公开(公告)号：US11845186B2

公开(公告)日：2023-12-19

申请号：US17138942

申请日：2020-12-31

申请人： UBTECH ROBOTICS CORP LTD

发明人： Yuesong Wang ,  Liqun Huang ,  Xiaoyu Ren ,  Mingguo Zhao ,  Youjun Xiong

IPC分类号： B25J9/16

CPC分类号： B25J9/1643 ,  B25J9/1607 ,  G05B2219/50391

摘要： An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

公开(公告)号：US20230377288A1

公开(公告)日：2023-11-23

申请号：US18230283

申请日：2023-08-04

申请人： Computer Generated Solutions, Inc.

发明人： Douglas Stephen ,  Micah White ,  Philip Friedman

IPC分类号： G06T19/00 ,  G05B19/4155 ,  G06T13/00 ,  G06F3/0482 ,  G06V20/20

CPC分类号： G06T19/006 ,  G05B19/4155 ,  G06T13/00 ,  G06F3/0482 ,  G06V20/20 ,  G06T2200/24 ,  G06T2219/004 ,  G05B2219/50391

摘要： The present disclosure generally relates to systems and methods for creating, publishing, accessing, and sharing AR, VR, and/or XR content. In embodiments, users may collaborate in an XR environment. In embodiments, a system disclosed herein includes a backend module and a user client that permits creation and/or viewing of XR content. Embodiments enable users to create customized XR content that is published to users based on predetermined times and/or locations. Embodiments provide for training and collaborative XR environments accessed by multiple users simultaneously.

公开(公告)号：US20230364798A1

公开(公告)日：2023-11-16

申请号：US18314714

申请日：2023-05-09

申请人： CANON KABUSHIKI KAISHA

发明人： AKIHIRO ODA ,  TAISHI MATSUMOTO ,  YUICHIRO KUDO

IPC分类号： B25J9/16 ,  G06T7/70 ,  G05B13/02 ,  G05B19/4155

CPC分类号： B25J9/1697 ,  B25J9/163 ,  G05B13/0265 ,  G05B19/4155 ,  G06T7/70 ,  G05B2219/50391 ,  G06T2207/20081 ,  G06T2207/30164 ,  G06T2207/30242

摘要： An information processing method for obtaining a learned model configured to output information of a workpiece includes obtaining first image data and second image data. The first image data includes an image corresponding to a first number of workpieces disposed in a container or to the first number of virtual workpieces disposed in a virtual container. The second image data includes an image corresponding to a second number of workpieces disposed in the container or to the second number of virtual workpieces disposed in the virtual container. The second number is different from the first number. The information processing method includes obtaining the learned model by machine learning using the first image data and the second image data as input data.

公开(公告)号：US11816621B2

公开(公告)日：2023-11-14

申请号：US17510971

申请日：2021-10-26

申请人： Bank of America Corporation

发明人： Nye W. Allen ,  Desmond Ebanks ,  Sunil Melam

IPC分类号： G06Q10/0639 ,  G05B19/4155

CPC分类号： G06Q10/0639 ,  G05B19/4155 ,  G05B2219/50391

摘要： Aspects of the disclosure relate to intelligent bot performance tracking and analysis. A computing platform may receive a work queue of items to be processed using a bot. The computing platform may receive, in real-time with processing of the work queue using the bot, metadata associated with the work queue. Based on the metadata, the computing platform may assign, in real-time, a value metric associated with completion of each item in the work queue. Based on the assigned value metric, the computing platform may identify a robotic process automation cost associated with processing the work queue via the bot. The computing platform may compare, the robotic process automation cost to a cost to process the work queue via another operation, and determine a performance metric for the bot based on the comparison. The computing platform may dynamically generate and transmit, in real-time, an indication of the determined bot performance metric.

公开(公告)号：US20230347522A1

公开(公告)日：2023-11-02

申请号：US18192667

申请日：2023-03-30

申请人： Honda Research Institute Europe GmbH

发明人： Patricia Wollstadt ,  Christiane Wiebel-Herboth

IPC分类号： G05B19/4155 ,  B25J13/08 ,  B25J9/16 ,  G06F3/01

CPC分类号： B25J9/1669 ,  B25J13/08 ,  G05B19/4155 ,  G06F3/015 ,  G05B2219/50391

摘要： A method for controlling at least one autonomous device which is one of at least two agents that cooperatively perform a common task in a common environment is provided. The method comprises: obtaining variables on a current state of each agent in the common environment, and obtaining a further variable on a current state of the common environment that describes a distance of the current state of the agents to a common goal state or a task success; determining a quantitative measure for cooperative behaviour of the agents that quantifies an extent to which a mutual support or an adaption in joint cooperative actions towards the common goal state increases a joint action space of the agents; optimizing a joint behaviour of the agents using the quantitative measure based on the obtained variables to determine an action of the autonomous device; and outputting a control signal for controlling the action.

公开(公告)号：US20230341835A1

公开(公告)日：2023-10-26

申请号：US18041498

申请日：2021-03-05

申请人： OMRON CORPORATION

发明人： Shintaro IWAMURA

IPC分类号： G05B19/4155 ,  B25J9/16

CPC分类号： G05B19/4155 ,  B25J9/1671 ,  G05B2219/50391

摘要： Provided is a configuration capable of realizing complicated control with a simpler configuration and facilitating program development. A control device for controlling a control target includes: a PLC engine configured to cyclically execute a program including a sequence instruction; a robot control engine configured to control a robot; an image processing engine configured to execute image processing on an image from a camera; and a simulation module configured to simulate at least a part of the control target, the robot, and the camera, the simulation module being constructed according to user setting.

公开(公告)号：US11775983B2

公开(公告)日：2023-10-03

申请号：US16887725

申请日：2020-05-29

申请人： LG ELECTRONICS INC.

发明人： Jungbin Yim ,  Sangwoon Lee ,  Jiin Suh

IPC分类号： G06Q30/00 ,  B25J9/16 ,  B25J11/00 ,  G06Q50/12 ,  G06Q30/06 ,  G06Q10/02 ,  G06Q30/02 ,  G06Q10/06 ,  B25J9/00 ,  G06V40/16 ,  G06Q30/016 ,  G06Q30/0601 ,  G06Q10/0631

CPC分类号： G06Q30/016 ,  B25J9/0084 ,  B25J9/1682 ,  B25J11/008 ,  B25J11/0045 ,  G06Q10/02 ,  G06Q10/06315 ,  G06Q10/06316 ,  G06Q30/0281 ,  G06Q30/0631 ,  G06Q30/0633 ,  G06Q50/12 ,  G06V40/172 ,  G05B2219/45111 ,  G05B2219/50391

摘要： The present disclosure relates to a method for providing service by controlling robots within a service area and a robot implementing the method, and according to an embodiment of the present disclosure, a system of providing service by controlling robots within the service area include a control server configured to receive customer information on customer seated at a table within the service area and ordered menu item information from a guide robot or a table robot disposed in the service area and transmit, to a cooking robot, the received information and cooking instruction information generated based on a situation of a plurality of orders placed within the service area and a plurality of robots.

公开(公告)号：US20230294283A1

公开(公告)日：2023-09-21

申请号：US17655466

申请日：2022-03-18

申请人： Mitsubishi Electric Research Laboratories, Inc.

发明人： Devesh Jha ,  Yuki Shirai ,  Arvind Raghunathan ,  Diego Romeres

IPC分类号： B25J9/16 ,  B25J9/00 ,  B25J13/08 ,  G05B19/4155

CPC分类号： B25J9/1664 ,  B25J9/0096 ,  B25J13/085 ,  B25J9/1612 ,  B25J9/1697 ,  G05B19/4155 ,  G05B2219/50391

摘要： A manipulation controller is provided for reorienting an object by a manipulator of a robotic system. The manipulation controller includes an interface controller configured to acquire measurement data from sensors arranged on the robotic system, at least one processor, and a memory configured to store a computer-implemented method. The instructions of the method include acquiring measurement data from vision sensors and force sensors arranged on the robotic system, determining an input-output relation for the object based on a nonlinear static model representing input-output relationships between contact forces and movements of the object on the workbench, representing interaction between the object and the manipulator using complementarity constraints to capture the contact state between the object and the manipulator, formulating a representation for frictional stability of the object based on the non-linear static model at the external contacts with the workbench; formulating a bilevel optimization problem so as to maximize the frictional stability over a position trajectory of the object being manipulated on the workbench, estimating uncertainty value in physical parameters to be compensated by performing the bilevel optimization problem, solving the bilevel optimization problem using the non-linear optimization solver and generating control data with respect to a sequence of the contact forces being applied to the object by using the manipulator.

公开(公告)号：US20230288938A1

公开(公告)日：2023-09-14

申请号：US18121538

申请日：2023-03-14

申请人： Haystack Robotics, Inc.

发明人： Paul R. West ,  Mahadev Eakambaram

IPC分类号： G05D1/02 ,  G05B19/4155 ,  G05D1/00 ,  A61L2/24 ,  A61L2/10

CPC分类号： G05D1/0219 ,  G05B19/4155 ,  G05D1/0094 ,  A61L2/24 ,  A61L2/10 ,  G05B2219/50391 ,  G05D2201/0203 ,  A61L2202/16 ,  A61L2202/11 ,  A61L2202/14 ,  A61L2202/25

摘要： Systems and methods are described for disinfecting a space, such as an interior room. In some aspects, at least one object in the space may be identified, such as by a mobile disinfecting device (device) including an ultraviolet lamp. Next, the object(s) may be categorizing as a certain type based on whether the object allows some light to pass through or around it. A route for the device may be determined, where the route includes a path and speed of the device corresponding to different segments of the path to yield a dosage score (ultraviolet exposure) that meets or exceeds a threshold value for different areas of the space. In some cases, determining the route further includes determining at least one of a speed, a modified path, or an ultraviolet radiation characteristic for at least one segment of the path based on the categorization of the object(s).

公开(公告)号：US11752628B2

公开(公告)日：2023-09-12

申请号：US17148663

申请日：2021-01-14

申请人： Seiko Epson Corporation

发明人： Daisuke Sato

IPC分类号： B25J9/16

CPC分类号： B25J9/1656 ,  G05B2219/50391

摘要： A control method includes: (a) setting a first operation mode using a first deviation threshold as a threshold to detect a deviation error in an amount of control and a second operation mode using a second deviation threshold that is higher than the first deviation threshold; and (b) selecting one of the first operation mode and the second operation mode and executing an operation of a robot.