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公开(公告)号：US11951631B2
公开(公告)日：2024-04-09
申请号：US17292468
申请日：2019-11-19
Applicant: Siemens Aktiengesellschaft
Inventor： Richard Gary McDaniel
IPC: B25J9/16
CPC classification number: B25J9/1671 , B25J9/1612 , B25J9/1666 , B25J9/1687
Abstract: An autonomous system used for a production process includes a device configured to manipulate workpieces according to production process tasks. A device controller generates world model of the autonomous system to include data objects representing respective physical objects in the production process, such as workspace, workpieces, and the device. Semantic markers attached to the data objects include information related to a skill to accomplish a task objective. Semantic markers may be activated or deactivated depending on whether the physical object is currently available for a task performance. The device is controlled to perform tasks guided by the semantic markers while relying on an anticipation function with reasoning operations based on types of physical objects, types of skills, and configuration of the data objects.
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公开(公告)号：US20220016780A1
公开(公告)日：2022-01-20
申请号：US17292468
申请日：2019-11-19
Applicant: Siemens Aktiengesellschaft
Inventor： Richard Gary McDaniel
IPC: B25J9/16
Abstract: An autonomous system used for a production process includes a device configured to manipulate workpieces according to production process tasks. A device controller generates world model of the autonomous system to include data objects representing respective physical objects in the production process, such as workspace, workpieces, and the device. Semantic markers attached to the data objects include information related to a skill to accomplish a task objective. Semantic markers may be activated or deactivated depending on whether the physical object is currently available for a task performance. The device is controlled to perform tasks guided by the semantic markers while relying on an anticipation function with reasoning operations based on types of physical objects, types of skills, and configuration of the data objects.
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公开(公告)号：US20230158679A1
公开(公告)日：2023-05-25
申请号：US17995313
申请日：2020-04-06
Applicant: Siemens Aktiengesellschaft
Inventor： Chengtao Wen , Heiko Claussen , Xiaowen Yu , Eugen Solowjow , Richard Gary McDaniel , Swen Elpelt , Juan L. Aparicio Ojea
CPC classification number: B25J9/1697 , B25J9/161 , G06T17/00
Abstract: Autonomous operations, such as robotic grasping and manipulation, in unknown or dynamic environments present various technical challenges. For example, three-dimensional (3D) reconstruction of a given object often focuses on the geometry of the object without considering how the 3D model of the object is used in solving or performing a robot operation task. As described herein, in accordance with various embodiments, models are generated of objects and/or physical environments based on tasks that autonomous machines perform with the objects or within the physical environments. Thus, in some cases, a given object or environment may be modeled differently depending on the task that is performed using the model. Further, portions of an object or environment may be modeled with varying resolutions depending on the task associated with the model.
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公开(公告)号：US20200262073A1
公开(公告)日：2020-08-20
申请号：US16648403
申请日：2017-09-30
Applicant: Siemens Aktiengesellschaft
Inventor： Richard Gary McDaniel
IPC: B25J9/16 , G05B19/042
Abstract: A computer-implemented method of engineering autonomous system with reusable skills includes displaying a graphical user interface simulating a physical environment. The graphical user interface depicts one or more simulated objects corresponding to one or more physical objects. Graphical markers are created on the simulated objects based on instructions provided by a user via the graphical user interface. The position and orientation of each graphical marker is determined with respect to the simulated objects. A skill function is created which comprises a functional description for using a controllable physical device to interact with the physical objects based on the position and orientation of each graphical marker. Executable code operable to perform the skill function is created and used to actuate the controllable physical device.
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公开(公告)号：US11478930B2
公开(公告)日：2022-10-25
申请号：US16533844
申请日：2019-08-07
Applicant: Siemens Aktiengesellschaft
Inventor： Richard Gary McDaniel
IPC: B25J9/16
Abstract: According to other embodiments, a method planning of motions to lift heavy objects using a robot system comprising a robot and an end effector, includes identifying data comprising (a) rigid bodies included in the robot and the end effector, (b) joints connecting the rigid bodies, and (c) torque limits for each of the joints. The torque limit for a joint indicates a maximum supported torque by a drive operating the joint. A motion path searching algorithm is applied to the input data to identify feasible robot paths. The motion path searching algorithm determines torque of each of joint when evaluating points for inclusion in a feasible robot path. An evaluated point is only included in a feasible robot path if the torque of each of the joints do not exceed the torque limits. At least one of the feasible robot paths is transferred to a controller associated with the robot.
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Patent Agency Ranking
公开(公告)号：US20220026884A1
公开(公告)日：2022-01-27
申请号：US17417539
申请日：2019-01-25
Applicant: Siemens Aktiengesellschaft
IPC: G05B19/418 , G06N20/00 , G06K9/62
Abstract: Over the past several decades, rapid advances in semiconductors, automation, and control systems have resulted in the widespread adoption of advanced automated machines (including robots) in complex industrial environments. These machines are deployed in a very wide range of industrial settings and carry out an immense variety tasks in a limited and predefined manner. A systematic approach coordinates the actions of machines to allow a hierarchy of autonomous systems to make decisions about how to meet manufacturing demands, including delegation to lower-level autonomous systems.
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公开(公告)号：US20190171190A1
公开(公告)日：2019-06-06
申请号：US16324368
申请日：2016-08-10
Applicant: Siemens Aktiengesellschaft
Inventor： Richard Gary McDaniel
IPC: G05B19/418
Abstract: A cyber-physical production system includes a plurality of cyber-physical units configured to collectively produce a product comprising one or more workpieces. Each cyber-physical units comprises one or more automation system devices, a network interface and a processor. The network interface is configured to receive one or more skill instances. Each skill instance provides a machine-independent request for transformation of a workpiece by the one or more automation system devices. The processor is configured to execute each of the one or more skill instances by applying behaviors that control the automation system devices.
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公开(公告)号：US20230393819A1
公开(公告)日：2023-12-07
申请号：US18246542
申请日：2020-09-30
Applicant: Siemens Aktiengesellschaft
Inventor： Richard Gary McDaniel
IPC: G06F8/34 , G06F3/04815 , G06F3/04847 , G06F8/20 , G06F8/35
CPC classification number: G06F8/34 , G06F3/04815 , G06F3/04847 , G06F8/24 , G06F8/35
Abstract: System and method develop a control program for operating an automation system in a manufacturing process. A design software application includes an object generator module and an editor module. Object generator module generates a plurality of virtual objects having embedded information related to an automation process, the virtual objects representing automation components to be controlled by the control program and work product parts to be manipulated for the manufacturing process. Editor module arranges, using a graphical user interface, the plurality of virtual objects in a virtual workspace, the virtual workspace representing a configuration of the automation system. The control program is developed by the arrangement of virtual objects in the virtual workspace.
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公开(公告)号：US20210349470A1
公开(公告)日：2021-11-11
申请号：US17284081
申请日：2018-10-29
Applicant: Siemens Aktiengesellschaft
Inventor： Richard Gary McDaniel
Abstract: A system for performing autonomous operations in an operating environment comprising a plurality of objects includes a server computer. The server computer comprises a nontransitory computer readable medium storing detailed representations of the objects in the operating environment. Each detailed representation of an object comprises one or more markers providing knowledge information related to the object. The autonomous device comprises a non-transitory computer readable medium storing a world model that comprises sparse representations of the objects in the operating environment, a processor configured to use the world model to execute tasks requiring use of at least one of the objects, and a networking card for connecting to the server computer. When execution of a new task requires use of a particular object in the operating environment, the autonomous device updates the world model to include the detailed representation of the particular object.
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公开(公告)号：US11054812B2
公开(公告)日：2021-07-06
申请号：US16324368
申请日：2016-08-10
Applicant: Siemens Aktiengesellschaft
Inventor： Richard Gary McDaniel
IPC: G05B19/418
Abstract: A cyber-physical production system includes a plurality of cyber-physical units configured to collectively produce a product comprising one or more workpieces. Each cyber-physical units comprises one or more automation system devices, a network interface and a processor. The network interface is configured to receive one or more skill instances. Each skill instance provides a machine-independent request for transformation of a workpiece by the one or more automation system devices. The processor is configured to execute each of the one or more skill instances by applying behaviors that control the automation system devices.
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