公开(公告)号：US11340576B2

公开(公告)日：2022-05-24

申请号：US16584090

申请日：2019-09-26

Applicant: ABB Schweiz AG

Inventor： Cheng Li ,  Hao Gu ,  Jihuan Tian

IPC: B25J9/16 ,  G05B19/401 ,  G06F3/041

Abstract: The present disclosure relates to a method and apparatus for estimating a systematic error of a commissioning tool of an industrial robot, the industrial robot including an operational tool and an application camera, the commissioning tool including a touchscreen and a stylus, the method including: a driving step of driving the operational tool to rotate around a preset rotation axis; a first image obtaining step of obtaining a plurality of first images of the operational tool during rotation; and a first offset calculating step of calculating a first offset of the stylus relative to the operational tool according to the plurality of first images, so as to obtain the systematic error.

公开(公告)号：US11493338B2

公开(公告)日：2022-11-08

申请号：US16161214

申请日：2018-10-16

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Jihuan Tian ,  Cheng Li ,  Martin Kefer

IPC: G01C9/06 ,  G01B11/26 ,  G01D5/30

Abstract: An apparatus for detecting tilt of a fixture and method thereof. The apparatus includes a visible element having a pattern visibly distinguishable from its surrounding area; a part having a plane reflective surface being configured to be engaged with the fixture in alignment and being arranged to reflect light beams propagating directly from the visible element so as to produce a first virtual image of the visible element; an image capture device being disposed at same side of the visible element with respective to the part having a plane reflective surface and being configured to have a field of view covering the first virtual image and a second virtual image of the visible element produced by the part having a plane reflective surface, wherein the second virtual image was produced where the part having a plane reflective surface assumed a levelling orientation; and a controller being adapted for detecting tilt of the fixture using a deviation of the first virtual image from the second virtual image of the visible element in the field of view of the image capture device. By using the apparatus or method according to present invention, no optical means, such as lens, is used for converging the light beams projected by the visible element. It is thus possible to facilitate the assembly of the apparatus, miniaturize the apparatus and reduce costs thereof.

公开(公告)号：US20190049244A1

公开(公告)日：2019-02-14

申请号：US16161214

申请日：2018-10-16

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Jihuan Tian ,  Cheng Li ,  Martin Kefer

IPC: G01C9/06

Abstract: An apparatus for detecting tilt of a fixture and method thereof. The apparatus includes a visible element having a pattern visibly distinguishable from its surrounding area; a part having a plane reflective surface being configured to be engaged with the fixture in alignment and being arranged to reflect light beams propagating directly from the visible element so as to produce a first virtual image of the visible element; an image capture device being disposed at same side of the visible element with respective to the part having a plane reflective surface and being configured to have a field of view covering the first virtual image and a second virtual image of the visible element produced by the part having a plane reflective surface, wherein the second virtual image was produced where the part having a plane reflective surface assumed a levelling orientation; and a controller being adapted for detecting tilt of the fixture using a deviation of the first virtual image from the second virtual image of the visible element in the field of view of the image capture device. By using the apparatus or method according to present invention, no optical means, such as lens, is used for converging the light beams projected by the visible element. It is thus possible to facilitate the assembly of the apparatus, miniaturize the apparatus and reduce costs thereof.

公开(公告)号：US20230037452A1

公开(公告)日：2023-02-09

申请号：US17759035

申请日：2020-02-12

Applicant: ABB Schweiz AG

Inventor： Jihuan Tian ,  Jiafan Zhang ,  Qi Lu

IPC: G01N21/88 ,  G01N21/956

Abstract: An apparatus for detecting a surface condition of an object. The apparatus comprises a light source, a reflective face and an imaging device. The imaging device is configured to receive reflected light emanating from the reflective face. The reflective face is oriented at a first acute angle relative to an optical axis of the imaging device, such that a projection area of a virtual image of a surface formed via the reflective face is greater than a projection area of the surface on a plane perpendicular to the optical axis.

公开(公告)号：US11511432B2

公开(公告)日：2022-11-29

申请号：US16777918

申请日：2020-01-31

Applicant: ABB SCHWEIZ AG

Inventor： Nicolas Lehment ,  Andreas Decker ,  Richard Roberts ,  Bjoern Matthias ,  Jihuan Tian

IPC: B25J9/16 ,  B25J19/02

Abstract: A method for controlling a robot includes the steps of: deciding whether there is a non-permanent object in a vicinity of the robot; if there is a non-permanent object, deciding whether the object qualifies for extended protection or not; and defining a safety zone around the object which the robot must not enter or in which a maximum allowed speed of the robot is less than outside the safety zone. The safety zone extends to a greater distance from the object if the object qualifies for extended protection than if it does not.

公开(公告)号：US11207781B2

公开(公告)日：2021-12-28

申请号：US16674916

申请日：2019-11-05

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  B25J11/00 ,  G05B19/401 ,  G05B19/414

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US20180126557A1

公开(公告)日：2018-05-10

申请号：US15719243

申请日：2017-09-28

Applicant: ABB Schweiz AG

Inventor： HAO GU ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G05B19/401 ,  G05B19/414 ,  G06F3/041

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US10786904B2

公开(公告)日：2020-09-29

申请号：US15719243

申请日：2017-09-28

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G06F3/041 ,  B25J11/00 ,  G05B19/401 ,  G05B19/414

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US20200164516A1

公开(公告)日：2020-05-28

申请号：US16777918

申请日：2020-01-31

Applicant: ABB SCHWEIZ AG

Inventor： Nicolas Lehment ,  Andreas Decker ,  Richard Roberts ,  Bjoern Matthias ,  Jihuan Tian

IPC: B25J9/16 ,  B25J19/02

Abstract: A method for controlling a robot includes the steps of: deciding whether there is a non-permanent object in a vicinity of the robot; if there is a non-permanent object, deciding whether the object qualifies for extended protection or not; and defining a safety zone around the object which the robot must not enter or in which a maximum allowed speed of the robot is less than outside the safety zone. The safety zone extends to a greater distance from the object if the object qualifies for extended protection than if it does not.

公开(公告)号：US20200061837A1

公开(公告)日：2020-02-27

申请号：US16674916

申请日：2019-11-05

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G06F3/041 ,  G05B19/401 ,  B25J11/00

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen, (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.