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    Teleoperation Of Machines Having At Least One Actuated Mechanism And A Fault Detection And Recovery System
    1.
    发明申请
    Teleoperation Of Machines Having At Least One Actuated Mechanism And A Fault Detection And Recovery System 有权
    具有至少一个致动机构和故障检测和恢复系统的机器的远程操作

    公开(公告)号：US20150314447A1

    公开(公告)日：2015-11-05

    申请号：US14649160

    申请日：2013-12-03

    申请人： Biao ZHANG ,  Jianjun WANG ,  George Q. ZHANG ,  Sangeun CHOI ,  Remus BOCA ,  Thomas A. FUHLBRIGGE ,  Thomas GROTH

    发明人： Biao Zhang ,  Jianjun Wang ,  George Q. Zhang ,  Sangeun Choi ,  Remus Boca ,  Thomas A. Fuhlbrigge ,  Tomas Groth

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1689 ,  G05B2219/40195 ,  G05B2219/40204 ,  Y10S901/09 ,  Y10S901/46

    摘要： A machine 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. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in machine operation is detected at the machine location. The controller also has a default trap routine that is executed when specific routine does not exist.

    摘要翻译： 机器具有远离控制站的至少一个致动机构。 双向实时通信链路将机器位置与控制站相连。 在机器位置处的控制器具有程序代码，其被配置为从机器位置的一个或多个传感器的数据确定机器是否在机器执行其预定功能时发生实际故障并确定实际故障 或更多类型的故障，并将一个或多个故障类型传输到控制站进行分析。 控制器中的代码被配置为特定于机器功能的预编程陷阱程序，在机器位置检测到机器操作错误时自动执行。 控制器还具有默认的陷阱程序，当特定例程不存在时，它将被执行。

    VISION-GUIDED ALIGNMENT SYSTEM AND METHOD
    4.
    发明申请
    VISION-GUIDED ALIGNMENT SYSTEM AND METHOD 有权
    视觉引导对准系统和方法

    公开(公告)号：US20130147944A1

    公开(公告)日：2013-06-13

    申请号：US13817833

    申请日：2011-08-25

    申请人： Biao Zhang ,  Jianjun Wang ,  Gregory F. Rossano ,  Thomas A. Fuhlbrigge

    发明人： Biao Zhang ,  Jianjun Wang ,  Gregory F. Rossano ,  Thomas A. Fuhlbrigge

    IPC分类号： G06T7/00

    CPC分类号： G06T7/0018 ,  B25J9/1661 ,  B25J9/1687 ,  B25J9/1692 ,  B25J9/1697 ,  G05B2219/35059 ,  G05B2219/39391 ,  G05B2219/40032 ,  G05B2219/40616 ,  G05B2219/45029 ,  G06T7/80 ,  Y10S901/02 ,  Y10S901/47

    摘要： A vision-guided alignment system to align a plurality of components includes a robotic gripper configured to move one component relative to another component and a camera coupled to a processor that generates an image of the components. A simulated robotic work cell generated by the processor calculates initial calibration positions that define the movement of the robotic gripper such that position errors between the actual position of the robotic gripper and the calibration positions are compensated by a camera space manipulation based control algorithm executed by the processor to control the robotic gripper to move one component into alignment with another component based on the image of the components.

    摘要翻译： 对准多个部件的视觉引导的对准系统包括被配置为相对于另一部件移动一个部件的机器人抓爪器和耦合到产生部件的图像的处理器的相机。 由处理器生成的模拟机器人工作单元计算定义机器人抓爪器的运动的初始校准位置，使得机器人抓爪器的实际位置与校准位置之间的位置误差由基于相机空间操纵的控制算法 处理器来控制机器人抓爪以基于组件的图像将一个部件移动到与另一部件对准。

    System and Method for Robotic Calibration and Tuning
    5.
    发明申请
    System and Method for Robotic Calibration and Tuning 有权

    公开(公告)号：US20220410397A1

    公开(公告)日：2022-12-29

    申请号：US17772370

    申请日：2019-10-29

    申请人： Biao Zhang ,  ABB Schweiz AG

    发明人： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  William J. Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

    IPC分类号： B25J9/16

    摘要： A system and method for use of artificial and nature racking features to calibrate sensors and tune a robotic control system of a sensor fusion guided robotic assembly. The artificial tracking features can have a configuration, or be at a location, that may be less susceptible to noise and error. Thus, the sensors can at least initially be calibrated, and the control system initially tuned, using the first tracking features until the sensors and control system satisfy operation performance criteria. Second tracking features, which may correspond to features on a workpiece that will be utilized in an assembly operation performed by the robot. By pre-calibrating the sensors, and pre-tuning the control system prior to calibration using the second tracking features, sensor calibration and system tuning based on the second tracking features can be attained faster and with less complexity.

    System and Method for Online Optimization of Sensor Fusion Model
    7.
    发明申请
    System and Method for Online Optimization of Sensor Fusion Model 有权

    公开(公告)号：US20230010651A1

    公开(公告)日：2023-01-12

    申请号：US17772656

    申请日：2019-10-29

    申请人： Biao ZHANG ,  ABB Schweiz AG

    发明人： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

    IPC分类号： G06N3/08 ,  G06N3/04

    摘要： A system and method for collecting data regarding operation of a robot using, at least in part, responses from a first operation model to an input of sensed data from a plurality of sensors. The collected data can be used to optimize the first operation model to generate a second operation model. While the first operation model is being optimized, a train data-driven model that utilizes an end-to-end learning approach can be generated that is based, at least in part, on the collected data. Both the second operation model and the train data-driven model can be evaluated, and, based on such evaluation, a determination can be made as to whether the train data-driven model is reliable. Moreover, based on a comparison of the models, one of the second operation model and the train data-driven model can be selected for validation, and if validated, used in the operation of the robot.

    System and Method for Robotic Evaluation
    8.
    发明申请
    System and Method for Robotic Evaluation 有权

    公开(公告)号：US20220402136A1

    公开(公告)日：2022-12-22

    申请号：US17772365

    申请日：2019-10-29

    申请人： Biao Zhang ,  ABB Schweiz AG

    发明人： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Ramon Casanelles ,  Jordi Artigas

    IPC分类号： B25J9/16 ,  B25J13/08

    摘要： A system and method for determining performance of a robot. In one form the robot is constructed as you assembling automotive workpieces onto an automobile assembly. In one form the robot accomplishes the task of assembling an automotive workpiece onto the automotive assembly by using vision feedback and force feedback. The vision feedback can use any number of features perform its function. Such features can include an artificial feature such as but not limited to a QR code, as well as a natural feature such as a portion of the workpiece or automotive assembly. In one embodiment the robot is capable of detecting a collision event and assessing the severity of the collision event. In another embodiment the robot is capable of evaluating its performance by attracting a performance metric against a performance threshold, and comparing a sensor fusion output with a sensor fusion output reference.

    Lantern
    9.
    外观设计
    Lantern 有权

    公开(公告)号：USD956293S1

    公开(公告)日：2022-06-28

    申请号：US29703279

    申请日：2019-08-26

    申请人： Biao Zhang

    设计人： Biao Zhang