公开(公告)号：US20220088783A1

公开(公告)日：2022-03-24

申请号：US17419486

申请日：2019-01-21

Applicant: ABB Schweiz AG

Inventor： Wenyao Shao ,  Shaojie Cheng ,  Jiajing Tan

IPC: B25J9/16 ,  G06T7/70 ,  G05B19/418 ,  B25J9/00

Abstract: Methods for simulating an object in a manufacturing line, wherein the object is placed on a conveyor in the manufacturing line. In the method, a position of the object is obtained from object data collected by a camera device deployed in the manufacturing line. A movement of the conveyor is determined from a controller of the conveyor. An object position of the object is obtained based on the determined position and an offset of the object caused by the movement of the conveyor. A virtual representation of the object is displayed at the determined object position in a virtual environment. With the virtual environment, the administrator of the manufacturing line may be provided with accurate states of the manufacturing line, based on which operations of a robot system that is to be deployed in the manufacturing line may be estimated.

公开(公告)号：US20190232499A1

公开(公告)日：2019-08-01

申请号：US16377869

申请日：2019-04-08

Applicant: ABB Schweiz AG

Inventor： Jiajing Tan ,  Hao Gu ,  Jinsong Li ,  Yan Xu ,  Shaojie Cheng ,  Lei Mao

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1617 ,  B25J9/1664 ,  G01B21/042 ,  G05B19/404 ,  G05B2219/39021

Abstract: A method for calibration of work piece mounted in a predetermined manner to a work object and a robot system using the same. The work object has a first surface, a second surface and a third surface, and wherein the work object frame of reference is defined by a first coordinate line, a second coordinate line, and a third coordinate line at intersections of the first surface, the second surface and the third surface converging on a point. The method includes: touching a first number of locations on the first surface of the work object positioned by the robot touch probe to measure their actual locations on the first surface in the robot frame of reference, and storing the measured first coordinates for the measured locations; touching a second number of locations on the second surface of the work object positioned by the robot touch probe to measure their actual locations on the second surface in the robot frame of reference, and storing the measured second coordinates for the measured locations; touching a third number of locations on the third surface of the work object positioned by the robot touch probe to measure their actual locations on the third surface in the robot frame of reference, and storing the measured third coordinates for the measured locations; calculating orientation and origin of the work object frame of reference from the robot frame of reference based on the measured first, second and third coordinates for the measured locations, where the work object is positioned in the robot cell. The method provides all the necessary data to determine orientation and origin of the actual work object frame of reference relative to the robot frame of reference. The method also enables the robot to perform machine operations accurately at locations on a work object.

公开(公告)号：US11417238B2

公开(公告)日：2022-08-16

申请号：US16049046

申请日：2018-07-30

Applicant: ABB Schweiz AG

Inventor： Jiajing Tan ,  Shaojie Cheng ,  Lei Mao

IPC: G09B19/24 ,  G09B25/02

Abstract: A method, system and apparatus of determining search parameters for welding seam point calibration. The method includes determining, for a seam vertex point on a welding seam, three reference faces which are perpendicular to each other, based on geometry of an object to be weld in a virtual model; and determining a start point and a search point of a search motion for welding seam point calibration based on the three reference faces and predetermined criteria respectively for the start point and the search point. Three reference faces can be extracted automatically, and search parameters needed for the search instructions can be determined based thereon which enables automatic generation of search instructions and thus the time, manpower and cost for the welding seam point calibration can be reduced greatly.

公开(公告)号：US11312019B2

公开(公告)日：2022-04-26

申请号：US16377869

申请日：2019-04-08

Applicant: ABB Schweiz AG

Inventor： Jiajing Tan ,  Hao Gu ,  Jinsong Li ,  Yan Xu ,  Shaojie Cheng ,  Lei Mao

IPC: B25J9/16 ,  G05B19/404 ,  G01B21/04

Abstract: A method for calibration of work piece mounted in a predetermined manner to a work object and a robot system using the same. The work object has a first surface, a second surface and a third surface, and wherein the work object frame of reference is defined by a first coordinate line, a second coordinate line, and a third coordinate line at intersections of the first surface, the second surface and the third surface converging on a point. The method includes: touching a first number of locations on the first surface of the work object positioned by the robot touch probe to measure their actual locations on the first surface in the robot frame of reference, and storing the measured first coordinates for the measured locations; touching a second number of locations on the second surface of the work object positioned by the robot touch probe to measure their actual locations on the second surface in the robot frame of reference, and storing the measured second coordinates for the measured locations; touching a third number of locations on the third surface of the work object positioned by the robot touch probe to measure their actual locations on the third surface in the robot frame of reference, and storing the measured third coordinates for the measured locations; calculating orientation and origin of the work object frame of reference from the robot frame of reference based on the measured first, second and third coordinates for the measured locations, where the work object is positioned in the robot cell. The method provides all the necessary data to determine orientation and origin of the actual work object frame of reference relative to the robot frame of reference. The method also enables the robot to perform machine operations accurately at locations on a work object.

公开(公告)号：US20220088784A1

公开(公告)日：2022-03-24

申请号：US17419497

申请日：2019-01-21

Applicant: ABB Schweiz AG

Inventor： Jiajing Tan ,  Wenyao Shao ,  Shaojie Cheng

IPC: B25J9/16 ,  B25J9/00 ,  B25J13/08 ,  B25J19/02

Abstract: Embodiments of the present disclosure provide methods for monitoring a robot system including a robot arm for processing at least one object. In the method, an arm position of the robot arm may be obtained from a controller of the robot arm. An object position of one of the at least one object may be obtained from object data collected by a camera device. The robot system may be monitored by displaying a virtual representation of the robot arm and a virtual representation of the object based on the obtained arm position and the object position, respectively. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for monitoring a robot system. With these embodiments, the robot system may be monitored in an easy and effective way even if the robot system is built in an environment with a narrow place and/or with inadequate light.

公开(公告)号：US20180336800A1

公开(公告)日：2018-11-22

申请号：US16049046

申请日：2018-07-30

Applicant: ABB Schweiz AG

Inventor： Jiajing Tan ,  Shaojie Cheng ,  Lei Mao

IPC: G09B19/24

CPC classification number: G09B25/02

Abstract: A method, system and apparatus of determining search parameters for welding seam point calibration. The method includes determining, for a seam vertex point on a welding seam, three reference faces which are perpendicular to each other, based on geometry of an object to be weld in a virtual model; and determining a start point and a search point of a search motion for welding seam point calibration based on the three reference faces and predetermined criteria respectively for the start point and the search point. Three reference faces can be extracted automatically, and search parameters needed for the search instructions can be determined based thereon which enables automatic generation of search instructions and thus the time, manpower and cost for the welding seam point calibration can be reduced greatly.