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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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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：US20160346928A1
公开(公告)日：2016-12-01
申请号：US15169517
申请日：2016-05-31
Applicant: ABB Technology AG
Inventor： George Q. Zhang , David P. Gravel , Soenke Kock , Thomas A. Fuhlbrigge , Heping Chen , Sangeun Choi , Arnold Bell , Biao Zhang
IPC: B25J9/16
Abstract: A method for robotic adaptive production includes modifying program instructions online while performing production activities in response to detecting a change in the production environment. A robotic adaptive production method includes modifying program instructions online while performing production activities to minimize a production task cycle time or improve a production task quality. A robotic adaptive production method includes estimating a relationship between a control parameter and a sensor input; and modifying the control parameter online to achieve an updated parameter based on the estimating. A robotic adaptive production method includes receiving sensor input relating to robotic performance during the performance of production tasks and online optimizing a process parameter based on robotic performance during the performance of the production tasks. A robotic adaptive production method includes determining the position and/or orientation of a feature based on a learned position and/or orientation of another feature and on a geometric relationship.
Abstract translation: 一种用于机器人自适应生产的方法包括在响应于检测生产环境的变化而在执行生产活动的同时在线修改程序指令。 机器人自适应生产方法包括在执行生产活动的同时在线修改程序指令以最小化生产任务周期时间或提高生产任务质量。 机器人自适应生产方法包括估计控制参数和传感器输入之间的关系; 并且在线修改控制参数以基于估计来实现更新的参数。 机器人自适应生产方法包括在执行生产任务期间接收与机器人性能相关的传感器输入，并且在执行生产任务期间基于机器人性能在线优化过程参数。 机器人自适应生产方法包括基于学习的位置和/或另一特征的取向以及几何关系确定特征的位置和/或取向。
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Patent Agency Ranking
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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：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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8.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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公开(公告)号：US09132551B2
公开(公告)日：2015-09-15
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
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机器人执行的处理。
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