公开(公告)号：WO2023035228A1

公开(公告)日：2023-03-16

申请号：PCT/CN2021/117711

申请日：2021-09-10

Applicant: ABB SCHWEIZ AG ,  CHANG, Kun ,  SHAO, Wenyao ,  XIA, Dianfei

Inventor： CHANG, Kun ,  SHAO, Wenyao ,  XIA, Dianfei

IPC: B25J9/16 ,  G01Q40/00

Abstract: Embodiments of the present disclosure provide methods, apparatuses, systems and computer readable media for managing a tool in a robot system. In a method, a plurality of arm positions of a robot arm of the robot system are obtained when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, here the posture represents rotation parameters of the robot arm. A center of the calibration object is determined based on the plurality of arm positions. A reference position of the robot arm is generated for calibrating the tool based a position of the center and the posture. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for managing a tool in a robot system. With these embodiments, reference positions for calibrating the tool may be obtained in an easy and effective way without complex manual operations.

公开(公告)号：WO2023087206A1

公开(公告)日：2023-05-25

申请号：PCT/CN2021/131452

申请日：2021-11-18

Applicant: ABB SCHWEIZ AG ,  XIA, Dianfei ,  CHANG, Kun ,  WANG, Jiacheng

Inventor： XIA, Dianfei ,  CHANG, Kun ,  WANG, Jiacheng

IPC: B24B5/42 ,  B24B49/00 ,  B24B1/00

Abstract: A method for calibrating a crankshaft (10) to be processed is disclosed. The method comprises: causing a positioner (40) to rotate to at least three different angles, wherein the positioner (40) is configured to support the crankshaft (10) and drive the crankshaft (10) to rotate; causing, for each of the at least three different angles, a probe (20) arranged on a robot (30) to touch a plurality of points on a first cylindrical crankpin (101) of the crankshaft (10) respectively to obtain coordinates of the plurality of points in a robot coordinate system; fitting, for each of the at least three different angles, the coordinates of the plurality of points on the first cylindrical crankpin (101) respectively to obtain a respective pose of the first cylindrical crankpin (101) relative to the robot coordinate system; and determining a pose of a rotating axis of the crankshaft (10) relative to the robot coordinate system based on the respective pose of the first cylindrical crankpin (101). The pose of the rotating axis of the crankshaft (10) can be calibrated quickly and accurately. An apparatus for calibrating a crankshaft (10) to be processed is also disclosed.

公开(公告)号：WO2023044614A1

公开(公告)日：2023-03-30

申请号：PCT/CN2021/119684

申请日：2021-09-22

Applicant: ABB SCHWEIZ AG ,  CHANG, Kun ,  GU, Hao ,  MAO, Lei

Inventor： CHANG, Kun ,  GU, Hao ,  MAO, Lei

IPC: G05B19/02 ,  B25J13/00

Abstract: A method (400) and an electronic device (300) for calibrating a robot (200) are provided. The method (400) comprises: obtaining at least two sets of positional data of a first reference point (2021) in a base coordinate system of the robot (410), the first reference point (2021) fixedly arranged on the external axis (201), the at least two sets of positional data corresponding to at least two positions of the first reference point (2021) during movement of the external axis (201); determining a transformation relationship between the base coordinate system and an user coordinate system of the external axis (201) according to the at least two sets of positional data (420); determining the calibrated user coordinate system based on the base coordinate system and the transformation relationship (430); and controlling the robot (200) to process an object arranged on the external axis (201) under the calibrated user coordinate system (440). With the method, the external axis (201) can be calibrated automatically. In comparison to the processes of calibration by the operator, errors caused by human factors are eliminated, which can significantly improve the reliability of calibration.

公开(公告)号：WO2023035100A1

公开(公告)日：2023-03-16

申请号：PCT/CN2021/116872

申请日：2021-09-07

Applicant: ABB SCHWEIZ AG ,  CHANG, Kun ,  SU, Xu

Inventor： CHANG, Kun ,  SU, Xu

IPC: B25J9/02 ,  G05B19/401

Abstract: A method for manipulating a robot, an electronic device and computer readable storage medium for calibrating a robot. The method comprises: obtaining a first set of data related to at least one of position and orientation of at least three calibration objects (202), the at least three calibration objects being non-collinear to each other in an object coordinate system when a target object is in a first state, and the at least three calibration objects being in a fixed relation to the target object; determining a second set of data related to at least one of position and orientation of the at least three calibration objects when the target object is in a second state different from the first state (204); determining a transformation relationship between the first set of data and the second set of data (206); determining a calibrated object coordinate system based on the object coordinate system and the transformation relationship (208); and controlling the robot to process the target object in a predetermined way under the calibrated object coordinate system (210). In this way, the robot program can be simply adjusted to adapt the changes of the position and/or orientation of the target objects.

公开(公告)号：WO2022162417A1

公开(公告)日：2022-08-04

申请号：PCT/IB2021/050595

申请日：2021-01-26

Applicant: ABB SCHWEIZ AG

Inventor： SEN, Nevroz ,  LI, WenLong ,  ZHU, Amber-FengQin ,  CHANG, Kun

IPC: G06T7/00

Abstract: A method for detecting paint defects on objects is provided. The method comprises: projecting a plurality of patterns on a surface of an object at a plurality of different pattern characteristics; capturing a plurality of images of the object based on projecting the plurality of patterns; inputting the plurality of images of the object into a machine learning model to determine whether the surface of the object includes one or more paint defects; and based on determining, an image, of the plurality of images, includes a paint defect, causing display of the image with the paint defect.