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1.发明申请公开(公告)号：US20180218296A1
公开(公告)日：2018-08-02
申请号：US15701700
申请日：2016-03-15
IPC分类号： G06Q10/06 , G06Q50/04 , G05B19/4099
CPC分类号： G06Q10/067 , G05B19/4099 , G05B2219/49023 , G06Q10/06315 , G06Q10/0633 , G06Q50/04 , Y02P90/30
摘要： A product model data set with data for production steps to be carried out for the product and sub-products thereof is generated and assigned to a product copy to be produced. Data on a production step is read from the product model data set, and a production module which is available for carrying out the production step is ascertained. If the production step models a sub-product, a sub-product model data set is generated using the product model data set and transmitted to the ascertained production module. If the production step is an assembly step, each ascertained production module is entered into sub-product model data sets as the transport destination for the respective sub-product copy. If the production step can be carried out by the ascertained production module on a product copy, a transport destination is ascertained for the product copy from the product model data set.
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公开(公告)号：US10259659B2
公开(公告)日：2019-04-16
申请号：US15548165
申请日：2015-02-09
发明人： Frank Buschmann , Wendelin Feiten , Gisbert Lawitzky , Michael Pirker , Kai Wurm , Vladimir Zahorcak
IPC分类号： B65G43/08 , G05B19/418
摘要： Provided is a production module for processing or handling a product in a production system, which production module has a product detection module for reading in product parameters associated to the product, and an interaction module for assigning an adjacent production module to a transfer port. Furthermore, a local assignment table is provided, in which non-adjacent conveying objectives in the production system are in each case assigned to one of the transfer ports. A balancing module serves for iterative reading of first assignment information of a corresponding assignment table of a first adjacent production module, for iterative formation of the local assignment table with the aid of the read-in first assignment information, and for iterative transfer of second assignment information of the local assignment table to a second adjacent production module.
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公开(公告)号：US20220127085A1
公开(公告)日：2022-04-28
申请号：US17500153
申请日：2021-10-13
IPC分类号： B65G47/90
摘要： A pick & place operation picking a non-electric component and placing the picked component onto a component-carrier and a connect operation connecting the placed component with the component-carrier by implementing a connection technology on a hybrid, at least reactive and deliberative machine architecture based on a “machine world model” as a digital twin to formulate correct machine-behavioral sets being used during machine run-time as well as an “machine workflow”, and executing by machine motion generation including a collision-free motion or path planning of a machine within a machine workspace primary kinematic machine-movement-sequences enabling the pick & place operation and secondary kinematic machine-movement-sequences enabling the connect operation, and enabling the execution via the machine motion generation by initializing the “machine world model” according to a configuration file configuring the machine and the machine workspace and instantiating the “machine workflow” and updating the “machine world model” with a design of the component-carrier.
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公开(公告)号：US11003174B2
公开(公告)日：2021-05-11
申请号：US15526258
申请日：2014-11-13
IPC分类号： G05B19/41 , G05B19/418
摘要： A production module for performing a production function on a product, production system, production planning device, and method for planning the production of the product, wherein a plurality of production modules are intercoupled, where a self-description information set is stored within each production module as a database, e.g., NoSQL, OWL, ontology, SPARQL, which comprises properties of the production module, where if a production information set comprising the production steps required to produce the product is present, then the production information set and the self-description information sets or parts thereof are transmitted to a production planning device to plan production of the product and a production procedure plan for a product to be processed is determined, and where the production procedure plan comprises an information set about a sequence of production modules of the production system, which sequence a product should pass through to produce an intermediate product or end product.
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公开(公告)号：US20220161431A1
公开(公告)日：2022-05-26
申请号：US17602303
申请日：2020-04-02
发明人： Philine Meister , Werner Neubauer , Kai Wurm
IPC分类号： B25J9/16
摘要： A method for determining a trajectory of a robot from a starting position to a target position is provided. The starting position and the target position are manually defined by a user in a real environment of the robot. Then a collision-free trajectory of the robot from the starting position to the target position is determined, based on the surroundings of the robot. Also provided is a device, a robot system, a computer program and a machine-readable storage medium.
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公开(公告)号：US10656628B2
公开(公告)日：2020-05-19
申请号：US15572990
申请日：2015-05-12
发明人： Wendelin Feiten , Kai Wurm , Vladimir Zahorcak
IPC分类号： G05B19/418
摘要： A control device for a production module that has a settings management module for detecting restrictions for operating settings of the production module and for producing corresponding restriction data records is provided. A data memory is provided for the purpose of storing a local restriction table containing a multiplicity of restriction data records. A balancing module is used to iteratively read in first restriction data records in a corresponding restriction table of a first adjacent production module, to iteratively build the local restriction table on the basis of the first restriction data records which have been read in and to iteratively forward second restriction data records in the local restriction table to a second adjacent production module. A control module is also provided for the purpose of setting an operating setting according to a restriction data record which identifies this operating setting.
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公开(公告)号：US11609555B2
公开(公告)日：2023-03-21
申请号：US17634648
申请日：2020-07-13
发明人： Jörg Neidig , Markus M. Geipel , Mathias Maurmaier , Kai Wurm
IPC分类号： G05B19/418 , G05B19/042 , G05B19/05
摘要： A method for providing output values with associated uncertainties for a flexible modular plant or machine comprising an arrangement of modular entities, wherein uncertainty information associated with an operation of the modular entity is assigned to a plurality of modular entities and input values are provided based on an operation of the modular entities, where a computing unit calculates an output value based on said input values, calculates an input value uncertainty for each input value based on the uncertainty information of the modular entity, and calculates at least one output value uncertainty associated with the output value based on propagation of uncertainty and using the input value uncertainties, and where the output value and the at least one output value uncertainty are output.
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8.发明申请公开(公告)号：US20230065800A1
公开(公告)日：2023-03-02
申请号：US17779077
申请日：2020-10-26
发明人： Michael Brucksch , Markus Michael Geipel , Jörg Neidig , Kai Wurm
摘要： In order to test an autonomous behavior controller for a technical system, the following are input: a machine model for physically simulating the technical system; an environment model modelling an environment of the technical system; as well as a disruption model modelling potential disruptions in the environment. Disruption data is generated by means of the disruption model, and the environment model is modified according to the disruption data. Environment-specifically simulated sensor data the technical system is then generated by means of the modified environment model and the machine model. According to the simulated sensor data, control data is generated for the technical system by the autonomous behavior controller. An operating behavior of the technical system induced by the control data is then simulated by means of the machine model. Furthermore, a performance value quantifying the operating behavior is determined and output as a test result.
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公开(公告)号：US20200298411A1
公开(公告)日：2020-09-24
申请号：US16305641
申请日：2017-05-22
发明人： Wendelin Feiten , Kai Wurm , Georg von Wichert
摘要： Characteristics of surroundings are extracted from signals of sensors mounted on different of a stationary industrial robot and an absolute co-ordinate system and a map of the surroundings are determined simultaneously using a SLAM-algorithm for simultaneous localization and mapping, the map of the surroundings depicting the extracted characteristics and an absolute pose of a mobile part of the industrial robot being determined in the absolute co-ordinate system. The method transfers the technique of simultaneous localization and of establishing a map of characteristics of the surroundings, from the field of mobile robotics to the orientation of a stationary industrial robot. The method is based on the measurements of sensors attached to the mobile parts. Sensors which calculate the positions of the joints are also taken into consideration, and an absolute position and orientation is calculated even for imprecise or flexible industrial robots and for different loads.
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10.发明授权公开(公告)号：US10671035B2
公开(公告)日：2020-06-02
申请号：US15738592
申请日：2016-06-13
IPC分类号： G06F19/00 , G05B19/04 , G05B13/02 , G05B19/042 , G05B19/418 , G05B19/048
摘要： Provided is a control device for a production module having a data memory for storing operational settings of production modules and restrictions, which must be complied with by at least some of the operational settings. A settings management module is used to determine the external operational setting of an adjacent production module on which a local operational setting of the production module is dependent on the basis of a common restriction. An optimization module is also provided and has a local assessment function, which assesses the local operational setting, and a further assessment function which assesses noncompliance with the common restriction.
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