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    Industrial robot training using mixed reality
    3.
    发明授权
    Industrial robot training using mixed reality 有权

    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

    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.

    User interface for a teleoperated robot
    4.
    发明授权
    User interface for a teleoperated robot 有权

    公开(公告)号：US10730180B2

    公开(公告)日：2020-08-04

    申请号：US15825914

    申请日：2017-11-29

    Applicant: ABB Schweiz AG

    Inventor： Gregory F. Rossano ,  Carlos Martinez ,  Jianjun Wang ,  Biao Zhang ,  Thomas A. Fuhlbrigge

    IPC: B25J9/16 ,  B25J13/02 ,  B25J13/06 ,  B25J13/08 ,  B25J11/00 ,  G06F3/0484 ,  G06K9/20 ,  G06K9/62 ,  G06K9/78

    Abstract: A teleoperated robotic system that utilizes a graphical user interface (GUI) to perform work on a workpiece(s) using a robot. A coordinate system of the GUI is correlated to the tool center point (TCP) of the robot and the TCP or workspace of a teleoperated member, such as a haptic joystick. Operable manipulation of the teleoperated member is correlated to a movement at a particular location in the robot station, such as movement of the TCP of the robot. The GUI can also provide digital representations of the workpiece, which is based on inputted and/or scanned information relating to a reference workpiece and/or the particular workpiece on which the robot is performing work. The GUI can further provide indications of the various stages of assembly of the workpiece, as well as an indication of work already, or to be, performed on the workpiece.

    Product manipulation tool
    7.
    发明授权
    Product manipulation tool 有权

    公开(公告)号：US11027921B2

    公开(公告)日：2021-06-08

    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: B25J15/00 ,  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.

    Machine Learning-Based Systems and Methods for Controlling Robotic Object Picking and Placement in Training and Run Time Environments
    8.
    发明申请
    Machine Learning-Based Systems and Methods for Controlling Robotic Object Picking and Placement in Training and Run Time Environments 审中-公开

    公开(公告)号：US20200331144A1

    公开(公告)日：2020-10-22

    申请号：US16385470

    申请日：2019-04-16

    Applicant: ABB Schweiz AG

    Inventor： Jinmiao Huang ,  Carlos Martinez ,  Sangeun Choi

    IPC: B25J9/16

    Abstract: Methods, systems, and software for controlling object picking and placement by a robot system are disclosed. The method includes assigning machine learning training data of a machine learning model for an object. The machine learning training data includes a plurality of known grasp location labels assigned to the object positioned in a plurality of different object poses. The method includes providing the object in a work space of the robot system. For the object in the work space in a first pose of the plurality of different object poses, the method includes: mapping a first candidate grasp location on the object; executing robotic movements for the first candidate grasp location on the object; and evaluating a result of the executing for the first candidate grasp location according to at least one predetermined performance criteria.

    Portable apparatus for controlling robot and method thereof
    10.
    发明授权
    Portable apparatus for controlling robot and method thereof 有权

    公开(公告)号：US10166673B2

    公开(公告)日：2019-01-01

    申请号：US15235719

    申请日：2016-08-12

    Applicant: ABB Schweiz AG

    Inventor： Maciej Orman ,  Wanli Jiang ,  Carlos Martinez ,  Jacek Plesnar

    IPC: B25J9/16 ,  G06F3/01 ,  B25J13/08 ,  G06F3/0346 ,  G06F3/0488

    Abstract: A portable apparatus for controlling a robot and a method therefor. The portable apparatus includes: an orientation sensor adapted for measuring orientation of the portable apparatus; an HMI device adapted for detecting two-dimensional manual motion relative to the HMI device; and a processing unit adapted for receiving a first signal representing the measured orientation of the portable apparatus and a second signal representing the detected two-dimensional manual motion relative to the HMI device and controlling a part of the robot to move in a direction in consideration of the measured orientation of the portable apparatus and the detected two-dimensional manual motion relative to the HMI device. By having the portable apparatus and the method therefor as explained herein, the two-dimensional manual movement on touch panel is integrated with orientation of the portable apparatus and an integration of these is mapped by the robot, which makes it possible to define a path in three dimensional space for jogging/teaching robot's movements in three dimension.

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