt of a safety-rated input from an autonomous control system and receipt of a mode switch confirmation from each of the other remote control units, operating the system-under-control in an autonomous mode based on input received from the autonomous control system.

公开(公告)号：US20240086268A1

公开(公告)日：2024-03-14

申请号：US18367840

申请日：2023-09-13

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans

IPC分类号： G06F11/07

CPC分类号： G06F11/076

摘要： A method includes: receiving a message, via a communication link, including sensor data in a data stream from a sensor device and first reference data based on a deterministic function and a seed value; extracting the first reference data from the message; generating second reference data based on the deterministic function and the seed value; calculating a first quantity of bit errors in the first reference data based on the second reference data; calculating a bit error rate of the communication link based on the first quantity of bit errors; in response to the bit error rate exceeding a bit error rate threshold for the data stream, generating a second message representing a fault; and transmitting the second message to a second device.

公开(公告)号：US11632263B2

公开(公告)日：2023-04-18

申请号：US17538948

申请日：2021-11-30

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans

IPC分类号： H04L7/00 ,  H04L12/40 ,  H04L1/00

摘要： A method comprising: accessing a response mapping defining a set of safety-critical functions associated with a safety-critical latency threshold and a set of safety responses, each safety response corresponding to a safety-critical function; executing a time-synchronization protocol with a transmitting system to calculate a clock reference; accessing a safety message schedule indicating an expected arrival time for each safety message in a series of safety messages based on the clock reference; for each safety message in the series of safety messages, calculating a latency of the safety message based on an arrival time of the safety message and the expected arrival time; and in response to a latency of a current safety message in the series of safety messages exceeding the safety-critical latency threshold, initiating the safety response corresponding to the safety-critical function for each safety-critical function in the set of safety-critical functions.

公开(公告)号：US20220382612A1

公开(公告)日：2022-12-01

申请号：US17332635

申请日：2021-05-27

申请人： Fort Robotics, Inc.

发明人： Kerfegar Khurshed Katrak

IPC分类号： G06F11/07 ,  G05B19/042

摘要： A safety module having a plurality of microcontrollers receives an analog input and determines a value of the analog input. The microcontrollers each determine a respective ternary state of the device by identifying, from three candidate ranges of values, a range of values in which the value falls, wherein at least two of the plurality of microcontrollers uses different candidate ranges of values, determining, based on the identified range, a ternary state corresponding to the range, and assigning the determined ternary state as the respective ternary state. The safety module determines whether the ternary states from the two microcontrollers map to a fault state, and, where they do, cause a command a command to be output to the device to enter a safe state.

公开(公告)号：US20210282117A1

公开(公告)日：2021-09-09

申请号：US17192657

申请日：2021-03-04

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans

IPC分类号： H04W72/04 ,  H04L1/00 ,  H04W12/03 ,  H03M13/29 ,  G05B19/042 ,  B25J9/16

摘要： A system generates, by a first source microcontroller, a first data packet comprising a payload and a first error code, the payload indicating a safety state of a robot. The first source microcontroller transmits the data packet from the first source microcontroller to a second source microcontroller. The second source microcontroller generates a second data packet that includes the payload, the first error code and a second error code. The second source microcontroller transmits the second data packet to a sink microcontroller, wherein the sink microcontroller recovers the payload based on at least one of the first error code and the second error code.

公开(公告)号：US20210271209A1

公开(公告)日：2021-09-02

申请号：US17183116

申请日：2021-02-23

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans ,  Walid Dimachkie

IPC分类号： G05B9/03

摘要： Systems and methods for safety-enabled control.

公开(公告)号：US20240106638A1

公开(公告)日：2024-03-28

申请号：US18373152

申请日：2023-09-26

申请人： Fort Robotics, Inc.

发明人： Guang Wu

IPC分类号： H04L9/08

CPC分类号： H04L9/0869 ,  H04L9/0877 ,  H04L9/0894

摘要： A method includes, by a key server: identifying a group of devices; accessing secret values pre-provisioned to devices in the group of devices; accessing prime numbers pre-provisioned to devices in the group of devices; generating a cryptographic key for communication among the group of devices; generating a message based on the secret values, the prime numbers, and the cryptographic key; and transmitting the message to a device in the group of devices. The method also includes, by a first device in the group of devices: in response to receiving the message, deriving the cryptographic key from the message based on a first secret value, pre-provisioned to the first device, and a first prime number pre-provisioned to the first device; and associating the cryptographic key with communication among the group of devices.

公开(公告)号：US20230361766A1

公开(公告)日：2023-11-09

申请号：US18143791

申请日：2023-05-05

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans ,  Kerfegar Katrak

IPC分类号： H03K17/082 ,  H03K17/0812

CPC分类号： H03K17/082 ,  H03K17/0812

摘要： A feedback-diverse, dual-controller-architecture functional safety system includes: a first module; a second module; and an inter-module logic.

公开(公告)号：US20230114984A1

公开(公告)日：2023-04-13

申请号：US17967810

申请日：2022-10-17

申请人： Fort Robotics, Inc.

发明人： Kerfegar Khurshed Katrak

IPC分类号： G06F11/07 ,  G05B19/042

摘要： A safety module having a plurality of microcontrollers receives an analog input and determines a value of the analog input. The microcontrollers each determine a respective ternary state of the device by identifying, from three candidate ranges of values, a range of values in which the value falls, wherein at least two of the plurality of microcontrollers uses different candidate ranges of values, determining, based on the identified range, a ternary state corresponding to the range, and assigning the determined ternary state as the respective ternary state. The safety module determines whether the ternary states from the two microcontrollers map to a fault state, and, where they do, cause a command a command to be output to the device to enter a safe state.