公开(公告)号：WO2016077243A1

公开(公告)日：2016-05-19

申请号：PCT/US2015/059767

申请日：2015-11-09

Applicant: GOOGLE INC.

Inventor： MASON, Julian ,  KONOLIGE, Kurt

IPC: G05B19/418

CPC classification number: G05D1/0246 ,  B65G1/1373 ,  G05B19/41815 ,  G05B2219/39129 ,  G05B2219/40605 ,  G05D1/0287 ,  Y02P90/08

Abstract: Example methods and systems may provide for a system that includes a control system communicatively coupled to a first robotic device and a second robotic device. The control system may identify a collaborative operation to be performed by a first robotic device and a second robotic device that is based on a relative positioning between the first robotic device and the second robotic device. The control system may also determine respective locations of the first robotic device and the second robotic device. The control system may further initiate a movement of the first robotic device along a path from the determined location of the first robotic device towards the determined location of the second robotic device. The first robotic device and the second robotic device may then establish a visual handshake that indicates the relative positioning between the first robotic device and the second robotic device for the collaborative operation.

Abstract translation: 示例性方法和系统可以提供包括通信地耦合到第一机器人设备和第二机器人设备的控制系统的系统。 控制系统可以识别由第一机器人设备和第二机器人设备执行的协作操作，其基于第一机器人设备和第二机器人设备之间的相对定位。 控制系统还可以确定第一机器人装置和第二机器人装置的相应位置。 控制系统还可以启动第一机器人装置沿着从第一机器人装置的确定位置朝向第二机器人装置的确定位置的路径的移动。 然后，第一机器人装置和第二机器人装置可以建立视觉握手，其指示用于协作操作的第一机器人装置和第二机器人装置之间的相对定位。

公开(公告)号：WO2016119829A1

公开(公告)日：2016-08-04

申请号：PCT/EP2015/051649

申请日：2015-01-28

Applicant: ABB SCHWEIZ AG

Inventor： DAI, Fan

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1682 ,  G05B2219/39114 ,  G05B2219/40003 ,  G05B2219/40307 ,  G05B2219/40605

Abstract: The invention is related to a multiple arm robot system (10, 70, 90), comprising at least a first (12, 72, 92) and a second (28, 74, 94) robot arm whose first ends are arranged on a common base (36, 78, 96), wherein the distal ends of the robot arms (12, 28, 72, 74, 92, 94) are moveable independently each from each other and have respective working areas which are adjacent or overlapping and wherein at least one robot controller (40, 42) is foreseen to control the movement (58) of the robot arms (12, 28, 72, 74, 76, 92, 94). The first robot arm (12, 72, 92) is equipped with a camera (22, 32, 80, 84, 100) in the near of its moveable distal end respectively which is attached thereto and which is foreseen to capture first image data (48) of at least a part of the working space of the second robot arm (28, 74, 94) from different perspectives, wherein a vision system (38) is foreseen for processing the first image data (48) and to provide the processed first image data (50) to the at least one robot controller (40, 42) and wherein the at least one robot controller (40, 42) is foreseen to control the movement (58) of the second robot arm (28, 74, 94) considering at least the processed first image data (50). The invention is also related to a respective method for controlling a robot arm of a multiple robot arm system (10, 70, 90).

Abstract translation: 本发明涉及一种多臂机器人系统（10,70,90），其包括至少一个第一（12,72,92）和第二（28,74,94）机器人臂，其第一端设置在共同的 基座（36,78,96），其中机器人手臂（12,28,72,74,92,94）的远端彼此独立地可移动，并且具有相邻或重叠的相应工作区域，并且其中 预计至少一个机器人控制器（40,42）可以控制机器人手臂（12,28,72,74,76,92,94）的移动（58）。 第一机器人臂（12,72,92）在其可移动的远端附近分别配备有相机（22,32,80,84,100），该摄像机附接到其上并且预见到捕获第一图像数据 48）从不同的角度看待第二机器人手臂（28,74,94）的工作空间的至少一部分，其中预见到视觉系统（38）用于处理第一图像数据（48）并提供处理过的 第一图像数据（50）到所述至少一个机器人控制器（40,42），并且其中所述至少一个机器人控制器（40,42）预见到控制所述第二机器人手臂（28,74）的运动（58） 94）至少考虑所处理的第一图像数据（50）。 本发明还涉及用于控制多机器人手臂系统（10,70,90）的机器人手臂的相应方法。

公开(公告)号：WO1992001539A1

公开(公告)日：1992-02-06

申请号：PCT/JP1991000960

申请日：1991-07-18

Applicant: FANUC LTD ,  WATANABE, Atsushi

Inventor： FANUC LTD

IPC: B25J19/04

CPC classification number: B25J9/1697 ,  G05B2219/40605 ,  Y10T29/49769

Abstract: A method is provided for calibrating a visual sensor on the robot easily, quickly and accurately without employing a mechanism for setting a calibration jig in high precision and also without preparing a wide space for setting the jig. According to this method, first calibration pattern data including coordinate values of dots composing a dot pattern formed on a pattern plate (3) fixed to the tip of the arm of a first robot (1) in the common coordinate system are inputted into a visual sensor control device (20) from a first robot control device (10) and data of the pattern plate image are also inputted thereinto from a camera (6) fixed to the tip of a second robot (4); and then said visual sensor control device (20) compares first calibration pattern data (12a) with second calibration pattern data (25a) including coordinate values of dot pattern composing dots in a camera coordinate system calculated on the basis of image data so that calibration data (CD) establishing a relation between the common coordinate system and the camera coordinate system are sought for calibration of the camera.