公开(公告)号：US11738456B2

公开(公告)日：2023-08-29

申请号：US17812825

申请日：2022-07-15

Applicant: Boston Dynamics, Inc.

Inventor： Neil Neville ,  Kevin Blankespoor ,  Jennifer Barry ,  Alexander Douglas Perkins

IPC: B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  B25J15/06 ,  B65G57/24

CPC classification number: B25J9/1661 ,  B25J5/007 ,  B25J9/0096 ,  B25J9/162 ,  B25J9/1612 ,  B25J9/1697 ,  B25J15/0616 ,  B65G57/24

Abstract: A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.

公开(公告)号：US20230219237A1

公开(公告)日：2023-07-13

申请号：US18119609

申请日：2023-03-09

Applicant: IAM ROBOTICS, LLC

Inventor： Thomas Galluzzo ,  Vladimir Altman ,  John Cameron ,  Chris Grill ,  Mark Renfrew ,  Yash Manian

IPC: B25J13/08 ,  B25J13/00 ,  B25J9/16

CPC classification number: B25J13/089 ,  B25J13/006 ,  B25J9/1666 ,  B25J9/162 ,  B25J9/1679 ,  B25J9/161

Abstract: A method and system for autonomous picking or put-away of items, totes, or cases within a logistics facility. The system includes a remote server and at least one manipulation robot. The system may further include at least one transport robot. The remote server is configured to communicate with the various robots to send and receive picking data, and the various robots are configured to autonomously navigate and position themselves within the logistics facility.

公开(公告)号：US20230192463A1

公开(公告)日：2023-06-22

申请号：US18000217

申请日：2021-05-28

Applicant: SACMI TECH S.P.A.

Inventor： Maurizio BARDI

IPC: B66F9/18 ,  B66F9/075 ,  B66F9/20 ,  B25J18/02 ,  B25J9/16

CPC classification number: B66F9/181 ,  B66F9/07568 ,  B66F9/07572 ,  B66F9/0755 ,  B66F9/20 ,  B25J18/025 ,  B25J9/162

Abstract: A vehicle to collect and transport flat articles; the vehicle being configured to transport at least 500 kg; the vehicle comprises a frame having at least one support device, which is configured to receive a plurality of flat articles; a first moving device, which is configured to move said vehicle; at least one holding device, which is configured to hold, grab and release at least one flat ceramic article; and a moving assembly to move at least one of either the holding device or said support device relative to the other one along at least one moving trajectory, which is at least partially vertical.

公开(公告)号：US11675364B2

公开(公告)日：2023-06-13

申请号：US16932573

申请日：2020-07-17

Applicant: Fetch Robotics, Inc.

Inventor： Michael Ferguson ,  Edward S. King

IPC: G05D1/02 ,  B25J9/16

CPC classification number: G05D1/0225 ,  B25J9/162 ,  G05D1/0276 ,  G05D1/0282 ,  G05D1/0297 ,  Y10S901/01

Abstract: A system to prevent depletion of a robotic energy source includes: a mobile robot; a server operably connected to the robot via a communication system, the server configured to manage the robot; a robotic energy source configured to provide energy to the robot; a controller operably connected to the robot, the controller operably connected to the server, the controller configured to control the robot, the controller further configured to monitor an energy level of the robot; and a charging station configured to operably connect to the energy source, the charging station further configured to replenish the energy source.

公开(公告)号：US20230173675A1

公开(公告)日：2023-06-08

申请号：US17540946

申请日：2021-12-02

Applicant: Ford Global Technologies, LLC

Inventor： Sanghyun Hong ,  Yifan Chen ,  Raj Sohmshetty ,  Smruti Panigrahi

IPC: B25J9/16 ,  B25J9/08 ,  B25J9/10

CPC classification number: B25J9/1664 ,  B25J9/08 ,  B25J9/162 ,  B25J9/1045 ,  B25J9/1638 ,  B25J9/1651 ,  B25J11/008

Abstract: A distributed control system for an autonomous modular robot (AMR) vehicle includes a top module processor disposed in communication with a lower module processor, and memory for storing executable instructions of the top module processor and the lower module processor. The instructions are executable to cause the top module processor and the lower module processor to navigate a bottom module, via the bottom module processor, the AMR vehicle to a target destination. The instructions are further executable to determine, via the bottom module processor, that the AMR vehicle is localized at a target destination, transmit a request for a cargo unloading instruction set, and receive, via a top module processor, a response to a cargo unloading instruction set sent from the bottom module processor. The instructions further cause the top module processor to unload the cargo to a target destination surface via an unloading mechanism associated with the top module.

公开(公告)号：US11669100B2

公开(公告)日：2023-06-06

申请号：US15997545

申请日：2018-06-04

Applicant: Gecko Robotics, Inc.

Inventor： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC: G05D1/02 ,  G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  B25J5/00 ,  B60B19/00 ,  G01B7/06 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  B60G17/015 ,  B60G17/02 ,  B60G21/00 ,  B62D37/04 ,  B62D57/024 ,  G01B11/06 ,  G01B11/24 ,  G01B11/30 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G05D1/00 ,  G01N29/07 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/04 ,  G05B15/02

CPC classification number: G05D1/0227 ,  B25J5/007 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/162 ,  B25J9/1602 ,  B25J9/1617 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1669 ,  B25J9/1679 ,  B25J9/1697 ,  B25J13/088 ,  B25J19/0029 ,  B25J19/02 ,  B60B19/006 ,  B60G17/015 ,  B60G17/02 ,  B60G21/002 ,  B60G21/007 ,  B62D37/04 ,  B62D57/02 ,  B62D57/024 ,  G01B7/105 ,  G01B11/0616 ,  G01B11/24 ,  G01B11/303 ,  G01B17/02 ,  G01B17/025 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G01N29/00 ,  G01N29/225 ,  G01N29/265 ,  G01N29/28 ,  G05B19/00 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/04 ,  G01N29/07 ,  G01N2291/011 ,  G01N2291/0231 ,  G01N2291/0258 ,  G01N2291/0289 ,  G01N2291/02854 ,  G01N2291/044 ,  G01N2291/051 ,  G01N2291/106 ,  G01N2291/2634 ,  G01N2291/2636 ,  G05B15/02 ,  G05B2219/45066 ,  G05D2201/0207

Abstract: A system includes an inspection robot having an input sensor comprising a laser profiler and a plurality of wheels structured to engage a curved portion of an inspection surface, wherein the laser profiler is configured to provide laser profiler data of the inspection surface; a controller, comprising: a profiler data circuit structured to interpret the laser profiler data; determine a feature of interest is present at a location of the inspection surface in response to the laser profiler data; and wherein the feature of interest comprises a shape description of the inspection surface at the location of the feature of interest.

公开(公告)号：US11667343B2

公开(公告)日：2023-06-06

申请号：US16433779

申请日：2019-06-06

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Nicolas Hudson ,  Yeuhi Abe ,  Jennifer Barry

IPC: B25J9/16 ,  B62D57/032 ,  B62D57/02 ,  B62D57/024

CPC classification number: B62D57/032 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1694 ,  B62D57/02 ,  B62D57/024 ,  G05B2219/40298 ,  G05D2201/0217 ,  Y10S901/01

Abstract: A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.

公开(公告)号：US20230150112A1

公开(公告)日：2023-05-18

申请号：US17916661

申请日：2021-05-20

Applicant: FANUC CORPORATION

Inventor： Masahiro MORIOKA

IPC: B25J5/00 ,  B25J13/08 ,  B25J9/16

CPC classification number: B25J5/007 ,  B25J13/085 ,  B25J9/162

Abstract: A robot system includes a robot and a controller that controls the robot. The robot includes a wheeled platform and a manipulator mounted on the wheeled platform. The manipulator includes a sensor that detects a force or a moment that acts on at least one joint. The controller controls at least one of the manipulator and the wheeled platform on the basis of the force or moment detected by the sensor so that a moment acting on the wheeled platform does not exceed a tip-over moment.

公开(公告)号：US20190193269A1

公开(公告)日：2019-06-27

申请号：US16220105

申请日：2018-12-14

Applicant: HANWHA PRECISION MACHINERY CO., LTD.

Inventor： Chun Gyu LIM ,  Chang Woo SONG

IPC: B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1676 ,  B25J9/1607 ,  B25J9/162 ,  G05D1/0214

Abstract: A robot control system for controlling a robot including an actuator is provided. The robot control system includes: a collision detector configured to detect a collision occurring between the robot and an external object during movement of the robot, a driving controller configured to control the actuator, a position calculator configured to calculate at least one of collision position coordinate information indicating a collision position where the collision occurs and pushed position coordinate information indicating a pushed position to which the robot is pushed by a collision force generated from the collision, and a restart coordinate setter configured to set the collision position or a position included in a preset moving path of the robot and spaced apart from the collision position as a restart position for restarting a moving operation of the robot, based on a result of the calculation by the position calculator.

公开(公告)号：US20190188632A1

公开(公告)日：2019-06-20

申请号：US16207362

申请日：2018-12-03

Applicant: IAM ROBOTICS, LLC

Inventor： Thomas Galluzzo ,  Vladimir Altman ,  Jean-Sebastian Valois

IPC: G06Q10/08 ,  B25J9/16 ,  G05D1/00 ,  B60P1/54 ,  B25J15/06 ,  B25J15/00 ,  B25J11/00 ,  B25J9/00 ,  B25J5/00 ,  G05D1/02 ,  B65G1/137 ,  B25J19/02

CPC classification number: G06Q10/087 ,  B25J5/007 ,  B25J9/0093 ,  B25J9/162 ,  B25J9/1692 ,  B25J11/00 ,  B25J15/0028 ,  B25J15/0085 ,  B25J15/06 ,  B25J15/0608 ,  B25J15/0616 ,  B25J19/021 ,  B60P1/5423 ,  B65G1/1373 ,  B65G1/1375 ,  B65G2209/04 ,  G05B2219/37008 ,  G05B2219/39441 ,  G05B2219/40298 ,  G05B2219/40543 ,  G05B2219/40564 ,  G05B2219/45063 ,  G05D1/0011 ,  G05D1/0088 ,  G05D1/0248 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/31 ,  Y10S901/40 ,  Y10S901/47

Abstract: A method and system for piece-picking or piece put-away within a logistics facility. The system includes a central server and at least one mobile manipulation robot. The central server is configured to communicate with the robots to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the robot to take within the logistics facility. The robots can then autonomously navigate and position themselves within the logistics facility by recognition of landmarks by at least one of a plurality of sensors. The sensors also provide signals related to detection, identification, and location of a piece to be picked or put-away, and processors on the robots analyze the sensor information to generate movements of a unique articulated arm and end effector on the robot to pick or put-away the piece.