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公开(公告)号：US09919421B2
公开(公告)日：2018-03-20
申请号：US15099895
申请日：2016-04-15
Applicant: ABB Schweiz AG
Inventor： Gregory F. Rossano , Remus Boca , Srinivas Nidamarthi , Thomas A. Fuhlbrigge
CPC classification number: B25J13/025 , B25J9/0081 , B25J9/1656 , B25J11/005 , B25J11/0065 , G05B19/423 , G05B2219/35444 , G05B2219/36453 , G05B2219/45059 , G05B2219/45062 , G05B2219/45094 , G05B2219/45135
Abstract: A dummy tool is used to teach a robot the path the robot will follow to perform work on a workpiece to eliminate the possibility of damaging an actual tool during the training. The dummy tool provides the robot programmer an indication of potential collisions between the tool and the workpiece and other objects in the work cell when path is being taught. The dummy tool can have a detachable input/output device with a graphic user interface (GUI) that can communicate wirelessly with the robot controller. The dummy tool can also have a moveable camera attached thereto to track the relationship of the tool to objects in the work area.
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12.发明授权公开(公告)号：US09914221B2
公开(公告)日：2018-03-13
申请号：US15617475
申请日：2017-06-08
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Jianjun Wang , George Q. Zhang , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth
CPC classification number: B25J9/1689 , G05B2219/40195 , G05B2219/40204 , Y10S901/09 , Y10S901/46
Abstract: A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in machine operation is detected at the machine location. The controller also has a default trap routine that is executed when the specific routine does not exist.
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公开(公告)号：US11407111B2
公开(公告)日：2022-08-09
申请号：US16019768
申请日：2018-06-27
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Remus Boca , Carlos W. Morato , Carlos Martinez , Jianjun Wang , Zhou Teng , Jinmiao Huang , Magnus Wahlstrom , Johnny Holmberg
Abstract: A robot is configured to perform a task on an object using a method for generating a 3D model sufficient to determine a collision free path and identify the object in an industrial scene. The method includes determining a predefined collision free path and scanning an industrial scene around the robot. Stored images of the industrial scene are retrieved from a memory and analyzed to construct a new 3D model. After an object is detected in the new 3D model, the robot can further scan the image in the industrial scene while moving along a collision free path until the object is identified at a predefined certainty level. The robot can then perform a robot task on the object.
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公开(公告)号：US10751877B2
公开(公告)日：2020-08-25
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
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.
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公开(公告)号：US10737396B2
公开(公告)日：2020-08-11
申请号：US15926513
申请日：2018-03-20
Applicant: ABB Schweiz AG
Inventor： Gregory F. Rossano , Remus Boca , Srinivas Nidamarthi , Thomas A. Fuhlbrigge
IPC: B25J13/02 , B25J11/00 , B25J9/00 , B25J9/16 , G05B19/423
Abstract: A dummy tool is used to teach a robot the path the robot will follow to perform work on a workpiece to eliminate the possibility of damaging an actual tool during the training. The dummy tool provides the robot programmer an indication of potential collisions between the tool and the workpiece and other objects in the work cell when path is being taught. The dummy tool can have a detachable input/output device with a graphic user interface (GUI) that can communicate wirelessly with the robot controller. The dummy tool can also have a moveable camera attached thereto to track the relationship of the tool to objects in the work area.
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Patent Agency Ranking
公开(公告)号：US20200001458A1
公开(公告)日：2020-01-02
申请号：US16019768
申请日：2018-06-27
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Remus Boca , Carlos W. Morato , Carlos Martinez , Jianjun Wang , Zhou Teng , Jinmiao Huang , Magnus Wahlstrom , Johnny Holmberg
Abstract: A robot is configured to perform a task on an object using a method for generating a 3D model sufficient to determine a collision free path and identify the object in an industrial scene. The method includes determining a predefined collision free path and scanning an industrial scene around the robot. Stored images of the industrial scene are retrieved from a memory and analyzed to construct a new 3D model. After an object is detected in the new 3D model, the robot can further scan the image in the industrial scene while moving along a collision free path until the object is identified at a predefined certainty level. The robot can then perform a robot task on the object.
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公开(公告)号：US20180275632A1
公开(公告)日：2018-09-27
申请号：US15467573
申请日：2017-03-23
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Jianjun Wang , Remus Boca
IPC: G05B19/408
CPC classification number: G05B19/4086
Abstract: Apparatus and method is disclosed for determining position of a robot relative to objects in a workspace which includes the use of a camera, scanner, or other suitable device in conjunction with object recognition. The camera, etc is used to receive information from which a point cloud can be developed about the scene that is viewed by the camera. The point cloud will be appreciated to be in a camera centric frame of reference. Information about a known datum is used and compared to the point cloud through object recognition. For example, a link from a robot could be the identified datum so that, when recognized, the coordinates of the point cloud can be converted to a robot centric frame of reference since the position of the datum would be known relative to the robot.
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公开(公告)号：US20180056515A1
公开(公告)日：2018-03-01
申请号：US15663783
申请日：2017-07-30
Applicant: ABB Schweiz AG
Inventor： Remus Boca , Thomas A. Fuhlbrigge
Abstract: A robotic system includes a robot having an associated workspace; a vision sensor constructed to obtain a 3D image of a robot scene including a workpiece located in the workspace; and a control system communicatively coupled to the vision sensor and to the robot. The control system is configured to execute program instructions to filter the image by segmenting the image into a first image portion containing substantially only a region of interest within the robot scene, and a second image portion containing the balance of the robot scene outside the region of interest; and by storing image data associated with the first image portion. The control system is operative to control movement of the robot to perform work, on the workpiece based on the image data associated with the first image portion.
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公开(公告)号：US11465653B2
公开(公告)日：2022-10-11
申请号：US16467795
申请日：2017-12-08
Applicant: ABB Schweiz AG
Inventor： Harald Staab , William Eakins , Daniel Lasko , Thomas Fuhlbrigge , Edward Zhang , Harshang Shah , Stefan Rakuff , Gregory Cole , Gregory Rossano , Andrew Salm , Sang Choi , Remus Boca
Abstract: An unmanned rail vehicle for surveillance, inspection, and/or maintenance of an industrial site is provided. The rail vehicle includes at least two carry rollers adapted for engaging on an upper rail side of a rail, wherein the center of gravity of the rail vehicle is vertically below the upper rail side; and at least one support roller connected to the chassis and adapted for rolling against a lateral rail side of the rail to laterally displace the center of gravity of the rail vehicle with respect to the upper rail side.
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公开(公告)号：US10661442B2
公开(公告)日：2020-05-26
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.
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