公开(公告)号：US11364635B2

公开(公告)日：2022-06-21

申请号：US16270877

申请日：2019-02-08

Applicant: ROLLS-ROYCE plc

Inventor： James Kell ,  Bilal M. Nasser ,  Amir Rabani

IPC: B25J9/16

Abstract: There is provided a method of controlling a robot within an environment comprising: i) receiving, from a 3D scanner, data relating to at least a portion of the environment for constructing a 3D point cloud representing at least a portion of the environment; ii) comparing the 3D point cloud to a virtual 3D model of the environment and, based upon the comparison, determining a position of the robot; then iii) determining a movement trajectory for the robot based upon the determined position of the robot. Also provided is a control apparatus and a robot control system.

公开(公告)号：US11209791B2

公开(公告)日：2021-12-28

申请号：US16410207

申请日：2019-05-13

Applicant: ROLLS-ROYCE plc

Inventor： James Kell ,  Thomas Frederick Danvers ,  Adam Nagy ,  Dragos Aurelian Axinte ,  Mark Hugh Raffles ,  Amir Rabani ,  Salvador Cobos-Guzman

IPC: G05B19/19 ,  B23Q17/24 ,  B23Q15/02 ,  F01D15/06 ,  B23Q1/50 ,  B23Q17/22 ,  B23P6/00

Abstract: A tool for machining an object including a first part including a rotatable member that is rotatable to cause rotation of a machine tool, a second part, a joint coupling the first part and the second part to enable relative movement between the first part and the second part, and a sensor to sense an object to be machined.

公开(公告)号：US20170080569A1

公开(公告)日：2017-03-23

申请号：US15246749

申请日：2016-08-25

Applicant: ROLLS-ROYCE PLC

Inventor： James Kell ,  Amir Rabani ,  Adam Nagy ,  Bilal Nasser

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1692 ,  B25J9/1694 ,  B25J13/089 ,  G05B2219/37124 ,  G05B2219/40234

Abstract: Apparatus for controlling movement of robotic machinery relative to an object, the apparatus comprising: a controller configured to: control a first magnetic transmitter to provide a first magnetic field, the object being positioned at least partially within the first magnetic field; receive a first signal from a first magnetic field sensor mounted at a first location on the robotic machinery; determine a control signal for controlling the robotic machinery to move relative to the object using: the received first signal; stored data of the structure of the object; and a target location; and provide the control signal to the robotic machinery to cause at least the first location of the robotic machinery to move relative to the object.

公开(公告)号：US10472984B2

公开(公告)日：2019-11-12

申请号：US15680619

申请日：2017-08-18

Applicant: ROLLS-ROYCE PLC

Inventor： Andrew D Norton ,  Amir Rabani ,  States Chiwanga

IPC: F28D15/04 ,  F01D21/00 ,  G01N21/954 ,  G01M15/14

Abstract: Apparatus for insertion into a cavity of an object, the apparatus comprising: a first tube comprising a first end, a second end and a first cavity extending between the first end and the second; a member positioned within the first cavity of the first tube and configured to enable an action to be performed; a heat pipe including a first end, a second end, and a second cavity extending between the first end and the second end, the first tube being positioned within the second cavity of the heat pipe; and an actuator configured to move the first tube relative to the heat pipe.

公开(公告)号：US20180058233A1

公开(公告)日：2018-03-01

申请号：US15673926

申请日：2017-08-10

Applicant: ROLLS-ROYCE plc

Inventor： Andrew D. NORTON ,  James KELL ,  Adam G A Rushworth ,  Amir Rabani

IPC: F01D11/00 ,  F01D21/00

CPC classification number: F01D11/003 ,  F01D21/003 ,  F01D25/24 ,  F05D2220/32 ,  F05D2260/83 ,  F05D2270/8041 ,  G01M15/14 ,  G01N21/8507 ,  G01N21/954 ,  G02B23/2476 ,  G02B23/26

Abstract: Apparatus for insertion into a cavity of an object, the apparatus comprising: a first tube comprising a first end, a second end, a first cavity extending between the first end and the second end, and an aperture at the second end; a member positioned within the first cavity of the first tube and adjacent the aperture of the first tube, the member being configured to enable an action to be performed; a plug coupled to the second end of the first tube; and an actuator configured to move the first tube relative to the object between a first position in which the plug seals the member from the cavity of the object, and a second position in which the member is exposed to the cavity of the object.

公开(公告)号：US20190262995A1

公开(公告)日：2019-08-29

申请号：US16270877

申请日：2019-02-08

Applicant: Rolls-Royce plc

Inventor： James KELL ,  Bilal M. Nasser ,  Amir Rabani

IPC: B25J9/16

Abstract: There is provided a method of controlling a robot within an environment comprising: i) receiving, from a 3D scanner, data relating to at least a portion of the environment for constructing a 3D point cloud representing at least a portion of the environment; ii) comparing the 3D point cloud to a virtual 3D model of the environment and, based upon the comparison, determining a position of the robot; then iii) determining a movement trajectory for the robot based upon the determined position of the robot. Also provided is a control apparatus and a robot control system.

公开(公告)号：US10345785B2

公开(公告)日：2019-07-09

申请号：US15051844

申请日：2016-02-24

Applicant: ROLLS-ROYCE plc

Inventor： James Kell ,  Thomas Frederick Danvers ,  Adam Nagy ,  Dragos Aurelian Axinte ,  Mark Hugh Raffles ,  Amir Rabani ,  Salvador Cobos-Guzman

IPC: G05B19/19 ,  B23Q17/24 ,  B23Q15/02 ,  F01D15/06 ,  B23Q1/50 ,  B23Q17/22 ,  B23P6/00

Abstract: A tool for machining an object comprising: a first part including a rotatable member, the rotatable member being rotatable to cause rotation of a machine tool; a second part; a joint coupling the first part and the second part to enable relative movement between the first part and the second part; and a sensor to sense an object to be machined.