公开(公告)号：US20150343635A1

公开(公告)日：2015-12-03

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

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：US20170266810A1

公开(公告)日：2017-09-21

申请号：US15616096

申请日：2017-06-07

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.

公开(公告)号：US09701018B2

公开(公告)日：2017-07-11

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： G06F19/00 ,  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.

公开(公告)号：US09555545B2

公开(公告)日：2017-01-31

申请号：US14333311

申请日：2014-07-16

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne

IPC分类号： B25J9/16 ,  B25J9/22 ,  B25J9/10 ,  B25J9/06

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.

摘要翻译： 示例系统和方法可以允许工作单元内的机器人设备的并行操作，例如被控制来制造输出产品的工业机器人。 一个示例性方法包括接收多个对应的机器人设备的有序序列的操作，确定每个机器人设备的基于时间的操作序列，其中基于时间的操作序列指示工作单元内的全局对应时间步长 时间线，确定涉及由并行执行工作单元内的基于时间的操作序列而产生的机器人设备的一个或多个潜在的冲突，修改基于时间的操作序列以便防止一个或多个潜在的冲突，以及 提供用于在所述工作单元内的所述机器人设备在所述全局时间轴的时间步长处修改的基于时间的操作序列的并行执行的指令。

公开(公告)号：US20150336269A1

公开(公告)日：2015-11-26

申请号：US14333311

申请日：2014-07-16

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne

IPC分类号： 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.

摘要翻译： 示例系统和方法可以允许工作单元内的机器人设备的并行操作，例如被控制来制造输出产品的工业机器人。 一个示例性方法包括接收多个对应的机器人设备的有序序列的操作，确定每个机器人设备的基于时间的操作序列，其中基于时间的操作序列指示工作单元内的全局对应时间步长 时间线，确定涉及由并行执行工作单元内的基于时间的操作序列而产生的机器人设备的一个或多个潜在的冲突，修改基于时间的操作序列以便防止一个或多个潜在的冲突，以及 提供用于在所述工作单元内的所述机器人设备在所述全局时间轴的时间步长处修改的基于时间的操作序列的并行执行的指令。