公开(公告)号：US20240192689A1

公开(公告)日：2024-06-13

申请号：US18582804

申请日：2024-02-21

申请人： Transportation IP Holdings, LLC

发明人： Ghulam Ali Baloch ,  Huan Tan ,  Balajee Kannan ,  Charles Theurer

IPC分类号： G05D1/00 ,  B25J9/16

CPC分类号： G05D1/0246 ,  B25J9/162 ,  G05B2219/39082 ,  G05B2219/40282 ,  G05B2219/40424 ,  G05B2219/45084 ,  Y10S901/01 ,  Y10S901/47

摘要： A system includes a robotic vehicle having a propulsion system and an actuator configured to perform designated operations. The system also includes one or more sensors disposed onboard the robotic vehicle configured to obtain environmental data representative of an external environment. The system also includes a local controller disposed onboard the robotic vehicle and configured to receive input signals from an off-board controller. Responsive to receiving an input signal from the off-board controller for moving in an autonomous mode, the local controller is configured to autonomously move the robotic vehicle within the external environment. Responsive to receiving an input signal for operating in a tele-operation mode, the local controller is configured to exit the autonomous mode, wherein the input signal for operating in the tele-operation mode includes a remote command that dictates at least one of a movement of the robotic vehicle or a movement of the actuator.

公开(公告)号：US11934177B2

公开(公告)日：2024-03-19

申请号：US17422673

申请日：2020-01-02

申请人： Siemens Aktiengesellschaft

发明人： Carsten Hamm ,  Jörg Handeck ,  Tomas Sauer

IPC分类号： G05B19/4155 ,  B25J9/16

CPC分类号： G05B19/4155 ,  B25J9/1666 ,  G05B2219/39082

摘要： Elements of a machine are moved relative to one another along several axes. A monitoring device receives groups of position values of the axes which specify the relative position of the elements to one another. The surfaces and/or volumes of the elements taking up working space are determined therefrom. The monitoring device checks whether a collision risk between the elements exists. The monitoring device models at least parts of the surfaces of the elements with two-dimensional splines defined by nodes and checkpoints. The monitoring device further determines from the checkpoints of the splines for sections envelopes which envelop respective element in the respective section, and uses the respective envelope as a surface that is taken up by the respective element in the respective section. Boundary lines of faces of the envelopes are straight connecting lines of the checkpoints.

公开(公告)号：US20190210224A1

公开(公告)日：2019-07-11

申请号：US16099387

申请日：2017-05-18

申请人： POLITECNICO DI MILANO

发明人： Andrea Maria Zanchettin ,  Paolo Rocco

IPC分类号： B25J9/16

CPC分类号： B25J9/1682 ,  B25J9/162 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1666 ,  G05B2219/39082 ,  G05B2219/39091 ,  G05B2219/39135 ,  G05B2219/40371 ,  G05B2219/40507

摘要： A method for controlling the motion of one or more collaborative robots is described, the collaborative robots being mounted on a fixed or movable base, equipped with one or more terminal members, and with a motion controller, the method including the following iterative steps: —determining the position coordinates of the robots, and the position coordinates of one or more human operators collaborating with the robot; —determining a set of productivity indices associated with relative directions of motion of the terminal member of the robot, the productivity indices being indicative of the speed at which the robot can move in each of the directions without having to slow down or stop because of the presence of the operator; —supplying the controller of the robot with the data of the set of productivity indices associated with the relative directions of motion of the terminal member of the robot, so that the controller can determine the directions of motion of the terminal member of the robot based on the higher values of the productivity index.

公开(公告)号：US20190077019A1

公开(公告)日：2019-03-14

申请号：US15699444

申请日：2017-09-08

申请人： Niantic, Inc.

发明人： Ryan Michael Hickman ,  Soohyun Bae

IPC分类号： B25J9/16 ,  G06N99/00 ,  G06K9/62 ,  G06K9/00 ,  G05D1/02

CPC分类号： B25J9/1666 ,  G05B2219/39082 ,  G05D1/0214 ,  G06K9/00671 ,  G06K9/00791 ,  G06K9/6256 ,  G06K2209/21 ,  G06N20/00

摘要： An example method involves obtaining a log of sensor data indicative of an environment during a prior time period, with the log of sensor data including a sequence of image frames, and determining that the log of sensor data relates to a collision involving a physical object in the environment at a particular time within the prior time period. The method also involves, responsive to determining that the log of sensor data relates to the collision, generating a training data set for the collision from the log of sensor data. The training data set for the collision may include multiple image frames of the sequence of image frames that are prior to an image frame in the sequence of image frames that corresponds to the particular time.

公开(公告)号：US09983561B2

公开(公告)日：2018-05-29

申请号：US14486393

申请日：2014-09-15

申请人： Liebherr-Verzahntechnik GmbH

发明人： Florian Schuon

IPC分类号： B23Q11/00 ,  G05B19/18 ,  G05B19/4061 ,  G05B19/4069

CPC分类号： G05B19/186 ,  B23Q11/0089 ,  G05B19/4061 ,  G05B19/4069 ,  G05B2219/36198 ,  G05B2219/37237 ,  G05B2219/39082 ,  G05B2219/49153

摘要： The invention relates to a method of controlling a gear cutting machine having at least one tool for cutting gears into a workpiece clamped in a workpiece mount, wherein the machine control carries out a three-dimensional collision monitoring during the gear cutting machining.

公开(公告)号：US09855664B2

公开(公告)日：2018-01-02

申请号：US15358925

申请日：2016-11-22

申请人： DENSO WAVE INCORPORATED

发明人： Tomoya Yamamoto ,  Daisuke Kawase ,  Toshifumi Enomoto ,  Masakazu Utsunomiya

IPC分类号： B25J19/06 ,  B25J9/16 ,  B25J13/08

CPC分类号： B25J19/06 ,  B25J9/1674 ,  B25J9/1676 ,  B25J9/1697 ,  B25J13/088 ,  G05B2219/32014 ,  G05B2219/39082 ,  G05B2219/40202 ,  Y10S901/49

摘要： In a robot safety system, a safety controller specifies a robot that a worker is looking at based on position of worker and/or visual field of worker, and acquires distance between robot and worker based on position information. Safety controller generates a fence image of which display mode is changed depending on distance to robot, which is a virtual image showing a boundary position of an operating range of robot, based on acquired distance. Generated fence image is displayed on a glasses type display device that the working is wearing such that fence image overlaps visual field of worker. In another example of the robot safety system, a virtual fence may be displayed on a head mount type display device as a fence image, and display mode of fence image may be optimized such that work efficiency of worker is affected as little as possible.

公开(公告)号：US20170341235A1

公开(公告)日：2017-11-30

申请号：US15282102

申请日：2016-09-30

申请人： General Electric Company

发明人： Ghulam Ali Baloch ,  Huan Tan ,  Balajee Kannan ,  Charles Theurer

IPC分类号： B25J9/16 ,  G05D1/02

CPC分类号： G05D1/0246 ,  B25J9/162 ,  G05B2219/39082 ,  G05B2219/40282 ,  G05B2219/40424 ,  G05B2219/45084 ,  G05D1/0061 ,  G05D1/0248 ,  G05D1/0274 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/47

摘要： A robotic system includes a robotic vehicle having a propulsion system, one or more sensors that image data representative of an external environment, and a controller that determines a waypoint for the robotic vehicle to move toward. The controller determines limitations on movement of the robotic vehicle toward a waypoint. The limitations are based on the image data. The controller controls the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects. The controller determines one or more additional waypoints subsequent to the robotic vehicle reaching the waypoint, determines one or more additional limitations on the movement of the robotic vehicle toward each of the respective additional waypoints, and control the propulsion system of the robotic vehicle to sequentially move the robotic vehicle to the one or more additional waypoints.

公开(公告)号：US20170282370A1

公开(公告)日：2017-10-05

申请号：US15471265

申请日：2017-03-28

申请人： BERNECKER + RAINER INDUSTRIE-ELEKTRONIK Ges.m.b.H.

发明人： Thomas KAPELLER ,  Thomas DIRSCHLMAYR

IPC分类号： B25J9/16

CPC分类号： B25J9/1676 ,  B25J9/1666 ,  B25J9/1671 ,  G05B2219/39082 ,  G05B2219/40202 ,  G05B2219/40317 ,  G05B2219/40492

摘要： In order to detect when a kinematic linkage (1) leaves workspaces (WS) and/or enters safe spaces (SS), using, little computing power, and therefore doing so more quickly, at least a part of the kinematic linkage (1) is modeled with a number of kinematic objects (K1, K2, K3, K4), and a monitoring space (S) is specified, The number of kinematic objects (K1, K2, K3, K4) is modeled in less than two dimensions D

公开(公告)号：US09737992B2

公开(公告)日：2017-08-22

申请号：US14384454

申请日：2013-03-11

申请人： SIDEL PARTICIPATIONS

发明人： Didier Mougin ,  Gael Cheron

IPC分类号： G05B19/18 ,  B25J9/16 ,  B25J19/06 ,  B25J9/00

CPC分类号： B25J9/1676 ,  B25J9/0096 ,  B25J9/1694 ,  B25J19/06 ,  G05B2219/39082 ,  G05B2219/40006 ,  Y10S901/09

摘要： The invention relates to an automatic automated installation in which at least one robot (2) is used in at least one mode of operation in at least one work zone (3). The installation comprises a closed space (1) equipped with at least one door (4) offering access to at least one operator intervention work station (6) which is situated in said work zone (3) of said robot, and means (7) for detecting the presence of an element (25; 26) in said closed space (1) at said operator intervention work station (6). The detection means (7) are arranged in said closed space (1) to delimit at least two zones (8, 9, 10) and are also associated with means (21) for control of said at least one mode of operation of the robot (2), each zone (8, 9, 10) being associated with one mode of operation of the robot (2). The detection means (7) are positioned a predetermined height from a floor (18) of said space (1), said height being greater than the height of an empty pallet (12).

公开(公告)号：US20170210008A1

公开(公告)日：2017-07-27

申请号：US15413689

申请日：2017-01-24

申请人： CANON KABUSHIKI KAISHA

发明人： Yasuharu Maeda

IPC分类号： B25J9/16 ,  B25J9/00

CPC分类号： B25J9/1666 ,  B25J9/0087 ,  B25J9/1676 ,  B25J9/1682 ,  G05B2219/39082 ,  G05B2219/39135 ,  G05B2219/40476

摘要： An operation instruction list including starting points and ending points of trajectories of a plurality of robot arms is generated (a trajectory definition data generation process). Order of generation of trajectories is determined in accordance with the operation instruction list (a generation order determination process). A trajectory of a specific robot arm included in the operation instruction list is generated in accordance with a starting point and an ending point such that the trajectory avoids obstacle spaces registered in the obstacle memory when trajectories of other robot arms are generated (a trajectory generation process). A sweeping space in which a structure of the arm sweeps when the robot arm is operated along the generated trajectory is added to the obstacle memory as an obstacle space to be avoided by the other robot arm (an obstacle registration process).