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    Method and apparatus for inspecting an object employing machine vision
    1.
    发明授权
    Method and apparatus for inspecting an object employing machine vision 有权
    用于检查使用机器视觉的物体的方法和装置

    公开(公告)号：US09500475B2

    公开(公告)日：2016-11-22

    申请号：US14592125

    申请日：2015-01-08

    申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC ,  SungyKyunKwan University Foundation for Corporate Collaboration

    发明人： Sukhan Lee ,  Quang-Lam Bui ,  Jianying Shi

    IPC分类号： G06K7/10 ,  G01B11/25

    CPC分类号： G01B11/2513

    摘要： A machine vision system including a digital camera can be employed to inspect an object in a field of view. This includes projecting digitally-generated light patterns including first and second boundary patterns and first and second spatial patterns onto the object in the field of view. Images associated with the projected light patterns including the object are captured. Spatial cells are found in the field of view by matching codes in the first and second spatial patterns to boundaries determined based upon one of the first and second boundary patterns. The spatial cells are found in the field of view by matching codes in the spatial patterns to boundaries determined based upon the boundary patterns. The spatial cells are decoded and matched to the boundaries. Three-dimensional (3D) point cloud data of the object is generated based upon the decoded spatial cells matched to the boundaries.

    摘要翻译： 可以使用包括数字照相机的机器视觉系统来在视场中检查物体。 这包括在视场中将包括第一和第二边界图案以及第一和第二空间图案的数字生成的光图案投影到对象上。 捕获与包括物体在内的投影光图案相关联的图像。 通过将第一和第二空间图案中的代码与基于第一和第二边界图案之一确定的边界匹配，在视野中找到空间单元。 通过将空间图案中的代码与基于边界图案确定的边界匹配，在视场中找到空间单元格。 空间单元被解码并与边界匹配。 基于与边界匹配的解码空间单元，生成对象的三维（3D）点云数据。

    Real-time robotic grasp planning
    2.
    发明授权
    Real-time robotic grasp planning 有权
    实时机器人掌握计划

    公开(公告)号：US09283676B2

    公开(公告)日：2016-03-15

    申请号：US14310567

    申请日：2014-06-20

    申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

    发明人： Jianying Shi ,  Gurdayal Singh Koonjul

    IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J9/16

    CPC分类号： B25J9/1669 ,  G05B2219/39536

    摘要： A method of determining an optimal grasp pose of an object by an end-effector of a robot in the execution of a task includes receiving a set of inputs via a controller, including a descriptive parameter of the object, a task wrench having a frame of reference, and a commanded end-effector grasp force. The method includes calculating a grasp wrench in the frame of reference of the task wrench, rotating and shifting the grasp pose, and then computing a resultant new grasp wrench via the controller until the task wrench and the grasp wrench are optimally balanced. Additionally, the method includes recording the optimal grasp pose as the grasp pose at which the grasp and task wrenches are optimally balanced, and then executing a control action via the controller using the recorded optimal grasp pose. A robotic system includes the robot and a controller programmed to execute the method.

    摘要翻译： 在执行任务时由机器人的末端执行器确定物体的最佳抓握姿态的方法包括经由控制器接收一组输入，包括对象的描述性参数，任务扳手具有框架 参考和命令的末端执行器抓紧力。 该方法包括在任务扳手的参考框架中计算把手扳手，旋转和移动抓握姿势，然后通过控制器计算一个新的抓握扳手，直到任务扳手和把手扳手达到最佳平衡。 此外，该方法包括记录最佳抓握姿势作为抓握和任务扳手最佳平衡的抓握姿势，然后通过使用记录的最佳抓握姿势的控制器执行控制动作。 机器人系统包括机器人和被编程为执行该方法的控制器。

    Planning a Grasp, for Use by a Robotic grasper to Pick Up a Complex Object, Based on Object, Grasper, and Grasper Approach Data
    3.
    发明申请
    Planning a Grasp, for Use by a Robotic grasper to Pick Up a Complex Object, Based on Object, Grasper, and Grasper Approach Data 有权
    规划掌握，由机器人抓取机构使用以拾取复杂对象，基于对象，抓取者和抓取方法数据

    公开(公告)号：US20140163729A1

    公开(公告)日：2014-06-12

    申请号：US14099062

    申请日：2013-12-06

    申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

    发明人： Jianying Shi ,  Gurdayal Singh Koonjul

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1612 ,  G05B2219/39466 ,  G05B2219/39486 ,  G05B2219/39505 ,  Y10S901/31

    摘要： A system, for planning a grasp for implementation by a grasping device having multiple grasping members, comprising a processor and a computer-readable storage device having stored thereon computer-executable instructions that, when executed by the processor, cause the processor to perform multiple operations. The operations include generating, for each of the multiple grasping members, multiple planar polygon representations of a three-dimensional object model. The operations also include transforming a planar polygon, of the multiple polygons generated, to a frame of a link of multiple links of a subject member of the multiple grasping members, forming a transformed polygon, being a cross-section of the object model taken along a member-curling plane of the subject member. The operations further include sweeping, in iterations associated respectively with each link of the subject member, the link from a fully-open position for the link to a point at which the link contacts the transformed planar polygon.

    摘要翻译： 一种用于通过具有多个抓握构件的抓握装置规划抓握来实现的系统，包括处理器和其上存储有计算机可执行指令的计算机可读存储装置，所述指令在由所述处理器执行时使所述处理器执行多个操作 。 这些操作包括为多个抓握构件中的每一个生成三维对象模型的多个平面多边形表示。 这些操作还包括将生成的多个多边形的平面多边形变换为多个抓握构件的主体构件的多个链节的链接的框架，形成变换多边形，作为沿着对象模型的横截面 主题成员的成员卷曲平面。 这些操作还包括在与对象构件的每个链接相关联的迭代中的扫描，从链接的完全打开位置到链接接触变换的平面多边形的点的链接。

    Part holding assembly, an assembly system and a method of locating and securing a part
    4.
    发明授权
    Part holding assembly, an assembly system and a method of locating and securing a part 有权

    公开(公告)号：US10112666B2

    公开(公告)日：2018-10-30

    申请号：US14830309

    申请日：2015-08-19

    申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

    发明人： Jianying Shi ,  Scott A. McLeod ,  Justin Jay Hackett

    IPC分类号： B23P19/10 ,  B62D65/02 ,  B25J15/00

    摘要： An assembly system and a part holding assembly are configured to locate and secure a part defining holes. The part holding assembly further includes a first clamping device movable along a first track for positioning the first clamping device relative to the part. The first clamping device is configured to engage the part to secure the part to the first clamping device. The part holding assembly also includes a first pin device movable along a second track for positioning the first pin device relative to the location of one of the holes of the part. The first pin is configured to be disposed through the one of the holes of the part when in a closed position for locating the part. The first pin is configured to expand in the one of the holes when in an open position for securing the part to the first pin device.

    PART HOLDING ASSEMBLY, AN ASSEMBLY SYSTEM AND A METHOD OF POSITIONING A FIRST PART
    6.
    发明申请
    PART HOLDING ASSEMBLY, AN ASSEMBLY SYSTEM AND A METHOD OF POSITIONING A FIRST PART 审中-公开
    部件保持组件，组装系统和定位第一部分的方法

    公开(公告)号：US20160052148A1

    公开(公告)日：2016-02-25

    申请号：US14830281

    申请日：2015-08-19

    申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

    发明人： Jianying Shi ,  John Patrick Spicer ,  Lance T. Ransom

    IPC分类号： B25J15/06 ,  B23Q3/18 ,  B25J15/00 ,  B23Q3/154

    CPC分类号： B25J15/0608 ,  B23Q3/1543 ,  B23Q3/18 ,  B25J15/0052 ,  B25J15/009

    摘要： A part holding assembly, an assembly system and a method of positioning a first part are disclosed. The part holding assembly is coupleable to a support structure. The part holding assembly includes a base adapted to be coupled to the support structure. The part holding assembly also includes a first pin extending outwardly away from the base to a distal end that is spaced from the base. The base is movable to position the first pin relative to a first part and to insert the distal end of the first pin through a first hole of the first part to locate the first part. The part holding assembly further includes a first magnet adjacent to the first pin. The first magnet is selectively magnetized to selectively secure the position of the first part relative to the base.

    摘要翻译： 公开了一种部件保持组件，组装系统和定位第一部件的方法。 部件保持组件可连接到支撑结构。 部件保持组件包括适于联接到支撑结构的基座。 部件保持组件还包括从基部向外延伸到与基部间隔开的远端的第一销。 基座可移动以相对于第一部分定位第一销，并且将第一销的远端插入第一部分的第一孔以定位第一部分。 部件保持组件还包括与第一销相邻的第一磁体。 选择性地磁化第一磁体以选择性地固定第一部分相对于基部的位置。

    CONFORMABLE MAGNETIC HOLDING DEVICE
    7.
    发明申请
    CONFORMABLE MAGNETIC HOLDING DEVICE 审中-公开
    可配磁力保持装置

    公开(公告)号：US20160052147A1

    公开(公告)日：2016-02-25

    申请号：US14746083

    申请日：2015-06-22

    申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

    发明人： John Patrick Spicer ,  Jianying Shi

    IPC分类号： B25J15/06 ,  B23Q3/154

    CPC分类号： B25J15/0608 ,  B23Q3/1543 ,  B23Q3/1546 ,  B25J15/0023

    摘要： A device for holding a workpiece includes a holder including a base including a magnetic element. A conformable jamming element attaches to the base and includes a closed impermeable pliable membrane containing magnetic particles. A controllable pressure device fluidly couples to the jamming element.

    摘要翻译： 用于保持工件的装置包括具有包括磁性元件的底座的保持器。 一个符合要求的干扰元件附着在基座上，并且包括一个封闭的不渗透柔性膜，其中含有磁性颗粒。 可控制的压力装置流体耦合到干扰元件。

    RECONFIGURABLE GRIPPING DEVICE
    9.
    发明申请
    RECONFIGURABLE GRIPPING DEVICE 有权
    可重配送货装置

    公开(公告)号：US20140021731A1

    公开(公告)日：2014-01-23

    申请号：US13782301

    申请日：2013-03-01

    申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

    发明人： Dalong Gao ,  Jianying Shi ,  Lance T. Ransom ,  Richard Clemence Janis

    IPC分类号： B25J15/08

    CPC分类号： B25J15/08 ,  B25J15/0213

    摘要： A reconfigurable gripping device for securely gripping, lifting, and transporting a work piece is provided. The reconfigurable gripping device may include at least a first finger and a second finger each secured to a base platform with a base support. Each of the respective fingers may have a first link, a second link, and a third link each having a corresponding drive mechanism to individually drive the respective link. The first link drive mechanism and second link drive mechanism are configured to control the grasp and adaptability of each of the respective fingers to place the third link upon a work piece. The third link drive mechanism is configured to drive the third link of each of the respective fingers to apply a clamping force upon the work piece.

    摘要翻译： 提供了用于可靠地夹紧，提升和运输工件的可重构夹持装置。 可重新配置的夹持装置可以包括至少第一手指和第二手指，每个手指和第二手指均用基座支撑固定到基座平台。 每个相应的手指可以具有第一连杆，第二连杆和第三连杆，每个连杆具有相应的驱动机构以分别驱动相应的连杆。 第一链接驱动机构和第二链接驱动机构被配置为控制各个手指中的每一个的把握和适应性，以将第三连杆放置在工件上。 第三连杆驱动机构构造成驱动每个相应手指的第三连杆，以将夹紧力施加在工件上。

    Tooling pivot
    10.
    发明授权
    Tooling pivot 有权

    公开(公告)号：US10087999B2

    公开(公告)日：2018-10-02

    申请号：US14830296

    申请日：2015-08-19

    申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

    发明人： Jianying Shi ,  Scott A. McLeod ,  Justin Jay Hackett

    IPC分类号： F16D55/225 ,  B23Q3/18 ,  B23Q16/10 ,  B23Q1/48

    摘要： A tooling pivot is configured to pivot and to hold a tool in a plurality of operating positions. The tooling pivot includes a bracket, a tooling plate, a motor, a brake, and a controller. The tooling plate is connected to the bracket, connectable to the tool, and rotatable. The motor is connected to the bracket and to the tooling plate and is configured to rotate the tooling plate to an operating position. The brake is connected to the bracket and is configured to hold the tooling plate in the operating position. The controller is connected to the motor and to the brake and is configured to control the motion and position of the tooling plate and to control the holding of the tooling plate. The brake is configured to release the tooling plate when the motor rotates the tooling plate to the operating position.