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1.发明申请SYSTEM FOR ERROR-PROOFING MANUAL ASSEMBLY OPERATIONS USING MACHINE VISION 审中-公开使用机器视觉进行故障检修手册组装操作的系统公开(公告)号：US20120062725A1
公开(公告)日：2012-03-15
申请号：US12879656
申请日：2010-09-10
CPC分类号： G01V8/12
摘要： An error detection vision system that determines whether a proper part has been selected from a presentation device during an assembly process. In one embodiment, the presentation device is a rack including a plurality of bins, where the bins hold a plurality of different parts. The vision system includes one or more projecting devices that project a light beam towards the presentation device and a detector, such as a camera, receiving reflections back from a worker as he selects parts from the presentation device. The error detection vision system can employ various detection processes, such as a stereo pair of video cameras, vision using structured-light triangulation and infrared time-of-flight distance measurements.
摘要翻译： 一种错误检测视觉系统，其在组装过程期间确定是否已经从呈现装置中选择了正确的部分。 在一个实施例中，呈现设备是包括多个箱的机架，其中箱容纳多个不同的部件。 视觉系统包括一个或多个投影装置，其将光束投射到呈现装置，以及检测器，例如相机，当从演示装置选择部件时，从工作人员接收反射。 错误检测视觉系统可以采用各种检测过程，例如立体声摄像机对，使用结构光三角测量和红外飞行时间距离测量的视觉。
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公开(公告)号：US20110050878A1
公开(公告)日：2011-03-03
申请号：US12549425
申请日：2009-08-28
申请人： James W. Wells , Roland J. Menassa , Charles W. Wampler, II , Swarup Medasani , Yuri Owechko , Kyungnam Kim , Yang Chen
发明人： James W. Wells , Roland J. Menassa , Charles W. Wampler, II , Swarup Medasani , Yuri Owechko , Kyungnam Kim , Yang Chen
IPC分类号： H04N7/18
CPC分类号： H04N7/181
摘要： A safety monitoring system for a workspace area. The workspace area related to a region having automated moveable equipment. A plurality of vision-based imaging devices capturing time-synchronized image data of the workspace area. Each vision-based imaging device repeatedly capturing a time synchronized image of the workspace area from a respective viewpoint that is substantially different from the other respective vision-based imaging devices. A visual processing unit for analyzing the time-synchronized image data. The visual processing unit processes the captured image data for identifying a human from a non-human object within the workspace area. The visual processing unit further determining potential interactions between a human and the automated moveable equipment. The visual processing unit further generating control signals for enabling dynamic reconfiguration of the automated moveable equipment based on the potential interactions between the human and the automated moveable equipment in the workspace area.
摘要翻译： 用于工作区的安全监控系统。 与具有自动移动设备的区域相关的工作空间区域。 多个基于视觉的成像设备捕获工作区域的时间同步图像数据。 每个基于视觉的成像设备从与其他各自的基于视觉的成像设备基本上不同的相应视点重复地捕获工作区域的时间同步图像。 一种用于分析时间同步图像数据的可视处理单元。 视觉处理单元从工作区域内的非人物对象处理用于识别人的拍摄图像数据。 视觉处理单元进一步确定人与自动移动设备之间的潜在交互作用。 视觉处理单元还基于人与工作空间区域中的自动移动设备之间的潜在交互，进一步产生用于实现自动移动设备的动态重新配置的控制信号。
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公开(公告)号：US08253792B2
公开(公告)日：2012-08-28
申请号：US12549425
申请日：2009-08-28
申请人： James W. Wells , Roland J. Menassa , Charles W. Wampler, II , Swarup Medasani , Yuri Owechko , Kyungnam Kim , Yang Chen
发明人： James W. Wells , Roland J. Menassa , Charles W. Wampler, II , Swarup Medasani , Yuri Owechko , Kyungnam Kim , Yang Chen
IPC分类号： H04N9/47
CPC分类号： H04N7/181
摘要： A safety monitoring system for a workspace area. The workspace area related to a region having automated moveable equipment. A plurality of vision-based imaging devices capturing time-synchronized image data of the workspace area. Each vision-based imaging device repeatedly capturing a time synchronized image of the workspace area from a respective viewpoint that is substantially different from the other respective vision-based imaging devices. A visual processing unit for analyzing the time-synchronized image data. The visual processing unit processes the captured image data for identifying a human from a non-human object within the workspace area. The visual processing unit further determining potential interactions between a human and the automated moveable equipment. The visual processing unit further generating control signals for enabling dynamic reconfiguration of the automated moveable equipment based on the potential interactions between the human and the automated moveable equipment in the workspace area.
摘要翻译： 用于工作区的安全监控系统。 与具有自动移动设备的区域相关的工作空间区域。 多个基于视觉的成像设备捕获工作区域的时间同步图像数据。 每个基于视觉的成像设备从与其他各自的基于视觉的成像设备基本上不同的相应视点重复地捕获工作区域的时间同步图像。 一种用于分析时间同步图像数据的可视处理单元。 视觉处理单元从工作区域内的非人物对象处理用于识别人的拍摄图像数据。 视觉处理单元进一步确定人与自动移动设备之间的潜在交互作用。 视觉处理单元还基于人与工作空间区域中的自动移动设备之间的潜在交互，进一步产生用于实现自动移动设备的动态重新配置的控制信号。
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公开(公告)号：US07587805B2
公开(公告)日：2009-09-15
申请号：US11335191
申请日：2006-01-19
申请人： Alan L. Browne , Douglas M. Linn , Nilesh D. Mankame , Roland J. Menassa , Ivan G. Sears , Robin Stevenson , Christopher P. Henry , Nancy L. Johnson , Charles W. Wampler, II
发明人： Alan L. Browne , Douglas M. Linn , Nilesh D. Mankame , Roland J. Menassa , Ivan G. Sears , Robin Stevenson , Christopher P. Henry , Nancy L. Johnson , Charles W. Wampler, II
CPC分类号： B25B1/241 , B23B2228/16 , B23Q3/062 , B23Q3/103 , Y10T29/4976 , Y10T29/49805 , Y10T29/49998
摘要： A fixture device generally includes a base member, a reconfigurable pad disposed on the base member, wherein the reconfigurable pad comprises a shape memory material configured to selectively conform to a surface contour of a workpiece, and an activation device in operative communication with the shape memory material.
摘要翻译： 固定装置通常包括基部构件，设置在基部构件上的可重新配置的垫，其中可重新配置的垫包括被配置为选择性地符合工件的表面轮廓的形状记忆材料，以及与形状记忆 材料。
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公开(公告)号：US08244402B2
公开(公告)日：2012-08-14
申请号：US12564074
申请日：2009-09-22
申请人： James W. Wells , Neil David Mc Kay , Suhas E. Chelian , Douglas Martin Linn , Charles W. Wampler, II , Lyndon Bridgwater
发明人： James W. Wells , Neil David Mc Kay , Suhas E. Chelian , Douglas Martin Linn , Charles W. Wampler, II , Lyndon Bridgwater
IPC分类号： G05B19/04
CPC分类号： G06K9/3216 , G06T7/246 , G06T2207/10016 , G06T2207/10028 , G06T2207/10048 , G06T2207/20081 , H04N5/247 , H04N5/332 , H04N13/204
摘要： A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.
摘要翻译： 机器人系统包括具有机器人接头的人形机器人，每个机器人接头均可使用致动器可移动;以及分布式控制器，用于控制每个机器人接头的运动。 控制器包括视觉识别模块（VPM），用于在阈值照明条件下可视地识别和跟踪机器人视野中的对象。 VPM包括用于收集对象的图像的光学装置，位置提取装置和具有用于处理图像和位置信息的算法的主机。 该算法可视地识别和跟踪对象，并自动调整光学设备的曝光时间，以防止阈值照明条件下图像的特征数据丢失。 识别和跟踪对象的方法包括收集图像，提取对象的位置信息，并自动调整曝光时间，从而防止图像的特征数据丢失。
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公开(公告)号：US20110071675A1
公开(公告)日：2011-03-24
申请号：US12564074
申请日：2009-09-22
申请人： James W. Wells , Neil David Mc Kay , Suhas E. Chelian , Douglas Martin Linn , Charles W. Wampler, II , Lyndon Bridgwater
发明人： James W. Wells , Neil David Mc Kay , Suhas E. Chelian , Douglas Martin Linn , Charles W. Wampler, II , Lyndon Bridgwater
CPC分类号： G06K9/3216 , G06T7/246 , G06T2207/10016 , G06T2207/10028 , G06T2207/10048 , G06T2207/20081 , H04N5/247 , H04N5/332 , H04N13/204
摘要： A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.
摘要翻译： 机器人系统包括具有机器人接头的人形机器人，每个机器人接头均可使用致动器可移动;以及分布式控制器，用于控制每个机器人接头的运动。 控制器包括视觉识别模块（VPM），用于在阈值照明条件下可视地识别和跟踪机器人视野中的对象。 VPM包括用于收集对象的图像的光学装置，位置提取装置和具有用于处理图像和位置信息的算法的主机。 该算法可视地识别和跟踪对象，并自动调整光学设备的曝光时间，以防止阈值照明条件下图像的特征数据丢失。 识别和跟踪对象的方法包括收集图像，提取对象的位置信息，并自动调整曝光时间，从而防止图像的特征数据丢失。
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公开(公告)号：US08170718B2
公开(公告)日：2012-05-01
申请号：US12338697
申请日：2008-12-18
申请人： Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
发明人： Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
IPC分类号： G06F19/00
CPC分类号： B25J9/1653 , G05B2219/39343 , G05B2219/40352
摘要： A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.
摘要翻译： 一种用于为机器人操纵器提供多重优先级阻抗控制的系统和方法，其中阻抗定律同时实现并且具有给定的优先顺序。 该方法包括用于实现笛卡尔空间阻抗目标作为第一优先级的控制方案，同时还实现作为第二优先级的联合空间阻抗目标。 该方法还包括用于实现具有不同优先级的两个笛卡尔空间阻抗目标的控制方案。 该方法包括使用安装在末端执行器处的力传感器的反馈和不使用该反馈的控制方案的其他实例的控制方案的实例。
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8.发明申请CONTACT STATE ESTIMATION FOR MULTI-FINGER ROBOT HANDS USING PARTICLE FILTERS 有权使用颗粒过滤器的多指针机器人接触状态估计公开(公告)号：US20100306159A1
公开(公告)日：2010-12-02
申请号：US12474068
申请日：2009-05-28
CPC分类号： B25J9/1612 , B25J9/1694 , G05B2219/33028 , G05B2219/39531 , G05B2219/40541 , G05B2219/40553 , G05B2219/40564 , G05B2219/40606
摘要： A method for identifying the location, orientation and shape of an object that a robot hand touches that includes using a particle filter. The method includes defining an appropriate motion model and a measurement model. The motion model characterizes the motion of the robot hand as it moves relative to the object. The measurement model estimates the likelihood of an observation of contact position, velocity and tactile sensor information given hand-object states. The measurement model is approximated analytically based on a geometric model or based on a corpus of training data. In either case, the measurement model distribution is encoded as a Gaussian or using radial basis functions.
摘要翻译： 用于识别机器人手接触的对象的位置，方向和形状的方法包括使用粒子滤波器。 该方法包括定义适当的运动模型和测量模型。 运动模型表征机器人手相对于物体移动时的运动。 测量模型估计给定手对象状态的接触位置，速度和触觉传感器信息的观察的可能性。 测量模型基于几何模型或基于训练数据语料库进行分析近似。 在任一情况下，测量模型分布被编码为高斯或使用径向基函数。
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公开(公告)号：US20100280663A1
公开(公告)日：2010-11-04
申请号：US12624445
申请日：2009-11-24
申请人： Muhammad E. Abdallah , Robert J. Platt, JR. , Charles W. Wampler, II , Matthew J. Reiland , Adam M. Sanders
发明人： Muhammad E. Abdallah , Robert J. Platt, JR. , Charles W. Wampler, II , Matthew J. Reiland , Adam M. Sanders
IPC分类号： B25J13/00
CPC分类号： H01R13/17 , H01R13/052
摘要： A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.
摘要翻译： 机器人系统包括具有适于对由机器人作用的物体进行力控制的多个关节的人形机器人，用于从用户接收输入信号的图形用户界面（GUI）和控制器。 GUI为用户提供对控制器的直观编程访问。 控制器使用基于阻抗的控制框架控制关节，该框架响应于输入信号提供机器人的物体水平，末端执行器水平和/或联合空间级控制。 用于控制机器人系统的方法包括经由GUI接收输入信号，例如期望的力，然后使用主机处理输入信号，以经由基于阻抗的控制框架来控制关节。 该框架提供了机器人的对象级别，末端执行器级别和/或联合空间级别控制，并允许基于功能的GUI来简化无数操作模式的实现。
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10.发明申请公开(公告)号：US20100280659A1
公开(公告)日：2010-11-04
申请号：US12720725
申请日：2010-03-10
CPC分类号： H01R13/17 , H01R13/052
摘要： A method is provided for distributing tension among tendons of a tendon-driven finger in a robotic system, wherein the finger characterized by n degrees of freedom and n+1 tendons. The method includes determining a maximum functional tension and a minimum functional tension of each tendon of the finger, and then using a controller to distribute tension among the tendons, such that each tendon is assigned a tension value less than the maximum functional tension and greater than or equal to the minimum functional tension. The method satisfies the minimum functional tension while minimizing the internal tension in the robotic system, and satisfies the maximum functional tension without introducing a coupled disturbance to the joint torques. A robotic system includes a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons, and a controller having an algorithm for controlling the tendons as set forth above.
摘要翻译： 提供了一种用于在机器人系统中将肌腱驱动的手指的肌腱之间分布张力的方法，其中手指具有n个自由度和n + 1个肌腱。 该方法包括确定手指的每个肌腱的最大功能张力和最小功能张力，然后使用控制器在肌腱之间分布张力，使得每个肌腱被赋予小于最大功能张力的张力值并且大于 或等于最小功能张力。 该方法在最小化机器人系统内部张力的同时满足最小功能张力，并满足最大功能张力，而不会对关节扭矩引入耦合干扰。 机器人系统包括具有至少一个腱驱动的手指，其特征在于n个自由度和n + 1个腱的机器人，以及具有如上所述的用于控制腱的算法的控制器。
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