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公开(公告)号：US20220335735A1
公开(公告)日：2022-10-20
申请号：US17635969
申请日：2019-08-16
Applicant: ABB Schweiz AG
Inventor： Yichao Mao , Ye Tian , Jiafan Zhang
Abstract: Embodiments of the present disclosure provide methods for determining an object location of an object. In the method, a group of measurement locations for a group of feature marks in the object are collected from a group of sensors, respectively. A group of estimation locations are obtained for the group of feature marks based on the object location and a group of offsets between the group of estimation locations and the object location, respectively. An error function is generated based on the group of measurement locations and the group of estimation locations. The object location is determined based on the error function. With these embodiments, performance and accuracy for determining the object location may be greatly increased.
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公开(公告)号：US20240075625A1
公开(公告)日：2024-03-07
申请号：US18261747
申请日：2021-01-22
Applicant: ABB Schweiz AG
Inventor： Yichao Mao
CPC classification number: B25J9/1697 , B25J9/1664 , B25J11/005
Abstract: An assembling apparatus and a assembling method. The assembling apparatus includes an image sensor arranged above an assembling station and a first robot arranged near to the assembling station. The first robot is configured to hold a first portion of an object to be assembled onto a target object arranged on the assembling station. The assembling apparatus includes a second robot arranged near to the assembling station and configured to hold a second portion of the object spaced apart from the first portion. The assembling apparatus includes a controller configured to cause the image sensor to capture images and control the first robot to move the first portion and based on the captured images, cause the second robot to move the second portion such that the object is aligned with the target object.
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公开(公告)号：US11440170B2
公开(公告)日：2022-09-13
申请号：US16991541
申请日：2020-08-12
Applicant: ABB Schweiz AG
Inventor： Cheng Li , Feifei Zhao , Yichao Mao
Abstract: The present application discloses an apparatus for mounting an O-ring to a work piece, which includes a body including a plurality of connecting holes for connecting a pressure source to the body; an annular groove formed on the body and adapted to receive the O-ring; and a plurality of air channels formed in the body, the plurality of air channels being in fluid communication with the annular groove and the plurality of connecting holes to provide negative pressure with the pressure source in the annular groove to suck the O-ring in the annular groove, the annular groove is coaxial with a groove formed on a surface of the work piece during the mounting so that the O-ring is dropped into the groove when the pressure source is disconnected from the body or provides positive pressure to the plurality of air channels.
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公开(公告)号：US12067085B2
公开(公告)日：2024-08-20
申请号：US17635352
申请日：2019-08-14
Applicant: ABB Schweiz AG
Inventor： Ye Tian , Yichao Mao , Jiafan Zhang
IPC: G06F18/24 , G06F18/2415 , G07C9/00
CPC classification number: G06F18/24 , G06F18/2415 , G07C9/00563
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.
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5.发明公开公开(公告)号：US20240173857A1
公开(公告)日：2024-05-30
申请号：US17758962
申请日：2020-01-22
Applicant: ABB Schweiz AG
Inventor： Yichao Mao , Zheng Ju , Xiaohao Chen
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/1697
Abstract: A system and a method for controlling the robot. The method includes determining, based on feedback data received from the robot, first position information of a joint of the robot. The feedback data indicates a movement of the joint. The method also includes determining second position information of the joint based on sensing data received from a sensor. The sensing data indicates a relative movement between the joint and a second object to be aligned with the first object. The method also predicts a target position for aligning the first object with the second object.
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Patent Agency Ranking
公开(公告)号：US20230311310A1
公开(公告)日：2023-10-05
申请号：US18043483
申请日：2020-09-17
Applicant: ABB SCHWEIZ AG
Inventor： Yichao Mao , Jiafan Zhang
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/1692 , B25J9/1605
Abstract: Methods, apparatuses, systems, and computer readable media for managing a path of a robot system. The systems include comprises an arm which has a joint for rotating the arm. In the methods, a real path of a tip of the robot system is obtained during directing a movement of the tip to follow an ideal path. A path deviation is identified between the real path and the ideal path. A transmission error of the joint is determined based on the path deviation and kinematic data associated with the movement and a plurality of rotations of the joint respectively at a plurality of time points during the movement.
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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.
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公开(公告)号：US20230321835A1
公开(公告)日：2023-10-12
申请号：US18041390
申请日：2020-09-18
Applicant: ABB Schweiz AG
Inventor： Yichao Mao , Shunchong Li
IPC: B25J9/16
CPC classification number: B25J9/1692
Abstract: Methods, apparatuses, systems, and computer readable media for tuning a robot system. In a method, sensed positions of a target that is processed by the robot system are collected from a sensor of the robot system during a movement of the robot system at a predetermined velocity and a predetermined accuracy. Robot positions of the robot system are collected from a controller of the robot system during the movement. Robot position estimations are obtained based on the robot positions and the sensed positions, the robot position estimations being associated with a sensor delay of the robot system caused by the sensor. The sensor delay is determined based on the sensed positions and the robot position estimations. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for tuning a robot system.
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公开(公告)号：US20200368886A1
公开(公告)日：2020-11-26
申请号：US16991541
申请日：2020-08-12
Applicant: ABB Schweiz AG
Inventor： Cheng Li , Feifei Zhao , Yichao Mao
Abstract: The present application discloses an apparatus for mounting an O-ring to a work piece, which includes a body including a plurality of connecting holes for connecting a pressure source to the body; an annular groove formed on the body and adapted to receive the O-ring; and a plurality of air channels formed in the body, the plurality of air channels being in fluid communication with the annular groove and the plurality of connecting holes to provide negative pressure with the pressure source in the annular groove to suck the O-ring in the annular groove, the annular groove is coaxial with a groove formed on a surface of the work piece during the mounting so that the O-ring is dropped into the groove when the pressure source is disconnected from the body or provides positive pressure to the plurality of air channels.
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公开(公告)号：US12275157B2
公开(公告)日：2025-04-15
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.
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