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公开(公告)号：US12030508B2
公开(公告)日：2024-07-09
申请号：US17320134
申请日：2021-05-13
Applicant: Ford Global Technologies, LLC
Inventor： Sanghyun Hong , Jianbo Lu
CPC classification number: B60W50/0098 , B66F9/063 , G01S17/89 , G05B11/36 , G05B13/048 , G05D1/0212 , G05D1/0248 , B60W2050/0011
Abstract: Scenario discriminative hybrid motion control for robots and methods of use are disclosed herein. A method may include determining a number of objects in a space, determining when a goal is within the space, and selectively switching between a plurality of control schemes based on the number of objects in the space and whether the goal is within the space. The plurality of control schemes including a model predictive control scheme, a simplified model predictive control scheme, and a proportional-integral-derivative scheme. Selectively switching between the plurality of control schemes reduces power consumption of an automated system compared to when the automated system utilizes only the model predictive control scheme.
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公开(公告)号：US11810049B2
公开(公告)日：2023-11-07
申请号：US17407458
申请日：2021-08-20
Applicant: Ford Global Technologies, LLC
Inventor： Justin Miller , Pavithra Madhavan , Sanghyun Hong , Jianbo Lu
IPC: G06Q10/0832 , G06Q10/0833 , G06Q50/30 , G05D1/02
CPC classification number: G06Q10/0832 , G05D1/0212 , G05D1/0274 , G06Q10/0833 , G06Q50/30
Abstract: This disclosure is generally directed to systems and methods for generating a last mile travel route for a delivery robot. In an example embodiment, an individual captures an image of a frontage of a property. The image may include a package drop-off spot where a package can be dropped off by the delivery robot. The individual may also insert labels and/or illustrations into the image for conveying information such as object descriptors (front door, drop-off spot, etc.), traversable areas (driveway, walkway, etc.), and non-traversable areas (lawn, flower bed, etc.). The image is converted by a computer into a travel map that the delivery robot can use to identify a travel route through the frontage area of the property. The travel map may be provided in various forms such as a semantic map of the frontage area or a bird's eye view rendering of the frontage area.
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公开(公告)号：US11609582B2
公开(公告)日：2023-03-21
申请号：US17066224
申请日：2020-10-08
Applicant: Ford Global Technologies, LLC
Inventor： Sanghyun Hong , Jianbo Lu
Abstract: The disclosure generally pertains to travel planning for a multifunction robot that can travel on a ground surface and can fly over obstacles. In an example embodiment, a controller of the multifunction robot receives an Occupancy Grid map that provides information about a travel area to be traversed by the multifunctional robot. The controller may determine a first cost associated with a first travel route that involves the multifunctional robot driving around a 3D object when moving along the ground from an origination spot to a destination spot in the travel area. The controller may further determine a second cost associated with a second travel route that involves the multifunctional robot flying over the 3D object when moving from the origination spot to the destination spot. The controller may select either the first travel route or the second travel route based on comparing the first cost to the second cost.
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公开(公告)号：US20220305657A1
公开(公告)日：2022-09-29
申请号：US17211494
申请日：2021-03-24
Applicant: Ford Global Technologies, LLC
Inventor： Sanghyun Hong , Jianbo Lu
Abstract: Present embodiments describe a method for controlling a robotic vehicle that can include causing a processor to determine a localized position of a dynamic object, determining, via the processor, a predicted trajectory of the robotic vehicle based on the localized position of the dynamic object, and determining an optimum trajectory based on the predicted trajectory, the optimum trajectory chosen based a travel velocity and longitudinal velocity. Determining the optimum trajectory can include computing a cost value comprising a plurality of cost terms associated with the optimum trajectory, and determining a control command that modifies a travel velocity and a travel vector of the robotic vehicle based on the cost value. The method further includes causing, via the processor, the robotic vehicle to follow the optimal trajectory based on the control command.
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公开(公告)号：US11345353B2
公开(公告)日：2022-05-31
申请号：US16500831
申请日：2017-08-11
Applicant: Ford Global Technologies, LLC
IPC: B60W40/08
Abstract: A computer in a vehicle that includes a processor and memory storing instructions executable by the processor. The instruction may include: receive an indication that the vehicle door is ajar; receive sensor data from a rotational-rate sensor in a vehicle; and based on the indication and sensor data, determine a traversal event.
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Patent Agency Ranking
公开(公告)号：US10948907B2
公开(公告)日：2021-03-16
申请号：US16112185
申请日：2018-08-24
Applicant: Ford Global Technologies, LLC
Inventor： Justin Miller , Sanghyun Hong , Jianbo Lu
Abstract: Systems, methods, and computer-readable media are disclosed for enhanced human-robot interactions. A device such as a robot may send one or more pulses. The device may identify one or more reflections associated with the one or more pulses. The device may determine, based at least in part on the one or more reflections, a cluster. The device may associate the cluster with an object identified in an image. The device may determine, based at least in part on an image analysis of the image, a gesture associated with the object. The device may determine, based at least in part on the gesture, a command associated with an action. The device may to perform the action.
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公开(公告)号：US10824155B2
公开(公告)日：2020-11-03
申请号：US16109509
申请日：2018-08-22
Applicant: Ford Global Technologies, LLC
Inventor： Sanghyun Hong , Justin Miller , Jianbo Lu
Abstract: The present disclosure extends to methods, systems, and computer program products for predicting the movement intent of objects. In one aspect, a mobile robot predicts the movement intent of pedestrians from past pedestrian trajectory data and landmark proximity. In another aspect, a host mobile robot predicts the movement intent of other robots/vehicles using motion analysis models for different driving behaviors, including curve negotiation, zigzagging, rapid acceleration/deceleration, and tailgating. In a further aspect, a mobile robot can self-predict movement intent and share movement intent information with surrounding robots/vehicles (e.g., through vehicle-to-vehicle (V2V) communication). The mobile robot can self-predict future movement by comparing the operating values calculated from the monitored components to the operating limits of the mobile robot (e.g., an adhesion limit between the tires and ground). Exceeding operating limits can be an indication of skidding, oversteering, understeering, or fishtailing.
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公开(公告)号：US20200249698A1
公开(公告)日：2020-08-06
申请号：US16267239
申请日：2019-02-04
Applicant: Ford Global Technologies, LLC
Inventor： Jianbo Lu , Justin Miller , Sanghyun Hong
Abstract: This disclosure is generally directed to systems and methods for using an autonomous vehicle to provide navigation assistance to a delivery robot. In one exemplary implementation, the delivery robot is transported by the autonomous vehicle to a delivery destination such as a residence or a workplace. The delivery robot disembarks at the delivery destination for delivering a package to a recipient at the residence or workplace. A computer system in the autonomous vehicle communicates with a navigation assistance system of the autonomous vehicle to obtain information pertaining to a terrain between the autonomous vehicle and a package drop-off spot at the residence or workplace, and uses the information to generate a route map of the terrain. The autonomous vehicle may transmit the route map and/or navigation instructions derived from the route map, to the delivery robot to assist the delivery robot navigate around obstacles and reach the package drop-off spot.
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公开(公告)号：US20200064827A1
公开(公告)日：2020-02-27
申请号：US16112185
申请日：2018-08-24
Applicant: Ford Global Technologies, LLC
Inventor： Justin Miller , Sanghyun Hong , Jianbo Lu
Abstract: Systems, methods, and computer-readable media are disclosed for enhanced human-robot interactions. A device such as a robot may send one or more pulses. The device may identify one or more reflections associated with the one or more pulses. The device may determine, based at least in part on the one or more reflections, a cluster. The device may associate the cluster with an object identified in an image. The device may determine, based at least in part on an image analysis of the image, a gesture associated with the object. The device may determine, based at least in part on the gesture, a command associated with an action. The device may to perform the action.
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公开(公告)号：US20190217716A1
公开(公告)日：2019-07-18
申请号：US15873956
申请日：2018-01-18
Applicant: FORD GLOBAL TECHNOLOGIES, LLC
Inventor： Xiao Guang Yang , James Matthew Marcicki , Pratima Addepalli , Devang Bhalchandra Dave , Jianbo Lu
IPC: B60L11/18
CPC classification number: B60L53/60 , B60L53/14 , B60L2240/622 , B60L2240/66 , B60L2240/68 , H02J7/0021 , H02J2007/0098
Abstract: A method includes controlling charging a battery pack of an electrified vehicle, via a control system of the electrified vehicle, based on climate conditions, traffic conditions, and learned driving habits of a driver of the electrified vehicle. The control system is configured to create a smart charging schedule for either adding or not adding an additional charge to the battery pack in anticipation of an expected upcoming drive cycle.
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