公开(公告)号：US20190188632A1

公开(公告)日：2019-06-20

申请号：US16207362

申请日：2018-12-03

申请人： IAM ROBOTICS, LLC

发明人： Thomas Galluzzo ,  Vladimir Altman ,  Jean-Sebastian Valois

IPC分类号： G06Q10/08 ,  B25J9/16 ,  G05D1/00 ,  B60P1/54 ,  B25J15/06 ,  B25J15/00 ,  B25J11/00 ,  B25J9/00 ,  B25J5/00 ,  G05D1/02 ,  B65G1/137 ,  B25J19/02

CPC分类号： G06Q10/087 ,  B25J5/007 ,  B25J9/0093 ,  B25J9/162 ,  B25J9/1692 ,  B25J11/00 ,  B25J15/0028 ,  B25J15/0085 ,  B25J15/06 ,  B25J15/0608 ,  B25J15/0616 ,  B25J19/021 ,  B60P1/5423 ,  B65G1/1373 ,  B65G1/1375 ,  B65G2209/04 ,  G05B2219/37008 ,  G05B2219/39441 ,  G05B2219/40298 ,  G05B2219/40543 ,  G05B2219/40564 ,  G05B2219/45063 ,  G05D1/0011 ,  G05D1/0088 ,  G05D1/0248 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/31 ,  Y10S901/40 ,  Y10S901/47

摘要： A method and system for piece-picking or piece put-away within a logistics facility. The system includes a central server and at least one mobile manipulation robot. The central server is configured to communicate with the robots to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the robot to take within the logistics facility. The robots can then autonomously navigate and position themselves within the logistics facility by recognition of landmarks by at least one of a plurality of sensors. The sensors also provide signals related to detection, identification, and location of a piece to be picked or put-away, and processors on the robots analyze the sensor information to generate movements of a unique articulated arm and end effector on the robot to pick or put-away the piece.

公开(公告)号：US09905026B1

公开(公告)日：2018-02-27

申请号：US15264784

申请日：2016-09-14

申请人： The Boeing Company

发明人： Jay R. Huffington ,  Paul W. Reed ,  Kevin L. Salt ,  Bryan K. Jobes

IPC分类号： G06K9/00 ,  G06T7/73 ,  G06T7/11 ,  G06T7/66 ,  G06T7/90

CPC分类号： G06T7/74 ,  G01B11/002 ,  G01B11/272 ,  G01C11/06 ,  G05B2219/40543 ,  G05B2219/45059 ,  G06T7/11 ,  G06T7/586 ,  G06T7/66 ,  G06T7/90 ,  G06T2207/10024 ,  G06T2207/10152 ,  G06T2207/30172 ,  G06T2207/30244

摘要： Systems and methods are provided for identifying a location to perform work (e.g., drilling.). One exemplary method includes acquiring images of a hole in a first object from multiple lighting angles, processing the images to identify shadows cast by a wall of the hole at each of the lighting angles, and analyzing the shadows to determine an orientation of a central axis of the hole in a coordinate system of the first object. The method also includes, at a second object, selecting a location to drill that will be aligned with the central axis of the hole of the first object, and drilling the second object at the location.

公开(公告)号：US09851710B2

公开(公告)日：2017-12-26

申请号：US15350314

申请日：2016-11-14

申请人： International Business Machines Corporation

发明人： Tyler Jandt ,  Phillip V. Mann ,  Mark D. Plucinski ,  Sandra J. Shirk/Heath

IPC分类号： H02P6/16 ,  G05B19/402 ,  G05B19/042 ,  G06F1/18

CPC分类号： G05B19/402 ,  G05B1/04 ,  G05B11/011 ,  G05B19/042 ,  G05B2219/35581 ,  G05B2219/40543 ,  G06F1/185 ,  H05K1/144 ,  H05K3/32 ,  H05K3/368 ,  H05K2201/0329 ,  H05K2201/042

摘要： A computer system may determine a target position of the electronic component. The computer system may also determine a current position of the electronic component. The computer system may compare the current position to the target to position to determine whether the electronic component is in the target position. If the electronic component is not in the target position, the computer system may use an electroactive polymer to adjust the position of the electronic component to move the electronic component into the target position.

公开(公告)号：US20170102688A1

公开(公告)日：2017-04-13

申请号：US15350322

申请日：2016-11-14

申请人： International Business Machines Corporation

发明人： Tyler Jandt ,  Phillip V. Mann ,  Mark D. Plucinski ,  Sandra J. Shirk/Heath

IPC分类号： G05B19/402 ,  G06F1/18

CPC分类号： G05B19/402 ,  G05B1/04 ,  G05B11/011 ,  G05B19/042 ,  G05B2219/35581 ,  G05B2219/40543 ,  G06F1/185 ,  H05K1/144 ,  H05K3/32 ,  H05K3/368 ,  H05K2201/0329 ,  H05K2201/042

摘要： A computer system may determine a target position of the electronic component. The computer system may also determine a current position of the electronic component. The computer system may compare the current position to the target to position to determine whether the electronic component is in the target position. If the electronic component is not in the target position, the computer system may use an electroactive polymer to adjust the position of the electronic component to move the electronic component into the target position.

公开(公告)号：US20170075331A1

公开(公告)日：2017-03-16

申请号：US15260347

申请日：2016-09-09

申请人： Yaskawa America, Inc.

发明人： Chetan KAPOOR ,  Peter S. MARCH

IPC分类号： G05B19/042 ,  G05B19/05

CPC分类号： G05B19/0426 ,  B25J9/1697 ,  G05B19/056 ,  G05B2219/40419 ,  G05B2219/40543 ,  G05B2219/40554

摘要： A programmable logic controller controls at least one robot to manipulate a plurality of workpieces. The programmable logic controller includes a sensor interface configured to receive sensor data that represents information of the workpieces. The programmable logic controller includes a scheduler configured to create a schedule that includes information representing an order in which the workpieces are to be manipulated. The schedule created by the scheduler is based on the sensor data. The programmable logic controller includes a synchronizer that is configured to receive the schedule. The synchronizer is configured to cause a robot to manipulate the workpieces based on the schedule and based on a function block. The function block is configured via the programmable logic controller.

摘要翻译： 可编程逻辑控制器控制至少一个机器人来操纵多个工件。 可编程逻辑控制器包括被配置为接收表示工件信息的传感器数据的传感器接口。 可编程逻辑控制器包括调度器，其被配置为创建包括表示工件要被操纵的顺序的信息的调度。 由调度器创建的调度基于传感器数据。 可编程逻辑控制器包括被配置为接收该调度的同步器。 同步器被配置为使机器人基于时间表并基于功能块来操纵工件。 功能块通过可编程逻辑控制器进行配置。

公开(公告)号：US09393686B1

公开(公告)日：2016-07-19

申请号：US14213300

申请日：2014-03-14

申请人： Industrial Perception Inc.

发明人： Gary Bradski ,  Steve Croft ,  Kurt Konolige ,  Ethan Rublee ,  Troy Straszheim ,  John Zevenbergen

IPC分类号： G06F7/00 ,  G06F19/00 ,  B25J5/00 ,  B65G41/00

CPC分类号： B25J9/163 ,  B25J5/00 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/162 ,  B25J9/1664 ,  B25J9/1671 ,  B25J9/1687 ,  B25J9/1694 ,  B25J9/1697 ,  B25J19/00 ,  B25J19/021 ,  B65G41/008 ,  B65G47/46 ,  B65G47/50 ,  B65G61/00 ,  B65H67/065 ,  G01B11/254 ,  G05B2219/31312 ,  G05B2219/39391 ,  G05B2219/40053 ,  G05B2219/40298 ,  G05B2219/40442 ,  G05B2219/40543 ,  G06K9/00201 ,  G06K9/00664 ,  G06K9/3208 ,  G06K9/4604 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6202 ,  G06T7/0065 ,  G06T7/13 ,  G06T7/529 ,  G06T7/55 ,  G06T7/593 ,  G06T7/60 ,  G06T17/00 ,  G06T19/003 ,  G06T2200/04 ,  H04N5/33 ,  H04N13/239 ,  H04N2013/0081 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09 ,  Y10S901/47

摘要： Example embodiments provide for robotic apparatuses that facilitate moving objects within an environment, such as to load or unload boxes or to construct or deconstruct pallets (e.g., from a container or truck bed). One example apparatus includes a horizontal conveyor and a robotic manipulator that are both provided on a moveable cart. A first end of the robotic manipulator is mounted to the moveable cart and a second end of the robotic manipulator has an end effector, such as a grasper. The apparatus also includes a control system configured to receive sensor data indicative of an environment containing a plurality of objects, and then cause the robotic manipulator to place an object from the plurality of objects on the horizontal conveyor.

公开(公告)号：US20100138030A1

公开(公告)日：2010-06-03

申请号：US12446428

申请日：2007-10-18

申请人： Martin Kohlmaier ,  Rainer Krappinger

发明人： Martin Kohlmaier ,  Rainer Krappinger

IPC分类号： G05B19/401 ,  G05D3/20 ,  G05B19/19

CPC分类号： G05B19/401 ,  B25J9/1684 ,  B25J9/1692 ,  B28B11/18 ,  B29C45/0055 ,  G05B2219/37021 ,  G05B2219/39026 ,  G05B2219/39032 ,  G05B2219/39529 ,  G05B2219/40541 ,  G05B2219/40543 ,  G05B2219/40564 ,  G05B2219/45062 ,  G05B2219/45151 ,  Y02P90/265

摘要： A system for calibrating a handling apparatus relative to a workpiece comprises a handling apparatus having at least one tool and at least one measuring arrangement configured to record at least one controlled variable; and a regulatory device configured to determine at least two faces in a multidimensional space and to provide a resultant line of intersection for the at least two faces as a trajectory coordinates using the at least one controlled variable when the at least one workpiece is moved by the at least one measuring arrangement, thereby providing an optimized trajectory profile for implementation.

摘要翻译： 一种用于相对于工件校准处理装置的系统包括具有至少一个工具的处理装置和被配置为记录至少一个受控变量的至少一个测量装置; 以及调节装置，其被配置成在多维空间中确定至少两个面，并且当所述至少一个工件被所述至少一个工件移动时，使用所述至少一个受控变量提供用于所述至少两个面的合成线路作为轨迹坐标 至少一个测量装置，由此提供用于实现的优化的轨迹曲线。

公开(公告)号：US20090210090A1

公开(公告)日：2009-08-20

申请号：US12032919

申请日：2008-02-18

申请人： Mori Takemitsu ,  Steven F. Kalik

发明人： Mori Takemitsu ,  Steven F. Kalik

IPC分类号： G06F17/00

CPC分类号： B25J9/1661 ,  G05B2219/40298 ,  G05B2219/40543 ,  G05B2219/45108

摘要： An example method for allowing a robot to assist with a task, the task being carried out in an environment including one or more non-human objects each having associated object locations, comprises detecting one or more changes in object locations within the environment, predicting a task requirement (such as a future object location change, or task goal) by comparing the change in the object location with stored data, the stored data including object location changes associated with previously observed tasks; and providing robotic assistance to achieve the task requirement. Example apparatus are also disclosed.

摘要翻译： 一种用于允许机器人协助任务的示例性方法，所述任务在包括一个或多个具有相关联对象位置的非人类对象的环境中执行，包括检测所述环境内的对象位置中的一个或多个变化，预测 通过将对象位置的变化与存储的数据进行比较，存储的数据包括与先前观察到的任务相关联的对象位置变化的任务要求（诸如未来对象位置改变或任务目标）; 并提供机器人辅助来实现任务要求。 还公开了示例性装置。

公开(公告)号：US07003892B2

公开(公告)日：2006-02-28

申请号：US10417420

申请日：2003-04-15

申请人： Homer L. Eaton ,  Douglas P. Schueneman

发明人： Homer L. Eaton ,  Douglas P. Schueneman

IPC分类号： G01B5/004

CPC分类号： G05B19/128 ,  G01B21/045 ,  G05B2219/32174 ,  G05B2219/37405 ,  G05B2219/40543 ,  G05B2219/40621 ,  G05B2219/45059

摘要： In a method for identifying work pieces based on spatial coordinates. Each of a set of parts to be processed using a multi-axis, articulated spatial measurement arm, are marked with three points defining a distinctive triangle. In a data base, the side lengths of each distinctive triangle is referenced to the part it identifies and to related processing parameters. Before processing a part, the probe of the measurement arm is successively positioned on each of the marked points. Data processing equipment associated with the arm retrieves from the data base the identification of the part and the related parameters.

摘要翻译： 在基于空间坐标识别工件的方法中。 使用多轴关节空间测量臂处理的一组零件中的每一个标记有三个点，其定义了独特的三角形。 在数据库中，每个特征三角形的边长参考其标识的部分和相关的处理参数。 在处理零件之前，将测量臂的探头连续定位在每个标记点上。 与臂相关的数据处理设备从数据库中检索部件的标识和相关参数。

公开(公告)号：US11694432B2

公开(公告)日：2023-07-04

申请号：US16570540

申请日：2019-09-13

申请人： TOYOTA RESEARCH INSTITUTE, INC.

发明人： Jeremy Ma

IPC分类号： B25J9/16 ,  G06T7/33 ,  G06T7/246 ,  G06T7/73 ,  G06T7/55 ,  G06N3/08 ,  G06T19/20 ,  G06V20/10 ,  G06V20/20 ,  G06F18/28 ,  G06F18/214 ,  G06V10/764 ,  G06V10/774 ,  G06V10/82

CPC分类号： G06T7/248 ,  B25J9/1605 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1671 ,  B25J9/1697 ,  G06F18/214 ,  G06F18/28 ,  G06N3/08 ,  G06T7/33 ,  G06T7/55 ,  G06T7/74 ,  G06T19/20 ,  G06V10/764 ,  G06V10/774 ,  G06V10/82 ,  G06V20/10 ,  G06V20/20 ,  B25J9/163 ,  G05B2219/37567 ,  G05B2219/40543 ,  G05B2219/40564 ,  G06T2200/04 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20104

摘要： A method for visualizing data generated by a robotic device is presented. The method includes displaying an intended path of the robotic device in an environment. The method also includes displaying a first area in the environment identified as drivable for the robotic device. The method further includes receiving an input to identify a second area in the environment as drivable and transmitting the second area to the robotic device.