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公开(公告)号：US11366450B2
公开(公告)日：2022-06-21
申请号：US15467573
申请日：2017-03-23
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Jianjun Wang , Remus Boca
IPC: B25J9/16 , G05B19/408
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：US20200324975A1
公开(公告)日：2020-10-15
申请号：US16380351
申请日：2019-04-10
Applicant: ABB Schweiz AG
Inventor： Gregory A. Cole , Harald Staab , Thomas A. Fuhlbrigge , Carlos Martinez , Sangeun Choi , Gregory F. Rossano , Jianjun Wang
IPC: B65G1/137
Abstract: A product manipulation tool for interacting with products and containers at, for example, a retail facility can include a securing mechanism to secure an exposed portion of the container with respect to a horizontal surface such as a shelf. The product manipulation tool can also include a stabilizing device to stabilize the container with respect to the horizontal surface prior to securing the container. The product manipulation tool can also include a support structure for insertion underneath the container to support the load. The stabilizing mechanism may lift or tilt the container prior to insertion of the support structure. In an example, the product manipulation tool may be disposed on a mobile unit configured for locomotion about the retail facility.
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公开(公告)号：US10570736B2
公开(公告)日：2020-02-25
申请号：US15178024
申请日：2016-06-09
Applicant: ABB Schweiz AG
Inventor： Jianjun Wang , Carlos Martinez , Carlos Morato , Biao Zhang , Thomas Fuhlbrigge , Will Eakins , Sang Choi , Daniel Lasko , Jan Nyqvist , Remus Boca
Abstract: In one embodiment, the present disclosure provides a robot automated mining method. In one embodiment, a method includes a robot positioning a charging component for entry into a drill hole. In one embodiment, a method includes a robot moving a charging component within a drill hole. In one embodiment, a method includes a robot filling a drill hole with explosive material. In one embodiment, a method includes operating a robot within a mining environment.
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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
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：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
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.
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Patent Agency Ranking
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.
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公开(公告)号：US20170356730A1
公开(公告)日：2017-12-14
申请号：US15581787
申请日：2017-04-28
Applicant: ABB Schweiz AG
Inventor： Jianjun Wang , Carlos Martinez , Carlos Morato , Biao Zhang , Thomas Fuhlbrigge , Will Eakins , Sang Choi , Daniel Lasko , Jan Nyqvist , Remus Boca
Abstract: In one embodiment, the present disclosure provides a robot automated mining method. In one embodiment, a method includes a robot positioning a charging component for entry into a drill hole. In one embodiment, a method includes a robot moving a charging component within a drill hole. In one embodiment, a method includes a robot filling a drill hole with explosive material. In one embodiment, a method includes operating a robot within a mining environment.
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公开(公告)号：US11481892B2
公开(公告)日：2022-10-25
申请号：US16869006
申请日：2020-05-07
Applicant: ABB Schweiz AG
Inventor： Gregory F. Rossano , Gregory A. Cole , Tomas Kozel , Jianjun Wang
Abstract: A method is disclosed for inspecting electrical components within a housing. The method may be useful for identifying dust, grime, corrosion, tree-like structures, edges and/or slots on electrical components. The method includes capturing two optical images of an electrical component and comparing the images. Variations in pixels between the two images may be used to generate warnings.
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公开(公告)号：US20210339397A1
公开(公告)日：2021-11-04
申请号：US16864798
申请日：2020-05-01
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Saumya Sharma , Yixin Liu , Jianjun Wang , Will Eakins , Andrew M. Salm , Yun Hsuan Su , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
IPC: B25J9/16
Abstract: A robotic assembly operation is provided for assembling a second part to a first part. During setup of the assembly operation, control parameters and a control scheme are set and changed by simulating the operation and testing whether performance requirements are met. A dry run may be performed thereafter, and test data may be collected after running the simulation to determine if the performance requirements are satisfied during the dry run. During production, production data may also be collected and control parameters may be tuned when changes occur during production in order to maintain stable assembly.
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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
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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