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    INDUSTRIAL ROBOT TRAINING USING MIXED REALITY
    12.
    发明申请
    INDUSTRIAL ROBOT TRAINING USING MIXED REALITY 审中-公开

    公开(公告)号：US20190202055A1

    公开(公告)日：2019-07-04

    申请号：US15902142

    申请日：2018-02-22

    Applicant: ABB Schweiz AG

    Inventor： Jianjun Wang ,  Remus Boca ,  Biao Zhang ,  Carlos Martinez ,  Thomas Fuhlbrigge

    IPC: B25J9/16 ,  G06T19/00 ,  H04N7/18

    Abstract: Unique systems, methods, techniques and apparatuses of a robot training system are disclosed. One exemplary embodiment is an industrial robot training system comprising a mixed reality display device structured to superimpose a virtual scene on a real-world view of a real-world scene including a plurality of physical objects including an industrial robot, a video input device, and a computing device. The computing device is structured to detect physical objects using video output from the video input device, generate virtual objects using the detected physical objects, simulate a virtual robot path, determine one movement of the series of robot movements causes a collision, adjust the virtual robot path so as to avoid the collision between the two virtual objects of the plurality of virtual objects, and program the industrial robot to perform a real robot path using the adjusted virtual robot path.

    Facilitating robot positioning
    13.
    发明授权
    Facilitating robot positioning 有权

    公开(公告)号：US10173324B2

    公开(公告)日：2019-01-08

    申请号：US14941823

    申请日：2015-11-16

    Applicant: ABB SCHWEIZ AG

    Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos Winsor Morato ,  Remus Boca

    IPC: G06K9/00 ,  B25J9/16 ,  G06T7/73

    Abstract: Robot positioning is facilitated by obtaining, for each time of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot.

    CALIBRATION ARTICLE FOR A 3D VISION ROBOTIC SYSTEM
    14.
    发明申请
    CALIBRATION ARTICLE FOR A 3D VISION ROBOTIC SYSTEM 审中-公开

    公开(公告)号：US20180222055A1

    公开(公告)日：2018-08-09

    申请号：US15424058

    申请日：2017-02-03

    Applicant: ABB Schweiz AG

    Inventor： Jianjun Wang ,  Remus Boca ,  Biao Zhang

    IPC: B25J9/16

    Abstract: A calibration article is provided for calibrating a robot and 3D camera. The calibration article includes side surfaces that are angled inward toward a top surface. The robot and camera are calibrated by capturing positional data of the calibration article relative to the robot and the camera. The captured data is used to generate correlation data between the robot and the camera. The correlation data is used by the controller to align the robot with the camera during operational use of the robot and camera.

    System and Method for Online Optimization of Sensor Fusion Model
    16.
    发明申请
    System and Method for Online Optimization of Sensor Fusion Model 有权

    公开(公告)号：US20230010651A1

    公开(公告)日：2023-01-12

    申请号：US17772656

    申请日：2019-10-29

    Applicant: Biao ZHANG ,  ABB Schweiz AG

    Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

    IPC: G06N3/08 ,  G06N3/04

    Abstract: A system and method for collecting data regarding operation of a robot using, at least in part, responses from a first operation model to an input of sensed data from a plurality of sensors. The collected data can be used to optimize the first operation model to generate a second operation model. While the first operation model is being optimized, a train data-driven model that utilizes an end-to-end learning approach can be generated that is based, at least in part, on the collected data. Both the second operation model and the train data-driven model can be evaluated, and, based on such evaluation, a determination can be made as to whether the train data-driven model is reliable. Moreover, based on a comparison of the models, one of the second operation model and the train data-driven model can be selected for validation, and if validated, used in the operation of the robot.

    System and Method for Robotic Evaluation
    17.
    发明申请
    System and Method for Robotic Evaluation 有权

    公开(公告)号：US20220402136A1

    公开(公告)日：2022-12-22

    申请号：US17772365

    申请日：2019-10-29

    Applicant: Biao Zhang ,  ABB Schweiz AG

    Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Ramon Casanelles ,  Jordi Artigas

    IPC: B25J9/16 ,  B25J13/08

    Abstract: A system and method for determining performance of a robot. In one form the robot is constructed as you assembling automotive workpieces onto an automobile assembly. In one form the robot accomplishes the task of assembling an automotive workpiece onto the automotive assembly by using vision feedback and force feedback. The vision feedback can use any number of features perform its function. Such features can include an artificial feature such as but not limited to a QR code, as well as a natural feature such as a portion of the workpiece or automotive assembly. In one embodiment the robot is capable of detecting a collision event and assessing the severity of the collision event. In another embodiment the robot is capable of evaluating its performance by attracting a performance metric against a performance threshold, and comparing a sensor fusion output with a sensor fusion output reference.

    AUTOMATIC SENSOR CONFLICT RESOLUTION FOR SENSOR FUSION SYSTEM
    20.
    发明申请
    AUTOMATIC SENSOR CONFLICT RESOLUTION FOR SENSOR FUSION SYSTEM 有权

    公开(公告)号：US20210323164A1

    公开(公告)日：2021-10-21

    申请号：US16851946

    申请日：2020-04-17

    Applicant: ABB Schweiz AG

    Inventor： Biao Zhang ,  Jianjun Wang ,  Yixin Liu ,  Saumya Sharma ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

    IPC: B25J9/16 ,  B25J13/08

    Abstract: A system and method that automatically resolves conflicts among sensor information in a sensor fusion robot system. Such methods can accommodate converging ambiguous and divergent sensor information in a manner that can allow continued, and relatively accurate, robotic operations. The processes can include handling sensor conflict via sensor prioritization, including, but not limited, prioritization based on the particular stage or segment of the assembly operation when the conflict occurs, overriding sensor data that exceeds a threshold value, and/or prioritization based on evaluations of recent sensor performance, predictions, system configuration, and/or historical information. The processes can include responding to sensor conflicts through comparisons of the accuracy of workpiece location predictions from different sensors during different assembly stages in connection with arriving at a determination of which sensor(s) is providing accurate and reliable predictions.

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