公开(公告)号：WO2018175914A9

公开(公告)日：2018-09-27

申请号：PCT/US2018/024070

申请日：2018-03-23

Applicant: ABB SCHWEIZ AG ,  ZHANG, Biao ,  WANG, Jianjun ,  BOCA, Remus

Inventor： ZHANG, Biao ,  WANG, Jianjun ,  BOCA, Remus

IPC: G05B15/00 ,  G05B19/00

Abstract: Apparatus and method is disclosed for determining position of a robot relative to objects in a workspace which includes the use of a camera, scanner, or other suitable device in conjunction with object recognition. The camera, etc is used to receive information from which a point cloud can be developed about the scene that is viewed by the camera. The point cloud will be appreciated to be in a camera centric frame of reference. Information about a known datum is used and compared to the point cloud through object recognition. For example, a link from a robot could be the identified datum so that, when recognized, the coordinates of the point cloud can be converted to a robot centric frame of reference since the position of the datum would be known relative to the robot.

公开(公告)号：WO2018175914A1

公开(公告)日：2018-09-27

申请号：PCT/US2018/024070

申请日：2018-03-23

Applicant: ABB SCHWEIZ AG ,  ZHANG, Biao ,  WANG, Jianjun ,  BOCA, Remus

Inventor： ZHANG, Biao ,  WANG, Jianjun ,  BOCA, Remus

IPC: G05B15/00 ,  G05B19/00

Abstract: Apparatus and method is disclosed for determining position of a robot relative to objects in a workspace which includes the use of a camera, scanner, or other suitable device in conjunction with object recognition. The camera, etc is used to receive information from which a point cloud can be developed about the scene that is viewed by the camera. The point cloud will be appreciated to be in a camera centric frame of reference. Information about a known datum is used and compared to the point cloud through object recognition. For example, a link from a robot could be the identified datum so that, when recognized, the coordinates of the point cloud can be converted to a robot centric frame of reference since the position of the datum would be known relative to the robot.

公开(公告)号：WO2018145025A1

公开(公告)日：2018-08-09

申请号：PCT/US2018/016898

申请日：2018-02-05

Applicant: ABB SCHWEIZ AG ,  WANG, Jianjun ,  BOCA, Remus ,  ZHANG, Biao

Inventor： WANG, Jianjun ,  BOCA, Remus ,  ZHANG, Biao

IPC: G06T7/00 ,  B23Q17/00 ,  G01B3/30 ,  G01B11/24 ,  H04N17/00

Abstract: A calibration article is provided for calibrating a robot and 3D camera. The calibration article includes side surfaces that are angled inward toward a top surface The robot and camera are calibrated by capturing positional data of the calibration article relative to the robot and the camera. The captured data is used to generate correlation data between the robot and the camera. The correlation data is used by the controller to align the robot with the camera during operational use of the robot and camera.

公开(公告)号：WO2017204826A1

公开(公告)日：2017-11-30

申请号：PCT/US2016/034658

申请日：2016-05-27

Applicant: ABB SCHWEIZ AG ,  ROSSANO, Gregory, F. ,  MARTINEZ, Carlos ,  WANG, Jianjun ,  ZHANG, Biao ,  FUHLBRIGGE, Thomas, A.

Inventor： ROSSANO, Gregory, F. ,  MARTINEZ, Carlos ,  WANG, Jianjun ,  ZHANG, Biao ,  FUHLBRIGGE, Thomas, A.

IPC: G05B19/00

Abstract: A teleoperated robotic system that utilizes a graphical user interface (GUI) to perform work on a workpiece(s) using a robot. A coordinate system of the GUI can be correlated to the tool center point (TCP) of the robot and the TCP or workspace of a teleoperated member, such as a haptic joystick. Operable manipulation of the teleoperated member can be correlated to a movement at a particular location in the robot station, such as movement of the TCP of the robot. The GUI can also provide digital representations of the workpiece, which can be based on inputted and/or scanned information relating to a reference workpiece and/or the particular workpiece on which the robot is performing work. The GUI can further provide indications of the various stages of assembly of the workpiece, as well as an indication of work already, or to be, performed on the workpiece.

Abstract translation: 遥控操作的机器人系统利用图形用户界面（GUI）对使用机器人的工件执行工作。 GUI的坐标系可以与机器人的工具中心点（TCP）以及遥控成员的TCP或工作空间（例如触觉操纵杆）相关联。 远程操作部件的可操作的操纵可以与机器人站中特定位置处的移动相关联，诸如机器人的TCP的移动。 GUI还可以提供工件的数字表示，其可以基于与参考工件和/或机器人正在执行工作的特定工件有关的输入和/或扫描信息。 GUI可以进一步提供工件组装的各个阶段的指示，以及已经或将要在工件上进行的工作的指示。

公开(公告)号：WO2017087521A1

公开(公告)日：2017-05-26

申请号：PCT/US2016/062279

申请日：2016-11-16

Applicant: ABB SCHWEIZ AG ,  WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, Winsor

Inventor： WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, Winsor

IPC: G06T7/00

CPC classification number: B25J9/1687 ,  B25J9/1697 ,  G05B2219/34165 ,  G05B2219/37563 ,  G05B2219/40425 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20061

Abstract: Three-dimensional visual servoing for positioning a robot in an environment is facilitated. Three-dimensional point cloud data of a scene of the environment is obtained, the scene including a feature. The three-dimensional point cloud data is converted into a two-dimensional image, and a three-dimensional position of the feature is identified based on the two-dimensional image. An indication of the identified three-dimensional position of the feature is then provided.

Abstract translation: 便于将机器人定位在环境中的三维视觉伺服。 获得环境场景的三维点云数据，该场景包括特征。 三维点云数据被转换成二维图像，并且基于二维图像来识别特征的三维位置。 然后提供所识别的特征的三维位置的指示。

公开(公告)号：WO2017087406A1

公开(公告)日：2017-05-26

申请号：PCT/US2016/062070

申请日：2016-11-15

Applicant: ABB SCHWEIZ AG ,  WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos W. ,  BOCA, Remus

Inventor： WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos W. ,  BOCA, Remus

IPC: G06K9/00

CPC classification number: H04N13/204 ,  G06K9/00201 ,  G06K9/00791 ,  G06T7/75 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30252 ,  H04N5/232

Abstract: Automatic scanning and representing an environment having a plurality of features, for example, includes scanning the environment along a scanning path, interspersing a plurality of localized scanning of the plurality of features in the environment during the scanning along the scanning path of the environment wherein the interspersed localized scanning of the plurality of features in the environment being different from the scanning the environment along the scanning path, and obtaining a representation of at least a portion of the environment based on the scanning of the environment and the interspersed localized scanning of the plurality of features in the environment.

Abstract translation: 例如，自动扫描并且表示具有多个特征的环境包括：沿着扫描路径扫描环境，在扫描期间将多个特征的多个局部扫描散布在环境中 环境的扫描路径，其中环境中的多个特征的散布局部扫描不同于沿着扫描路径扫描环境，并且基于环境的扫描获得环境的至少一部分的表示 以及散布在环境中的多个特征的局部扫描。

公开(公告)号：WO2017087398A1

公开(公告)日：2017-05-26

申请号：PCT/US2016/062059

申请日：2016-11-15

Applicant: ABB SCHWEIZ AG ,  WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, W. ,  BOCA, Remus

Inventor： WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, W. ,  BOCA, Remus

IPC: G05B15/00

CPC classification number: B25J9/1697 ,  B25J9/1692 ,  G06T7/002 ,  G06T7/004 ,  G06T7/2086 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/30244 ,  Y10S901/09

Abstract: Robot positioning is facilitated by obtaining, for each time of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot.

Abstract translation: 通过针对第一采样时间表的每一次获得机器人的相机系统相对于参考坐标系的姿势的相应指示来促进机器人定位，姿势的相应指示 所述相机系统的基于环境的场景的多个三维图像的比较的基础上，所述获得提供所述相机系统的姿势的多个指示; 针对第二采样时间表的每个时间，获得机器人的姿势的相应指示，所述获得提供机器人的姿势的多个指示; 以及使用所述相机系统的多个姿势指示和所述机器人的姿势的多个指示来确定所述参考坐标框的指示以及所述相机系统的参考点相对于所述机器人的姿势的指示。

公开(公告)号：WO2005051610A3

公开(公告)日：2005-06-09

申请号：PCT/US2004/039543

申请日：2004-11-23

Applicant: ABB RESEARCH LTD. ,  ABB AUTOMATION TECHNOLOGIES AB ROBOTICS ,  ZHANG, Hui ,  WANG, Jianjun ,  BROGARDH, Torgny ,  GAN, Zhongxue

Inventor： ZHANG, Hui ,  WANG, Jianjun ,  BROGARDH, Torgny ,  GAN, Zhongxue

IPC: B25J9/16

Abstract: An industrial robot that has uses a simulated force vector to allow a work piece held by the robot and effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two pieces mate.

公开(公告)号：WO2005051610A2

公开(公告)日：2005-06-09

申请号：PCT/US2004039543

申请日：2004-11-23

Applicant: ABB RESEARCH LTD ,  ABB AUTOMATION TECHNOLOGIES AB ,  ZHANG HUI ,  WANG JIANJUN ,  BROGARDH TORGNY ,  GAN ZHONGXUE

Inventor： ZHANG HUI ,  WANG JIANJUN ,  BROGARDH TORGNY ,  GAN ZHONGXUE

IPC: B25J9/16 ,  B25J

CPC classification number: B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

Abstract: An industrial robot that has uses a simulated force vector to allow a work piece held by the robot and effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two pieces mate.

Abstract translation: 工业机器人使用模拟力矢量，使机器人和执行器所夹持的工件与机器人未精确知道其位置和方向的工件匹配。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以最小化接触力，并且还在所有方向和方向上提供搜索模式以使末端执行器带来 它保持与另一工件接触的工件。 搜索模式和速度命令一直继续，直到两部分交配。

公开(公告)号：WO2014160760A2

公开(公告)日：2014-10-02

申请号：PCT/US2014/031837

申请日：2014-03-26

Applicant: ABB TECHNOLOGY AG ,  WANG, Jianjun ,  FUHLBRIGGE, Thomas, A. ,  HAULIN, Jonas ,  ROSSANO, Gregory ,  BOURNE, David, Alan ,  ZHANG, Biao ,  GARCIA, Alberto, Rodriguez

Inventor： WANG, Jianjun ,  FUHLBRIGGE, Thomas, A. ,  HAULIN, Jonas ,  ROSSANO, Gregory ,  BOURNE, David, Alan ,  ZHANG, Biao ,  GARCIA, Alberto, Rodriguez

IPC: G05B19/418

CPC classification number: G05B23/0221 ,  G05B19/41875 ,  G05B2219/32201 ,  Y02P90/22

Abstract: There is described a technique for detecting the success of an automated process that produces an article of manufacture. A statistically significant number of successful and failed articles are produced by the automated process. Each of these articles is interacted with a test platform to measure interaction signatures that indicate successful and failed articles. A correlation of the difference between the interaction signatures is calculated. An interaction signature is then obtained for an article manufactured by the process after the earlier made articles. The new interaction signature is analyzed against the calculated correlation difference to automatically categorize as either a success or a failure the additional article of manufacture. There is also described a technique for optimizing the motion used to test the manufactured articles to improve the correlation of the difference between the interaction signals of successful articles and the interaction signals of failed articles.

Abstract translation: 描述了用于检测产生制品的自动化过程的成功的技术。 自动化过程产生的统计数量显着的成功和失败的文章。 这些文章中的每一篇都与测试平台交互以测量指示成功和失败文章的交互签名。 计算相互作用签名之间的差异的相关性。 然后在先前制作的物品之后获得由该过程制造的物品的交互签名。 根据计算出的相关性差异分析新的交互签名，以自动分类为附加制品的成功或失败。 还描述了用于优化用于测试制造物品的运动的技术，以改善成功物品的交互信号和失败物品的交互信号之间的差异的相关性。