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公开(公告)号：US20190392644A1
公开(公告)日：2019-12-26
申请号：US16453749
申请日：2019-06-26
Applicant: FANUC AMERICA CORPORATION
Inventor： Leo Keselman , Yi Sun , Sai-Kai Cheng , Jason Tsai
Abstract: An augmented reality (AR) system for diagnosis, troubleshooting and repair of industrial robots. The disclosed diagnosis guide system communicates with a controller of an industrial robot and collects data from the robot controller, including a trouble code identifying a problem with the robot. The system then identifies an appropriate diagnosis decision tree based on the collected data, and provides an interactive step-by-step troubleshooting guide to a user on an AR-capable mobile device, including augmented reality for depicting actions to be taken during testing and component replacement. The system includes data collector, tree generator and guide generator modules, and builds the decision tree and the diagnosis guide using a stored library of diagnosis trees, decisions and diagnosis steps, along with the associated AR data.
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公开(公告)号：US11472035B2
公开(公告)日：2022-10-18
申请号：US16453838
申请日：2019-06-26
Applicant: Fanuc America Corporation
Inventor： Ganesh Kalbavi , Derek Jung , Leo Keselman , Min-Ren Jean , Kenneth W. Krause , Jason Tsai
Abstract: An augmented reality (AR) system for production-tuning of parameters for a visual tracking robotic picking system. The robotic picking system includes one or more robots configured to pick randomly-placed and randomly-oriented parts off a conveyor belt and place the parts in an available position, either on a second moving conveyor belt or on a stationary device such as a pallet. A visual tracking system identifies position and orientation of the parts on the feed conveyor. The AR system allows picking system tuning parameters including upstream, discard and downstream boundary locations to be visualized and controlled, real-time robot pick/place operations to be viewed with virtual boundaries, and system performance parameters such as part throughput rate and part allocation by robot to be viewed. The AR system also allows virtual parts to be used in simulations, either instead of or in addition to real parts.
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公开(公告)号：US11112776B2
公开(公告)日：2021-09-07
申请号：US16336046
申请日：2017-09-26
Applicant: Fanuc America Corporation
Inventor： Leo Keselman , Matthew DeNio , Eric Lee , Ho Cheung Wong , Peter Swanson , Sai-Kai Cheng
Abstract: Methods and systems include ways to synchronize a press machine and tending robots, including a pick robot and a drop robot, where the press machine includes an operating area for pressing a blank into a part. The pick robot and the part are moved out of the operating area while the drop robot carrying the blank is moved into the operating area. At least a portion of the pick robot and/or the part resides within the operating area at the same time at least a portion of the drop robot and/or the blank resides within the operating area. The pick robot is in communication with the drop robot and the movement of the pick robot is synchronized with the movement of the drop robot to prevent the pick robot or part from colliding with the drop robot or the blank.
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公开(公告)号：US11850755B2
公开(公告)日：2023-12-26
申请号：US16453811
申请日：2019-06-26
Applicant: Fanuc America Corporation
Inventor： Derek Jung , Bruce Coldren , Sam Yung-Sen Lee , Leo Keselman , Kenneth W. Krause
CPC classification number: B25J9/1674 , B25J9/163 , B25J9/1661 , G02B27/0093 , G06T7/73 , G06T19/006
Abstract: An augmented reality (AR) system for visualizing and modifying robot operational zones. The system includes an AR device such as a headset in communication with a robot controller. The AR device includes software for the AR display and modification of the operational zones. The AR device is registered with the robot coordinate frame via detection of a visual marker. The AR device displays operational zones overlaid on real world images of the robot and existing fixtures, where the display is updated as the user moves around the robot work cell. Control points on the virtual operational zones are displayed and allow the user to reshape the operational zones. The robot can be operated during the AR session, running the robot's programmed motion and evaluating the operational zones. Zone violations are highlighted in the AR display. When zone definition is complete, the finalized operational zones are uploaded to the robot controller.
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公开(公告)号：US20200078948A1
公开(公告)日：2020-03-12
申请号：US16566520
申请日：2019-09-10
Applicant: Fanuc America Corporation
Inventor： Kenneth W. Krause , Derek Jung , Leo Keselman
Abstract: A method and system for calibration of an augmented reality (AR) device's position and orientation based on a robot's positional configuration. A conventional visual calibration target is not required for AR device calibration. Instead, the robot itself, in any pose, is used as a three dimensional (3D) calibration target. The AR system is provided with a CAD model of the entire robot to use as a reference frame, and 3D models of the individual robot arms are combined into a single object model based on joint positions known from the robot controller. The 3D surface model of the entire robot in the current pose is then used for visual calibration of the AR system by analyzing images from the AR device camera in comparison to the surface model of the robot in the current pose. The technique is applicable to initial AR device calibration and to ongoing device tracking.
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Patent Agency Ranking
公开(公告)号：US20190389069A1
公开(公告)日：2019-12-26
申请号：US16453838
申请日：2019-06-26
Applicant: Fanuc America Corporation
Inventor： Ganesh Kalbavi , Derek Jung , Leo Keselman , Min-Ren Jean , Kenneth W. Krause , Jason Tsai
Abstract: An augmented reality (AR) system for production-tuning of parameters for a visual tracking robotic picking system. The robotic picking system includes one or more robots configured to pick randomly-placed and randomly-oriented parts off a conveyor belt and place the parts in an available position, either on a second moving conveyor belt or on a stationary device such as a pallet. A visual tracking system identifies position and orientation of the parts on the feed conveyor. The AR system allows picking system tuning parameters including upstream, discard and downstream boundary locations to be visualized and controlled, real-time robot pick/place operations to be viewed with virtual boundaries, and system performance parameters such as part throughput rate and part allocation by robot to be viewed. The AR system also allows virtual parts to be used in simulations, either instead of or in addition to real parts.
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公开(公告)号：US20190227532A1
公开(公告)日：2019-07-25
申请号：US16336046
申请日：2017-09-26
Applicant: Fanuc America Corporation
Inventor： Leo Keselman , Matthew DeNio , Eric Lee , Ho Cheung Wong , Peter Swanson , Sai-Kai Cheng
IPC: G05B19/418 , B25J9/00 , B25J9/16 , B25J11/00
Abstract: Methods and systems include ways to synchronize a press machine and tending robots, including a pick robot and a drop robot, where the press machine includes an operating area for pressing a blank into a part. The pick robot and the part are moved out of the operating area while the drop robot carrying the blank is moved into the operating area. At least a portion of the pick robot and/or the part resides within the operating area at the same time at least a portion of the drop robot and/or the blank resides within the operating area. The pick robot is in communication with the drop robot and the movement of the pick robot is synchronized with the movement of the drop robot to prevent the pick robot or part from colliding with the drop robot or the blank.
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公开(公告)号：US11752632B2
公开(公告)日：2023-09-12
申请号：US16862744
申请日：2020-04-30
Applicant: FANUC AMERICA CORPORATION
Inventor： Leo Keselman , Derek Jung , Kenneth W. Krause
CPC classification number: B25J9/1692 , B25J9/1697 , G06T7/73 , G06T19/006
Abstract: A system and method for calibrating the position of a machine having a stationary part to a stationary marker. The process first images the machine and the marker, and then identifies a visible part of the machine in the images that has been 3D modeled. The process then calculates a location of the stationary part of the machine using the modeled position of the visible part and the known kinematics and position of the machine. The process then identifies the stationary marker in the images, and establishes a relationship between the stationary marker and the stationary part of the machine, which can be used for calibration purposes. In one embodiment, the machine is a robot and the process is performed by an AR application.
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公开(公告)号：US11373372B2
公开(公告)日：2022-06-28
申请号：US16453749
申请日：2019-06-26
Applicant: FANUC AMERICA CORPORATION
Inventor： Leo Keselman , Yi Sun , Sai-Kai Cheng , Jason Tsai
IPC: G06T19/00 , G06N5/02 , G07C3/00 , G06K9/00 , G06K7/14 , B25J9/16 , G02B27/01 , G07C3/08 , G06V20/20
Abstract: An augmented reality (AR) system for diagnosis, troubleshooting and repair of industrial robots. The disclosed diagnosis guide system communicates with a controller of an industrial robot and collects data from the robot controller, including a trouble code identifying a problem with the robot. The system then identifies an appropriate diagnosis decision tree based on the collected data, and provides an interactive step-by-step troubleshooting guide to a user on an AR-capable mobile device, including augmented reality for depicting actions to be taken during testing and component replacement. The system includes data collector, tree generator and guide generator modules, and builds the decision tree and the diagnosis guide using a stored library of diagnosis trees, decisions and diagnosis steps, along with the associated AR data.
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公开(公告)号：US20200349737A1
公开(公告)日：2020-11-05
申请号：US16862757
申请日：2020-04-30
Applicant: FANUC AMERICA CORPORATION
Inventor： Leo Keselman , Derek Jung , Kenneth W. Krause
Abstract: A system and method for setting up an AR application that uses a plurality of markers so that accurate augmentations can be displayed anywhere a marker is visible. The method includes placing a plurality of markers throughout the workspace so that a plurality of pairs of two adjacent markers can be viewed in a field-of-view of an AR device. The method further includes determining a distance relationship between the two markers in all of the pairs of markers, and determining a distance relationship between all non-adjacent markers using the distance relationship between the two markers in all of the pairs of markers. The method also includes identifying a distance relationship between one of the plurality of markers and an augmentation in the workspace, and identifying a distance relationship between the other markers and the augmentation using the distance relationships between the adjacent markers and the non-adjacent markers.
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