公开(公告)号：US20220382243A1

公开(公告)日：2022-12-01

申请号：US17332657

申请日：2021-05-27

申请人： Fort Robotics, Inc.

发明人： Kerfegar Khurshed Katrak

IPC分类号： G05B19/406 ,  G05B19/414

摘要： A device operating in a normal mode receives a request to switch to a functional safety mode, the request including a selection of a safety actuator and one or more of a plurality of secondary actuators. Responsive to receiving the request, the device transmits a copy of a safety message from the safety actuator to a first microcontroller to a second microcontroller. The device validates the safety message at the first microcontroller and the second microcontroller, the validation resulting in first validation values from the first microcontroller and second validation values from the second microcontroller. The device validates the first validation values against the second validation values, and, responsive to successfully validating the safety message at the first microcontroller and the second microcontroller, and successfully validating the first validation values against the second validation values, commands the device to transition from the normal mode to the functional safety mode.

公开(公告)号：US20210026320A1

公开(公告)日：2021-01-28

申请号：US16937299

申请日：2020-07-23

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans

IPC分类号： G05B19/406

摘要： Systems and methods for safety-enabled control. Input values provided to a control system can be validated. Command gating can be performed for control values provided by the control system. Validation of input values and command gating for control values can be performed in accordance with respective validation windows. Validation windows can be dynamically adjusted based on data received via a sensor or interface.

公开(公告)号：US20240337988A1

公开(公告)日：2024-10-10

申请号：US18748014

申请日：2024-06-19

申请人： Fort Robotics, Inc.

发明人： Kerfegar Khurshed Katrak

IPC分类号： G05B9/02

CPC分类号： G05B9/02

摘要： A device operating in a nominal mode receives a request to switch to a functional safety mode, the request including a selection of a safety actuator and one or more of a plurality of secondary actuators. Responsive to receiving the request, the device transmits a copy of a safety message from the safety actuator to a first microcontroller to a second microcontroller. The device validates the safety message at the first microcontroller and the second microcontroller, the validation resulting in first validation values from the first microcontroller and second validation values from the second microcontroller. The device validates the first validation values against the second validation values, and, responsive to successfully validating the safety message at the first microcontroller and the second microcontroller, and successfully validating the first validation values against the second validation values, commands the device to transition from the nominal mode to the functional safety mode.

公开(公告)号：US20240214993A1

公开(公告)日：2024-06-27

申请号：US18430293

申请日：2024-02-01

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans

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

CPC分类号： H04W72/04 ,  B25J9/1689 ,  G05B19/0423 ,  H03M13/2906 ,  H04L1/0061 ,  H04W12/03 ,  G05B2219/25257

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：US20240184251A1

公开(公告)日：2024-06-06

申请号：US18440372

申请日：2024-02-13

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：US11947331B2

公开(公告)日：2024-04-02

申请号：US18112894

申请日：2023-02-22

申请人： Fort Robotics, Inc.

发明人： Nathan Bivans

IPC分类号： G05B19/406

CPC分类号： G05B19/406 ,  G05B2219/50193

摘要： Systems and methods for safety-enabled control. Input values provided to a control system can be validated. Command gating can be performed for control values provided by the control system. Validation of input values and command gating for control values can be performed in accordance with respective validation windows. Validation windows can be dynamically adjusted based on data received via a sensor or interface.

公开(公告)号：US11940869B2

公开(公告)日：2024-03-26

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

CPC分类号： G06F11/079 ,  G05B19/0428 ,  G06F11/0724 ,  G06F11/0751 ,  G06F11/0778 ,  G05B2219/24024 ,  G05B2219/25257

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：US11924811B2

公开(公告)日：2024-03-05

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 ,  B25J9/16 ,  G05B19/042 ,  H03M13/29 ,  H04L1/00 ,  H04W12/03

CPC分类号： H04W72/04 ,  B25J9/1689 ,  G05B19/0423 ,  H03M13/2906 ,  H04L1/0061 ,  H04W12/03 ,  G05B2219/25257

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：US20230288897A1

公开(公告)日：2023-09-14

申请号：US18125034

申请日：2023-03-22

申请人： Fort Robotics, Inc.

发明人： Kerfegar Khurshed Katrak

IPC分类号： G05B19/042

CPC分类号： G05B19/0428 ,  G05B2219/24024 ,  G05B2219/25257

摘要： An output controller obtains a pair of safety state inputs, and, at each of a first microcontroller and the second microcontroller determines whether the pair of safety state inputs both show an unasserted state. Responsive to determining that the pair of safety state inputs both show an unasserted state, the output controller determining a normal state, and otherwise the output controller determines a safe state. The output controller outputs a binary software command reflecting either a normal state or a safe state, and converts the binary software command to a hardware command that maintains the state of voltage of a circuit where the binary software command reflects a normal state and otherwise switches to a safe state. The controller compares readback output values from the two microcontrollers, and generates an output therefrom.

公开(公告)号：US20230273851A1

公开(公告)日：2023-08-31

申请号：US18096982

申请日：2023-01-13

申请人： Fort Robotics, Inc.

发明人： Kerfegar Khurshed Katrak ,  Nathan Bivans

IPC分类号： G06F11/07 ,  G06N10/70 ,  H03M13/15 ,  H03M13/19

CPC分类号： G06F11/079 ,  G06N10/70 ,  G06F11/0724 ,  G06F11/0751 ,  G06F11/0706 ,  G06F11/0766 ,  H03M13/1525 ,  H03M13/1575 ,  H03M13/19 ,  G06F11/008

摘要： A method includes, storing a set of valid codewords including: a first valid functional codeword representing a functional state of a controller subsystem; a first valid fault codeword representing a fault state of the controller subsystem and characterized by a minimum hamming distance from the first valid functional codeword; a second valid functional codeword representing a functional state of a controller; and a second valid fault codeword representing a fault state of the controller; in response to detecting functional operation of the controller subsystem, storing the first valid functional codeword in a first memory; in response to detecting a match between contents of the first memory and the first valid functional codeword, outputting the second valid functional codeword; in response to detecting a mismatch between contents of the first memory and every codeword in the first set of valid codewords, outputting the second valid fault codeword.