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公开(公告)号：US10518406B2
公开(公告)日：2019-12-31
申请号：US15756419
申请日：2015-09-17
Applicant: ABB Schweiz AG
Inventor： Daniel Sirkett , Peter Fransson
Abstract: A component feeder including a stationary picking surface for receiving components to be picked, a vision system including an image unit arranged to take images of components distributed on the picking surface and a load device including one or more load sensors adapted to detect the presence of a component on the picking surface and the vision system is configured to automatically trigger the image unit to take an image upon detecting the presence of the component on the picking surface.
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公开(公告)号：US12139243B2
公开(公告)日：2024-11-12
申请号：US18001360
申请日：2020-06-11
Applicant: ABB Schweiz AG
Inventor： Bin Liu , Veli-Pekka Peljo , Peter Fransson , Arne Trangärd , Wei Ji , Winston Garcia-Gabin , Kateryna Mishchenko , Jari Kivelä , Kai Karila , Matti Kivioja
IPC: B63H1/10
Abstract: An apparatus, method and computer program for controlling propulsion of marine vessel. The propulsion is implemented by a foil wheel propulsion system. The method includes: receiving a wheel operation status from a wheel drive; receiving a plurality of foil operation statuses from a plurality of foil drives; receiving a command from a vessel control system; generating wheel control data for the wheel drive to control a foil pitch function of the foil wheel propulsion system based on the command in view of the wheel operation status; and generating foil control data for the plurality of the foil drives to further control the foil pitch function of the foil wheel propulsion system based on the command in view of the wheel operation status and the plurality of foil operation statuses, wherein a reference torque of the foil control data for each foil drive is generated using a foil feedforward model.
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公开(公告)号：US20180250810A1
公开(公告)日：2018-09-06
申请号：US15756419
申请日：2015-09-17
Applicant: ABB Schweiz AG
Inventor： Daniel Sirkett , Peter Fransson
CPC classification number: B25J9/0093 , B25J9/1697 , G01B11/002 , G01B11/26 , G01G19/414 , G01G19/52 , G05B2219/37555 , H04N1/1008
Abstract: A component feeder including a stationary picking surface for receiving components to be picked, a vision system including an image unit arranged to take images of components distributed on the picking surface and a load device including one or more load sensors adapted to detect the presence of a component on the picking surface and the vision system is configured to automatically trigger the image unit to take an image upon detecting the presence of the component on the picking surface.
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Patent Agency Ranking
公开(公告)号：US11230011B2
公开(公告)日：2022-01-25
申请号：US16061237
申请日：2016-02-02
Applicant: ABB Schweiz AG
Inventor： Daniel Sirkett , Jeremy Pouech , Peter Fransson
IPC: B25J9/16
Abstract: A method for calibrating a robot system having a planar pick surface includes: bringing a robot gripper to a first location against the pick surface; and generating a first image of the robot gripper from below. When knowing that a certain identifiable part of the robot gripper in images always lies against the planar pick surface, the position and orientation of the pick surface in relation to a manipulator coordinate frame can be fully defined if the robot gripper's orientation in relation to the pick surface is known, or if there are images on identifiable parts of the robot gripper in at least three different positions against the pick surface.
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公开(公告)号：US10899001B2
公开(公告)日：2021-01-26
申请号：US15778963
申请日：2015-12-03
Applicant: ABB Schweiz AG
Inventor： Daniel Sirkett , Jeremy Pouech , Peter Fransson
Abstract: A method for teaching an industrial robot to pick parts includes the steps of: placing a reference part on a picking surface; providing a reference image including information about the reference part; placing a gripping tool of the industrial robot in relation to the reference part so that the gripping tool is in a grasp configuration in relation to the reference part; and storing the grasp configuration. The reference image is a 2D image from below. When the reference part is resting on a known plane a 2D image taken from below is enough for defining the position of the same.
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公开(公告)号：US20180354137A1
公开(公告)日：2018-12-13
申请号：US16061237
申请日：2016-02-02
Applicant: ABB Schweiz AG
Inventor： Daniel Sirkett , Jeremy Pouech , Peter Fransson
IPC: B25J9/16
CPC classification number: B25J9/1692 , G05B2219/40611
Abstract: A method for calibrating a robot system having a planar pick surface includes: bringing a robot gripper to a first location against the pick surface; and generating a first image of the robot gripper from below. When knowing that a certain identifiable part of the robot gripper in images always lies against the planar pick surface, the position and orientation of the pick surface in relation to a manipulator coordinate frame can be fully defined if the robot gripper's orientation in relation to the pick surface is known, or if there are images on identifiable parts of the robot gripper in at least three different positions against the pick surface.
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公开(公告)号：US20180345483A1
公开(公告)日：2018-12-06
申请号：US15778963
申请日：2015-12-03
Applicant: ABB Schweiz AG
Inventor： Daniel Sirkett , Jeremy Pouech , Peter Fransson
CPC classification number: B25J9/1697
Abstract: A method for teaching an industrial robot to pick parts includes the steps of: placing a reference part on a picking surface; providing a reference image including information about the reference part; placing a gripping tool of the industrial robot in relation to the reference part so that the gripping tool is in a grasp configuration in relation to the reference part; and storing the grasp configuration. The reference image is a 2D image from below. When the reference part is resting on a known plane a 2D image taken from below is enough for defining the position of the same.
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公开(公告)号：US09570257B2
公开(公告)日：2017-02-14
申请号：US15033546
申请日：2013-11-12
Applicant: ABB Schweiz AG
Inventor： Björn Lundén , Gunnar Johansson , Peter Fransson
CPC classification number: H01H47/325 , H01H47/22 , H01H50/18 , H01H50/36 , H01H50/56 , H01H2235/01
Abstract: A method performed in a control unit for opening a contactor device. The contactor device includes a carrier being movable between a closed position in which a current is allowed to flow in a current path and an open position in which the current path is broken. The control unit is configured to enable the movement of the carrier between the closed position and the open position by energizing a coil of an electromagnetic circuit. The method includes: initiating the opening of the contactor device by de-energizing the coil, wherein the de-energizing includes using a demagnetization circuit including a discharge element, the discharge element being arranged to consume energy in the coil; bypassing, at a first point of time, the discharge element; and re-energizing the coil.
Abstract translation: 一种在用于打开接触器装置的控制单元中执行的方法。 所述接触器装置包括载体，所述载体能够在电流路径中允许电流流动的闭合位置和所述电流路径断开的打开位置之间移动。 控制单元被配置为通过对电磁线圈的线圈通电来使载体在关闭位置和打开位置之间移动。 所述方法包括：通过使所述线圈断电来启动所述接触器装置的打开，其中所述去激励包括使用包括放电元件的退磁电路，所述放电元件布置成消耗所述线圈中的能量; 在第一时间点旁路放电元件; 并重新给线圈通电。
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