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    FACILITATING ROBOT POSITIONING
    1.
    发明申请
    FACILITATING ROBOT POSITIONING 审中-公开

    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

    IPC: B25J9/16 ,  G06T7/20 ,  G06T7/00

    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.

    Teleoperation Of Machines Having At Least One Actuated Mechanism
    2.
    发明申请
    Teleoperation Of Machines Having At Least One Actuated Mechanism 有权
    具有至少一个致动机构的机器的远程操作

    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。

    TELEOPERATED INDUSTRIAL ROBOTS
    3.
    发明申请
    TELEOPERATED INDUSTRIAL ROBOTS 有权
    远程工业机器人

    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。

    COORDINATED CONTROL OF MULTI-TERMINAL HVDC SYSTEMS
    5.
    发明申请
    COORDINATED CONTROL OF MULTI-TERMINAL HVDC SYSTEMS 审中-公开
    多端HVDC系统的协调控制

    公开(公告)号：US20160254669A1

    公开(公告)日：2016-09-01

    申请号：US15153892

    申请日：2016-05-13

    Applicant: ABB Technology AG

    Inventor： Biao Zhang ,  Remus Boca ,  Jeremy Newkirk ,  Thomas A. Fuhlbrigge ,  George Q. Zhang ,  Xiongzi Li

    IPC: H02J3/36 ,  H02M5/458

    CPC classification number: H02J3/36 ,  B29C64/106 ,  B29C64/20 ,  B33Y30/00 ,  G05B2219/39156 ,  G05B2219/49023 ,  H02M5/458

    Abstract: A robotic 3D printing system has a six degree of freedom (DOF) robot that holds the platform on which the 3D part is built on. The system uses the dexterity of the 6 DOF robot to move and rotate the platform relative to the 3D printing head, which deposits the material on the platform. The system allows the part build in 3D directly with a simple printing head and depositing the material along the gravity direction. The 3D printing head can be fixed relative to robot base, or moved in the X-Y plane with 2 or 3 DOF, or held by another robot or robots. The robot movement can be calibrated to improve the accuracy and efficiency for high precision 3D part printing.

    Abstract translation: 机器人3D打印系统具有六自由度（DOF）机器人，其保持建立3D部件的平台。 该系统使用6自由度机器人的灵活性来移动和旋转相对于3D打印头的平台，3D打印头将材料沉积在平台上。 该系统允许使用简单的打印头直接在3D中构建零件，并沿重力方向沉积材料。 3D打印头可以相对于机器人底座固定，或者在X-Y平面上用2或3 DOF移动，或由另一个机器人或机器人保持。 可以校准机器人运动，以提高高精度3D部件打印的精度和效率。

    Robot Program Generation For Robotic Processes
    6.
    发明申请
    Robot Program Generation For Robotic Processes 审中-公开
    机器人程序生成机器人程序

    公开(公告)号：US20150328773A1

    公开(公告)日：2015-11-19

    申请号：US14650112

    申请日：2013-12-06

    Applicant: Remus BOCA ,  Srinivans NIDAMARTHI ,  ABB Technology AG

    Inventor： Remus Boca ,  Srinivas Nidamarthi

    IPC: B25J9/16

    CPC classification number: B25J9/1664 ,  B25J9/1671 ,  G05B2219/36248 ,  G05B2219/36504 ,  G05B2219/40425 ,  G05B2219/40515 ,  G05B2219/45065 ,  Y10S901/02 ,  Y10S901/47

    Abstract: A system for generating a path to be followed by a robot used to perform a process on a workpiece has a computing device that has program code for operating the robot and obtaining information related to the workpiece and a vision system that scans the workpiece to obtain images thereof that are provided to the computing device. The computing device processes the images to obtain geometric information about the workpiece that the computing device uses in combination with process related reference parameters stored in the computing device to generate program code for a path to be followed by the robot to perform the process on the workpiece. The computing device also includes code configured to verify for quality the generated program code for the path to be followed by the robot to perform the process on the workpiece.

    Abstract translation: 用于生成用于在工件上执行处理的机器人遵循的路径的系统具有计算装置，其具有用于操作机器人的程序代码并获得与工件相关的信息以及扫描工件以获得图像的视觉系统 被提供给计算设备。 计算设备处理图像以获得关于计算设备使用的工件的几何信息，并结合存储在计算设备中的过程相关的参考参数，以生成机器人遵循的路径来执行工件上的过程的程序代码 。 计算设备还包括被配置为验证生成的程序代码的代码，用于机器人遵循的路径在工件上执行处理。

    Bare Hand Robot Path Teaching
    9.
    发明申请
    Bare Hand Robot Path Teaching 审中-公开
    裸手机器人路径教学

    公开(公告)号：US20150314442A1

    公开(公告)日：2015-11-05

    申请号：US14652111

    申请日：2013-12-13

    Applicant: ABB Technology AG

    Inventor： Remus Boca ,  Srinivas Nidamarthi ,  Thomas A. Fuhlbrigge

    IPC: B25J9/16

    CPC classification number: B25J9/1664 ,  B25J9/1656 ,  B25J9/1697 ,  G05B2219/35444

    Abstract: A system for generating instructions for operating a robot to perform work on a workpiece has a 3D model or models of a robot scene that provides robot scene data. The system also has data of one or both hands of a gesture made with the one or both hands and a computation device that has program code configured to process the robot scene data and the gesture data to generate an instruction to operate the robot.

    Abstract translation: 用于生成用于操作机器人以在工件上进行工作的指令的系统具有提供机器人场景数据的机器人场景的3D模型或模型。 该系统还具有由一只或两只手形成的手势的一只手或两只手的数据，以及具有被配置成处理机器人场景数据和手势数据以产生操作该机器人的指令的程序代码的计算装置的数据。

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