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公开(公告)号：US10341639B2
公开(公告)日：2019-07-02
申请号：US14941838
申请日：2015-11-16
Applicant: ABB Technology AG
Inventor： Jianjun Wang , Biao Zhang , Carlos Martinez , Carlos W. Morato , Remus Boca , Thomas Fuhlbrigge
IPC: H04N13/204 , E21D9/00 , E21B7/02 , G05D1/02
Abstract: Automatic scanning and representing an environment with collision avoidance includes, for example, obtaining a first representation of the environment using a first scanning path, determining a second scanning path based on the first representation of the environment operable to avoid contact with the environment when obtaining a second representation of the environment, obtaining the second representation of the environment based on the second scanning path, and wherein the second representation of the environment is different from the first representation of the environment. The method may be employed in imaging and/or representing a rock wall having a plurality of spaced-apart holes for receiving charges for mining.
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公开(公告)号：US09643318B2
公开(公告)日：2017-05-09
申请号：US14648995
申请日：2013-12-03
Applicant: ABB Technology AG
Inventor： Jianjun Wang , Biao Zhang , George Q. Zhang , Harald Staab , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth
CPC classification number: B25J9/1689 , B25J9/1676 , G05B2219/40117 , G05B2219/40131 , G05B2219/40168
Abstract: A machine that has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. An interface at the control station allows an operator to select one or more virtual constraints on operation of the machine when the machine is performing a predetermined function. The virtual constraints are transmitted over the two way real-time communication link to the machine location. The machine has predetermined safety limits that are stored in a controlling device at the machine location. The stored predetermined safety limits are extracted and automatically mapped to the control station using the two way real-time communication link. The controlling device maps the predetermined safety limits to the virtual constraints.
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公开(公告)号：US20170136626A1
公开(公告)日：2017-05-18
申请号：US14941823
申请日：2015-11-16
Applicant: ABB Technology AG
Inventor： Jianjun Wang , Biao Zhang , Carlos Martinez , Carlos Winsor Morato , Remus Boca
CPC classification number: B25J9/1697 , B25J9/1692 , G06T7/74 , G06T2200/04 , G06T2207/10028 , G06T2207/30244 , Y10S901/09
Abstract: Robot positioning is facilitated by obtaining, for each time of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot.
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公开(公告)号：US20170140539A1
公开(公告)日：2017-05-18
申请号：US14941832
申请日：2015-11-16
Applicant: ABB Technology AG
Inventor： Jianjun Wang , Biao Zhang , Carlos Martinez , Carlos Winsor Morato
CPC classification number: B25J9/1687 , B25J9/1697 , G05B2219/34165 , G05B2219/37563 , G05B2219/40425 , G06T7/73 , G06T2207/10024 , G06T2207/10028 , G06T2207/20061
Abstract: Three-dimensional visual servoing for positioning a robot in an environment is facilitated. Three-dimensional point cloud data of a scene of the environment is obtained, the scene including a feature. The three-dimensional point cloud data is converted into a two-dimensional image, and a three-dimensional position of the feature is identified based on the two-dimensional image. An indication of the identified three-dimensional position of the feature is then provided.
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公开(公告)号：US20150298318A1
公开(公告)日：2015-10-22
申请号：US14648995
申请日：2013-12-03
Applicant: ABB Technology AG
Inventor： Jianjun Wang , Biao Zhang , George Q. Zhang , Harald Staab , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth
IPC: B25J9/16
CPC classification number: B25J9/1689 , B25J9/1676 , G05B2219/40117 , G05B2219/40131 , G05B2219/40168
Abstract: A machine that has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. An interface at the control station allows an operator to select one or more virtual constraints on operation of the machine when the machine is performing a predetermined function. The virtual constraints are transmitted over the two way real-time communication link to the machine location. The machine has predetermined safety limits that are stored in a controlling device at the machine location. The stored predetermined safety limits are extracted and automatically mapped to the control station using the two way real-time communication link. The controlling device maps the predetermined safety limits to the virtual constraints.
Abstract translation: 具有至少一个致动机构的机器远离控制站。 双向实时通信链路将机器位置与控制站相连。 控制站处的接口允许操作者在机器执行预定功能时选择一个或多个虚拟操作机器的操作限制。 虚拟约束通过双向实时通信链路传输到机器位置。 机器具有存储在机器位置的控制装置中的预定安全限制。 存储的预定安全限制被提取并且使用双向实时通信链路自动地映射到控制站。 控制装置将预定的安全限制映射到虚拟约束。
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Patent Agency Ranking
公开(公告)号：US20140156073A1
公开(公告)日：2014-06-05
申请号：US14075136
申请日：2013-11-08
Applicant: ABB TECHNOLOGY AG
Inventor： Biao Zhang , Harald Staab , Jianjun Wang , George Q. Zhang , Remus Boca , Sangeun Choi , Thomas A. Fuhlbrigge , Soenke Kock , Heping Chen
IPC: B25J9/16
CPC classification number: B25J9/1689 , B25J13/006 , G05B2219/33192 , G05B2219/33242 , G05B2219/34466 , G05D1/0022 , G05D1/0282 , H04L67/125
Abstract: A teleoperated robot system has a watchdog to determine if the rate of data transmission from a computing device such as a robot controller located in the station used by the operator of the teleoperated robot to the remotely located industrial robot has fallen below a minimum data rate or the time for transmission of data has exceeded a maximum time. Upon the occurrence of either or both of the foregoing, one or more types of corrective action are undertaken to bring the teleoperated robot and the processes performed by the robot.
Abstract translation: 遥控机器人系统具有看门狗，用于确定来自位于远程操作机器人的操作者所使用的站内的诸如机器人控制器的计算设备到远程工业机器人的数据传输速率是否已经低于最小数据速率或 数据传输的时间已超过最大时间。 在发生前述任何一个或两者时，进行一种或多种类型的纠正动作以使远程操作的机器人和由机器人执行的处理。
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公开(公告)号：US10046459B2
公开(公告)日：2018-08-14
申请号：US14941832
申请日：2015-11-16
Applicant: ABB Technology AG
Inventor： Jianjun Wang , Biao Zhang , Carlos Martinez , Carlos Winsor Morato
Abstract: Three-dimensional visual servoing for positioning a robot in an environment is facilitated. Three-dimensional point cloud data of a scene of the environment is obtained, the scene including a feature. The three-dimensional point cloud data is converted into a two-dimensional image, and a three-dimensional position of the feature is identified based on the two-dimensional image. An indication of the identified three-dimensional position of the feature is then provided.
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公开(公告)号：US09701023B2
公开(公告)日：2017-07-11
申请号：US14649186
申请日：2013-12-03
Applicant: ABB Technology AG
Inventor： Biao Zhang , Jianjun Wang , George Q. Zhang , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth , Harald Staab
CPC classification number: B25J9/1689 , G05B2219/40195 , G05B2219/40399 , Y10S901/06 , Y10S901/30
Abstract: A machine remotely located from a control station has at least one actuated mechanism. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that includes an instruction which when executed transfers control of the machine from the controller to the control station. The program code can have a task frame associated with the predetermined function performed by the machine with the task frame divided into a first set controlled by the controller and a second set controlled from the control station. The system can also have two or more remotely located control stations only one of which can control the machine at a given time.
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公开(公告)号：US20160229050A1
公开(公告)日：2016-08-11
申请号：US15016578
申请日：2016-02-05
Applicant: ABB Technology AG
Inventor： Jianjun Wang , Thomas A. Fuhlbrigge , Biao Zhang
IPC: B25J9/00
CPC classification number: B25J13/025 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G06F3/016 , G06F2203/014 , G06F2203/015 , Y10S901/04
Abstract: One exemplary embodiment is a system comprising an operator input device structured to move in response to operator-applied force and to selectably output feedback force to the operator. A first computing system is structured to receive input from the operator input device and provide an output. A second computing system is structured to receive the output and provide a robot control command subject to a force constraint. An industrial robot system is in operative communication with the second computing system and comprises a robotic arm structured to move in response to the command. The second computing system is structured process the output to impose a force constraint using a dual threshold hysteresis control. The first computing system is structured to apply a feedback force to the operator input device correlated to force associated with the industrial robot system.
Abstract translation: 一个示例性实施例是包括被构造为响应于操作者施加的力而移动并且可选择地向操作者输出反馈力的操作者输入装置的系统。 第一计算系统被构造成从操作者输入装置接收输入并提供输出。 第二计算系统被构造成接收输出并提供受力约束的机器人控制命令。 工业机器人系统与第二计算系统操作性地通信，并且包括被构造为响应于该命令而移动的机器人手臂。 第二计算系统被结构化处理输出以使用双阈值滞后控制施加力约束。 第一计算系统被构造成将反馈力施加到与工业机器人系统相关联的力相关联的操作者输入装置。
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10.发明申请公开(公告)号：US20150314448A1
公开(公告)日：2015-11-05
申请号：US14649186
申请日：2013-12-03
Applicant: ABB TECHNOLOGY AG
Inventor： Biao Zhang , Jianjun Wang , George Q. Zhang , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth , Harald Staab
IPC: B25J9/16
CPC classification number: B25J9/1689 , G05B2219/40195 , G05B2219/40399 , Y10S901/06 , Y10S901/30
Abstract: A machine remotely located from a control station has at least one actuated mechanism. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that includes an instruction which when executed transfers control of the machine from the controller to the control station. The program code can have a task frame associated with the predetermined function performed by the machine with the task frame divided into a first set controlled by the controller and a second set controlled from the control station. The system can also have two or more remotely located control stations only one of which can control the machine at a given time.
Abstract translation: 远离控制站的机器具有至少一个致动机构。 双向实时通信链路将机器位置与控制站相连。 机器位置处的控制器具有程序代码，该程序代码包括当执行时将控制器从控制器控制到控制站的指令。 程序代码可以具有与由机器执行的预定功能相关联的任务帧，其中任务帧被划分为由控制器控制的第一组和从控制站控制的第二组。 该系统还可以具有两个或多个远程位置的控制站，其中一个控制站可以在给定时间内控制机器。
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