公开(公告)号：US20230049826A1

公开(公告)日：2023-02-16

申请号：US17758958

申请日：2020-01-22

Applicant: ABB SCHWEIZ AG

Inventor： Yichao Mao

IPC: B25J9/16

Abstract: Devices, systems, and methods for time calibration. The method comprises determining a first reference position of a robot in a robot coordinate system based on first feedback information received from the robot; determining an association between the first reference position and first sensing information receive from a sensor; receiving, from the robot, second feedback information associated with a second motion of the robot and, from the sensor, second sensing information associated with the second motion; and determining a time delay between a sensing time point when a sensing position of the robot in the second motion is sensed by the sensor and a recording time point when the sensing position is recorded by the robot in the second motion.

公开(公告)号：US20230047834A1

公开(公告)日：2023-02-16

申请号：US17758938

申请日：2020-01-22

Applicant: ABB Schweiz AG

Inventor： Yichao Mao ,  Xinyu Fang ,  Shunchong Li

IPC: B25J13/08 ,  B25J9/16

Abstract: Systems, devices, and methods for controlling a robot. Some methods include, in response to determining that an object enters a reachable area of the robot, triggering a first sensor to sense a movement of the object; determining first position information of the object based on data received from the first sensor; determining second position information of the object based on second data received from a second sensor; and generating a first prediction of a target position at which the object is operated by the robot. In this way, the robot can complete an operation for the object on the AGV within a limit operation time during which the AGV passes through the reachable area of the robot. Meanwhile, by collecting the sensing data from different sensor groups, a target position at which the object is handled by the robot may be predicted more accurately.

公开(公告)号：US20230045651A1

公开(公告)日：2023-02-09

申请号：US17758791

申请日：2020-01-22

Applicant: ABB Schweiz AG

Inventor： Xinyu Fang ,  Yichao Mao ,  Qi Lu ,  Jiafan Zhang

IPC: B25J9/16

Abstract: Systems, devices, and methods for time calibration. The method can include, in responses to receiving sensing data which indicates a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations. Each transformation causing the tool to contact the object at a reference position; determining joint positions of a joint of the robot holding the tool or the object after the plurality of transformations; and determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position.

公开(公告)号：US20230032982A1

公开(公告)日：2023-02-02

申请号：US17758869

申请日：2020-01-22

Applicant: ABB Schweiz AG

Inventor： Yichao Mao ,  Xinyu Fang

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/042

Abstract: A system and a method for operating a robot. The system includes a first data collector coupled to the robot and configured to determine first position information of the robot based on feedback data received from the robot. The system also includes a second data collector coupled to a sensor and configured to determine second position information of an object to be operated by the robot based on sensing data received from the sensor. The system further comprises a first estimator coupled to the first data collector and the second data collector, and configured to generate a first prediction of a target position at which the object is operated by the robot and a command generator configured to generate a command for operating the robot at least partially based on the first prediction.

公开(公告)号：US20220277603A1

公开(公告)日：2022-09-01

申请号：US17635352

申请日：2019-08-14

Applicant: ABB Schweiz AG

Inventor： Ye Tian ,  Yichao Mao ,  Jiafan Zhang

IPC: G07C9/00 ,  G06K9/62

Abstract: Method for determining a lock type of a lock device. In the method, a group of raw data of a group of lock devices is collected from a group of sensors respectively. Here the group of lock devices are respectively mounted to an object at a group of positions, and the group of lock devices belong to at least one lock type of a plurality of lock types. A group of probability distributions are obtained based on the group of raw data. Here a probability distribution in the group of probability distributions is associated with a lock device in the group of lock devices and probabilities of lock types to which the lock device belongs. A lock type of the lock device is determined based on the group of probability distributions.