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    AUTOMATICALLY SCANNING AND REPRESENTING AN ENVIRONMENT WITH COLLISION AVOIDANCE
    1.
    发明申请
    AUTOMATICALLY SCANNING AND REPRESENTING AN ENVIRONMENT WITH COLLISION AVOIDANCE 审中-公开
    利用避碰功能自动扫描和表示环境

    公开(公告)号：WO2017087519A1

    公开(公告)日：2017-05-26

    申请号：PCT/US2016/062277

    申请日：2016-11-16

    Applicant: ABB SCHWEIZ AG ,  WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, Winsor ,  BOCA, Remus ,  FULBRIGGE, Thomas

    Inventor： WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, Winsor ,  BOCA, Remus ,  FULBRIGGE, Thomas

    IPC: E21B7/00 ,  G05D1/00 ,  G05D1/02 ,  G06F7/00

    CPC classification number: H04N13/204 ,  E21B7/022 ,  E21D9/006 ,  G05D1/0088

    Abstract: Automatic scanning and representing an environment with collision avoidance includes, for example, obtaining a first representation of the environment using a first scanning path, determining a second scanning path based on the first representation of the environment operable to avoid contact with the environment when obtaining a second representation of the environment, obtaining the second representation of the environment based on the second scanning path, and wherein the second representation of the environment is different from the first representation of the environment. The method may be employed in imaging and/or representing a rock wall having a plurality of spaced-apart holes for receiving charges for mining.

    Abstract translation: 自动扫描并且表示具有避免碰撞的环境包括例如使用第一扫描路径获得环境的第一表示，基于环境的第一表示来确定第二扫描路径，所述第一表示可操作用于 当获得环境的第二表示时避免与环境的接触，基于第二扫描路径获得环境的第二表示，并且其中环境的第二表示不同于环境的第一表示。 该方法可用于成像和/或代表具有多个间隔开的孔的岩壁，用于接收采矿的费用。

    ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM
    2.
    发明申请
    ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM 审中-公开

    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.

    ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM
    3.
    发明申请
    ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM 审中-公开

    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.

    FACILITATING ROBOT POSITIONING
    6.
    发明申请
    FACILITATING ROBOT POSITIONING 审中-公开
    帮助机器人定位

    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。

    TELEOPERATION OF MACHINES HAVING AT LEAST ONE ACTUATED MECHANISM AND A FAULT DETECTION AND RECOVERY SYSTEM
    9.
    发明申请
    TELEOPERATION OF MACHINES HAVING AT LEAST ONE ACTUATED MECHANISM AND A FAULT DETECTION AND RECOVERY SYSTEM 审中-公开
    具有至少一个启动机构的机器的电力和​​故障检测和恢复系统

    公开(公告)号：WO2014088996A1

    公开(公告)日：2014-06-12

    申请号：PCT/US2013/072737

    申请日：2013-12-03

    Applicant: ABB TECHNOLOGY AG ,  ZHANG, Biao ,  WANG, Jianjun ,  ZHANG, George, Q. ,  CHOI, Sangeun ,  BOCA, Remus ,  FUHLBRIGGE, Thomas, A. ,  GROTH, Thomas

    Inventor： ZHANG, Biao ,  WANG, Jianjun ,  ZHANG, George, Q. ,  CHOI, Sangeun ,  BOCA, Remus ,  FUHLBRIGGE, Thomas, A. ,  GROTH, Thomas

    IPC: B25J9/16

    CPC classification number: B25J9/1689 ,  G05B2219/40195 ,  G05B2219/40204 ,  Y10S901/09 ,  Y10S901/46

    Abstract: A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in machine operation is detected at the machine location. The controller also has a default trap routine that is executed when specific routine does not exist.

    Abstract translation: 机器具有至少一个致动机构，远离控制站。 双向实时通信链路将机器位置与控制站相连。 在机器位置处的控制器具有程序代码，其被配置为从机器位置的一个或多个传感器的数据确定机器是否在机器执行其预定功能时发生实际故障并确定实际故障 或更多类型的故障，并将一个或多个故障类型传输到控制站进行分析。 控制器中的代码被配置为特定于机器功能的预编程陷阱程序，在机器位置检测到机器操作错误时自动执行。 控制器还具有默认的陷阱程序，当特定例程不存在时，它将被执行。

    SYSTEM AND METHOD OF REMOTE TELEOPERATION USING A RECONSTRUCTED 3D SCENE
    10.
    发明申请
    SYSTEM AND METHOD OF REMOTE TELEOPERATION USING A RECONSTRUCTED 3D SCENE 审中-公开
    使用重构3D场景的远程远程的系统和方法

    公开(公告)号：WO2016172718A1

    公开(公告)日：2016-10-27

    申请号：PCT/US2016/029235

    申请日：2016-04-25

    Applicant: ABB TECHNOLOGY LTD. ,  BOCA, Remus ,  WANG, Jianjun ,  FUHLBRIGGE, Thomas, A. ,  CHOI, Sangeun ,  ZHANG, George, Q. ,  ZHANG, Biao

    Inventor： BOCA, Remus ,  WANG, Jianjun ,  FUHLBRIGGE, Thomas, A. ,  CHOI, Sangeun ,  ZHANG, George, Q. ,  ZHANG, Biao

    IPC: B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B25J19/04 ,  H04N13/02

    CPC classification number: B25J9/1689 ,  B25J9/1697 ,  G05B2219/36455 ,  G05B2219/40146

    Abstract: Unique systems, methods, techniques and apparatuses of a robotic control system are disclosed. One exemplary embodiment is a robotic control system comprising a robot including a memory device, a sensor, a processing device, and a communication device. The processing device is structured to receive data from the sensor, compare the data from the sensor to the first 3D model, and identify differences between the data from the sensor and the first 3D model. The robotic control system also comprises a remote computing device located in a second workspace including a communication device, a memory device, a processing device structured to update the second 3D model of the workspace using the identified differences, and a user interface structured to receive user input and display the updated 3D model. The robot is structured to move in response to receiving the user input by way of the remote computing device.

    Abstract translation: 公开了机器人控制系统的独特系统，方法，技术和装置。 一个示例性实施例是包括机器人的机器人控制系统，其包括存储器装置，传感器，处理装置和通信装置。 处理装置被构造成从传感器接收数据，将来自传感器的数据与第一3D模型进行比较，并且识别来自传感器和第一3D模型的数据之间的差异。 所述机器人控制系统还包括位于第二工作空间中的远程计算设备，所述第二工作空间包括通信设备，存储器设备，被构造为使用所识别的差异来更新所述工作空间的第二3D模型的处理设备，以及被构造为接收用户的用户界面 输入并显示更新的3D模型。 机器人被构造成响应于通过远程计算设备接收用户输入而移动。

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