公开(公告)号：US20200027173A1

公开(公告)日：2020-01-23

申请号：US16585116

申请日：2019-09-27

Applicant: ABB Schweiz AG

Inventor： Heqing Sun ,  Cheng Li ,  Hao Gu ,  Xinyu Fang

IPC: G06Q50/04 ,  G06F17/18 ,  G06Q10/06

Abstract: The present application relates to a method and apparatus for estimating throughput of a production line, the method including: a data obtaining step, a bottleneck work station selecting step, a first correcting step, a second correcting step as well as a throughput estimating step.

公开(公告)号：US12251843B2

公开(公告)日：2025-03-18

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：US20240083036A1

公开(公告)日：2024-03-14

申请号：US18263408

申请日：2021-04-13

Applicant: ABB Schweiz AG

Inventor： Ye Tian ,  Xinyu Fang ,  Jiafan Zhang

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1697 ,  B25J9/1692 ,  B25J19/023

Abstract: Methods, apparatuses, systems, and computer readable media for determining a position of a tracking device. The tracking device includes a vision sensor and an inertial sensor. A first position of the tracking device in relative to a reference marker is obtained based on an image of the reference marker that is collected by the vison sensor. A second position of the tracking device in relative to the first position is obtained by the inertial sensor after a movement of the tracking device. A position of the tracking device in relative to the reference marker is determined based on the first and second positions.

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：US11205235B2

公开(公告)日：2021-12-21

申请号：US16585116

申请日：2019-09-27

Applicant: ABB Schweiz AG

Inventor： Heqing Sun ,  Cheng Li ,  Hao Gu ,  Xinyu Fang

IPC: G06Q10/06 ,  G06Q50/04 ,  G06F17/18

Abstract: The present application relates to a method and apparatus for estimating throughput of a production line, the method including: a data obtaining step, a bottleneck work station selecting step, a first correcting step, a second correcting step as well as a throughput estimating step.