公开(公告)号：US20150273685A1

公开(公告)日：2015-10-01

申请号：US14242828

申请日：2014-04-01

申请人： BOT & DOLLY, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC分类号： B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/35216 ,  Y10S901/41

摘要： Example systems and methods allow for use of a graphical interface to cause one or more robotic devices to construct an output product. One example method includes causing a graphical interface to be displayed on a display device, receiving input data corresponding to one or more interactions with the graphical interface indicating at least one motion path and at least one sequence of tool actions to execute at one or more points within the at least one motion path for use in construction of an output product, generating a plurality of digital nodes including at least one robot node, at least one motion command node, and at least one tool command node, and providing instructions for the at least one robot actor to move according to the sequence of robot motion commands determined by the at least one motion command node and execute the sequence of tool commands determined by the at least one tool command node to construct the output product.

摘要翻译： 示例系统和方法允许使用图形界面来使一个或多个机器人设备构建输出产品。 一个示例性方法包括使图形界面显示在显示设备上，接收对应于与图形界面的一个或多个交互的输入数据，该图形界面指示至少一个运动路径以及在一个或多个点执行的至少一个工具动作序列 在用于构造输出产品的所述至少一个运动路径内，生成包括至少一个机器人节点的多个数字节点，至少一个运动命令节点和至少一个工具命令节点，以及为所述至少一个运动命令节点提供指令 至少一个机器人演员根据由所述至少一个运动命令节点确定的机器人运动命令的顺序移动，并且执行由至少一个工具命令节点确定的工具命令序列以构建输出产物。

公开(公告)号：US09308647B2

公开(公告)日：2016-04-12

申请号：US14295168

申请日：2014-06-03

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne

IPC分类号： B25J9/16 ,  G06N3/00 ,  G06F17/50 ,  B25J11/00 ,  G06T13/40

CPC分类号： B25J9/1671 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J11/00 ,  G05B2219/31467 ,  G05B2219/31472 ,  G05B2219/32342 ,  G05B2219/32351 ,  G05B2219/40397 ,  G06F17/5009 ,  G06N3/006 ,  G06N3/008 ,  G06T13/40

摘要： Example systems and methods may allow for use of a generic robot trajectory format to control a robotic process within a workcell. One example method includes receiving a digital representation of at least one digital robot actor, including at least one robot definition corresponding to the at least one digital robot actor and at least one sequence of robot operations for the at least one digital robot actor, determining a mapping between the at least one digital robot actor and at least one corresponding physical robot actor within a physical workcell, generating at least one robot-language-specific sequence of executable instructions for the at least one physical robot actor, and transmitting the at least one robot-language specific sequence of executable instructions to the at least one physical robot actor to execute in order to perform the at least sequence of robot operations within the physical workcell.

摘要翻译： 示例系统和方法可以允许使用通用机器人轨迹格式来控制工作单元内的机器人处理。 一个示例性方法包括接收至少一个数字机器人演员的数字表示，包括至少一个对应于至少一个数字机器人演员的机器人定义和至少一个数字机器人演员的至少一个机器人操作序列，确定一个 在所述至少一个数字机器人演员与物理工作单元内的至少一个对应的物理机器人演员之间进行映射，为所述至少一个物理机器人演员生成至少一个机器人语言特定的可执行指令序列，并且传送所述至少一个 机器人语言特定的可执行指令序列，至少一个物理机器人执行器执行以便执行物理工作单元内的机器人操作的至少序列。

公开(公告)号：US09623559B2

公开(公告)日：2017-04-18

申请号：US15059540

申请日：2016-03-03

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne

IPC分类号： B25J9/16 ,  G06N3/00 ,  G06F17/50 ,  B25J11/00 ,  G06T13/40

CPC分类号： B25J9/1671 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J11/00 ,  G05B2219/31467 ,  G05B2219/31472 ,  G05B2219/32342 ,  G05B2219/32351 ,  G05B2219/40397 ,  G06F17/5009 ,  G06N3/006 ,  G06N3/008 ,  G06T13/40

摘要： Example systems and methods may allow for use of a generic robot trajectory format to control a robotic process within a workcell. One example method includes receiving a digital representation of at least one digital robot actor, including at least one robot definition corresponding to the at least one digital robot actor and at least one sequence of robot operations for the at least one digital robot actor, determining a mapping between the at least one digital robot actor and at least one corresponding physical robot actor within a physical workcell, generating at least one robot-language-specific sequence of executable instructions for the at least one physical robot actor, and transmitting the at least one robot-language specific sequence of executable instructions to the at least one physical robot actor to execute in order to perform the at least sequence of robot operations within the physical workcell.

公开(公告)号：US20170097631A1

公开(公告)日：2017-04-06

申请号：US15384273

申请日：2016-12-19

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne

IPC分类号： G05B19/418 ,  B25J9/16

CPC分类号： G05B19/41815 ,  B25J9/1656 ,  B25J9/1666 ,  B25J9/1682 ,  G05B2219/39083 ,  G05B2219/39135 ,  G05B2219/40475 ,  G05B2219/40477 ,  Y10S901/02

摘要： Example systems and methods may allow for parallel operation of robotic devices within a workcell, such as industrial robots controlled to manufacture an output product. One example method includes receiving ordered sequences of operations for a plurality of corresponding robotic devices, determining time-based sequences of operations for each of the robotic devices, where a time-based sequence of operations indicates positions within the workcell at corresponding timesteps of a global timeline, determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell, modifying the time-based sequences of operations in order to prevent the one or more potential collisions, and providing instructions for parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.

公开(公告)号：US20160176051A1

公开(公告)日：2016-06-23

申请号：US15059540

申请日：2016-03-03

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne

IPC分类号： B25J9/16

CPC分类号： B25J9/1671 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J11/00 ,  G05B2219/31467 ,  G05B2219/31472 ,  G05B2219/32342 ,  G05B2219/32351 ,  G05B2219/40397 ,  G06F17/5009 ,  G06N3/006 ,  G06N3/008 ,  G06T13/40

摘要： Example systems and methods may allow for use of a generic robot trajectory format to control a robotic process within a workcell. One example method includes receiving a digital representation of at least one digital robot actor, including at least one robot definition corresponding to the at least one digital robot actor and at least one sequence of robot operations for the at least one digital robot actor, determining a mapping between the at least one digital robot actor and at least one corresponding physical robot actor within a physical workcell, generating at least one robot-language-specific sequence of executable instructions for the at least one physical robot actor, and transmitting the at least one robot-language specific sequence of executable instructions to the at least one physical robot actor to execute in order to perform the at least sequence of robot operations within the physical workcell.

摘要翻译： 示例系统和方法可以允许使用通用机器人轨迹格式来控制工作单元内的机器人处理。 一个示例性方法包括接收至少一个数字机器人演员的数字表示，包括至少一个对应于至少一个数字机器人演员的机器人定义和至少一个数字机器人演员的至少一个机器人操作序列，确定一个 在所述至少一个数字机器人演员与物理工作单元内的至少一个对应的物理机器人演员之间进行映射，为所述至少一个物理机器人演员生成至少一个机器人语言特定的可执行指令序列，并且传送所述至少一个 机器人语言特定的可执行指令序列，至少一个物理机器人执行器执行以便执行物理工作单元内的机器人操作的至少序列。

公开(公告)号：US20150277430A1

公开(公告)日：2015-10-01

申请号：US14242840

申请日：2014-04-01

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC分类号： G05B19/409

CPC分类号： G05B19/409 ,  G05B19/42 ,  G05B2219/36056 ,  G05B2219/39432 ,  G05B2219/39443

摘要： Example systems and methods allow for runtime control of robotic devices during a construction process. One example method includes determining at least one sequence of robot operations corresponding to at least one robot actor, causing the at least one robot actor to execute a portion of the at least one sequence of robot operations during a first time period, receiving an interrupt signal from a mobile computing device indicating a modification to the at least one sequence of robot operations, where the mobile computing device is configured to display a digital interface including one or more robot parameters describing the at least one robot actor and one or more tool parameters describing operating characteristics of at least one physical tool and causing the at least one robot actor to execute a portion of the at least one modified sequence of robot operations during a second time period.

摘要翻译： 示例系统和方法允许在施工过程中对机器人设备进行运行时控制。 一个示例性方法包括确定与至少一个机器人演员对应的至少一个机器人操作序列，使得所述至少一个机器人演员在第一时间段内执行所述至少一个机器人操作序列的一部分，接收中断信号 从移动计算设备指示对所述至少一个机器人操作序列的修改，其中所述移动计算设备被配置为显示包括描述所述至少一个机器人actor的一个或多个机器人参数的数字接口以及描述的一个或多个工具参数 至少一个物理工具的操作特性，并使所述至少一个机器人执行器在第二时间段期间执行所述至少一个经修改的机器人操作序列的一部分。

公开(公告)号：US09993924B2

公开(公告)日：2018-06-12

申请号：US15006290

申请日：2016-01-26

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC分类号： B25J13/00 ,  B25J9/16 ,  G05B19/418

CPC分类号： B25J9/1674 ,  B25J9/163 ,  B25J9/1671 ,  B25J9/1676 ,  B25J9/1694 ,  G05B19/41865 ,  G05B2219/31244 ,  G05B2219/32351 ,  G05B2219/33234 ,  G05B2219/33243 ,  Y02P90/20 ,  Y02P90/26 ,  Y10S901/02

摘要： Example systems and methods may allow for closed-loop control of robotic operation. One example method includes receiving input data that identifies data sources to monitor and indicates adjustments to make in response to deviations by at least one of the data sources from at least one predicted state during subsequent execution of sequences of operations by robotic devices, receiving data streams from the data sources during execution of the sequences of operations by the robotic devices, identifying a deviation by one of the data sources from a predicted state for which the received input data indicates adjustments to the sequences of operations for the robotic devices, providing instructions to the robotic devices to execute the adjusted sequences of operations, and providing instructions to a second computing device to update a visual simulation of the robotic devices based on the adjusted sequences of operations.

公开(公告)号：US09841749B2

公开(公告)日：2017-12-12

申请号：US14242840

申请日：2014-04-01

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC分类号： G05B19/409 ,  G05B19/42

CPC分类号： G05B19/409 ,  G05B19/42 ,  G05B2219/36056 ,  G05B2219/39432 ,  G05B2219/39443

摘要： Example systems and methods allow for runtime control of robotic devices during a construction process. One example method includes determining at least one sequence of robot operations corresponding to at least one robot actor, causing the at least one robot actor to execute a portion of the at least one sequence of robot operations during a first time period, receiving an interrupt signal from a mobile computing device indicating a modification to the at least one sequence of robot operations, where the mobile computing device is configured to display a digital interface including one or more robot parameters describing the at least one robot actor and one or more tool parameters describing operating characteristics of at least one physical tool, and causing the at least one robot actor to execute a portion of the at least one modified sequence of robot operations during a second time period.

公开(公告)号：US20160136815A1

公开(公告)日：2016-05-19

申请号：US15006290

申请日：2016-01-26

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  B25J9/163 ,  B25J9/1671 ,  B25J9/1676 ,  B25J9/1694 ,  G05B19/41865 ,  G05B2219/31244 ,  G05B2219/32351 ,  G05B2219/33234 ,  G05B2219/33243 ,  Y02P90/20 ,  Y02P90/26 ,  Y10S901/02

摘要： Example systems and methods may allow for closed-loop control of robotic operation. One example method includes receiving input data that identifies data sources to monitor and indicates adjustments to make in response to deviations by at least one of the data sources from at least one predicted state during subsequent execution of sequences of operations by robotic devices, receiving data streams from the data sources during execution of the sequences of operations by the robotic devices, identifying a deviation by one of the data sources from a predicted state for which the received input data indicates adjustments to the sequences of operations for the robotic devices, providing instructions to the robotic devices to execute the adjusted sequences of operations, and providing instructions to a second computing device to update a visual simulation of the robotic devices based on the adjusted sequences of operations.

摘要翻译： 示例系统和方法可以允许对机器人操作进行闭环控制。 一个示例性方法包括：接收输入数据，其识别要监视的数据源，并指示响应于至少一个数据源与至少一个预测状态的偏差而进行的调整，以便在后续执行机器人设备的操作序列期间，接收数据流 在由所述机器人装置执行所述操作序列期间的所述数据源中，从所述接收的输入数据指示针对所述机器人装置的操作序列的调整的预测状态识别所述数据源之一的偏差，提供指令 所述机器人设备执行所调整的操作序列，以及基于经调整的操作序列，向第二计算设备提供指令以更新所述机器人设备的视觉模拟。

公开(公告)号：US09278449B1

公开(公告)日：2016-03-08

申请号：US14333335

申请日：2014-07-16

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne ,  Matthew Bitterman

IPC分类号： B25J13/00 ,  B25J9/16

CPC分类号： B25J9/1674 ,  B25J9/163 ,  B25J9/1671 ,  B25J9/1676 ,  B25J9/1694 ,  G05B19/41865 ,  G05B2219/31244 ,  G05B2219/32351 ,  G05B2219/33234 ,  G05B2219/33243 ,  Y02P90/20 ,  Y02P90/26 ,  Y10S901/02

摘要： Example systems and methods may allow for closed-loop control of robotic operation. One example method includes receiving input data that identities data sources to monitor and indicates adjustments to make in response to deviations by at least one of the data sources from at least one predicted state during subsequent execution of sequences of operations by robotic devices, receiving data streams from the data sources during execution of the sequences of operations by the robotic devices, identifying a deviation by one of the data sources from a predicted state for which the received input data indicates adjustments to the sequences of operations for the robotic devices, providing instructions to the robotic devices to execute the adjusted sequences of operations, and providing instructions to a second computing device to update a visual simulation of the robotic devices based on the adjusted sequences of operations.

摘要翻译： 示例系统和方法可以允许对机器人操作进行闭环控制。 一个示例性方法包括接收输入数据，其识别要监视的数据源，并指示响应于至少一个数据源与至少一个预测状态的偏差而进行的调整，以便在后续执行机器人设备的操作序列期间，接收数据流 在由所述机器人装置执行所述操作序列期间的所述数据源中，从所述接收的输入数据指示针对所述机器人装置的操作序列的调整的预测状态识别所述数据源之一的偏差，提供指令 所述机器人设备执行所调整的操作序列，以及基于经调整的操作序列，向第二计算设备提供指令以更新所述机器人设备的视觉模拟。