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公开(公告)号：US20210339387A1
公开(公告)日：2021-11-04
申请号：US16864804
申请日：2020-05-01
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Saumya Sharma , Yixin Liu , Jianjun Wang , Will Eakins , Andrew M. Salm , Yun Hsuan Su , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
Abstract: A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.
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公开(公告)号：US11370124B2
公开(公告)日：2022-06-28
申请号：US16856508
申请日：2020-04-23
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Jianjun Wang , Yixin Liu , Saumya Sharma , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
Abstract: A system and method for predicting the location at which a feature that is being tracked during a robotic assembly operation will be located within one or more images captured by a vision device. A vision device can be mounted to a robot such that the location of the vision device as the robot moves can be known or determined. In the event of an interruption of the tracking of the feature by the vision device as the corresponding workpiece is moving, the location of the feature relative to a vision device can be predicted, such as, via use of current or past historical movement information for the feature and/or the associated workpiece. Using the predicted location of the feature and the known location of the vision device, the location at which the feature will be located in an image(s) captured by the vision device can be predicted.
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公开(公告)号：US20210323158A1
公开(公告)日：2021-10-21
申请号：US16851928
申请日：2020-04-17
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Jianjun Wang , Yixin Liu , Saumya Sharma , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
Abstract: A system and method for automatic recovery from a failure in a robotic assembly operation using multiple sensor input. Moreover, following detection of an error in an assembly operation from data provided by a first sensor, a recovery plan can be executed, and, if successful, a reattempt at the failed assembly operation can commence. The assembly stage during which the error occurred can be detected by a second sensor that is different from the first sensor. Identification of the assembly stage can assist with determining the recovery plan, as well as identifying the assembly operation that is to be reattempted. The failure can be detected by comparing information obtained from a sensor, such as, for example, a force signature, with corresponding historical information, including historical information obtained at the identified assembly stage for prior workpieces.
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公开(公告)号：US20250128409A1
公开(公告)日：2025-04-24
申请号：US18570165
申请日：2021-06-17
Applicant: ABB Schweiz AG
Inventor： Yinwei Zhang , Qilin Zhang , Biao Zhang , Jorge Vidal-Ribas
Abstract: A robotic system for use in installing final trim and assembly part includes an auto-labeling system that combines images of a primary component, such as a vehicle, with those of computer based model, where feature based object tracking methods are used to compare the two. In some forms a camera can be mounted to a moveable robot, while in other the camera can be fixed in position relative to the robot. An artificial marker can be used in some forms. Robot movement tracking can also be used. A runtime operation can utilize a deep learning network to augment feature-based object tracking to aid in initializing a pose of the vehicle as well as an aid in restoring tracking if lost.
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公开(公告)号：US11548158B2
公开(公告)日：2023-01-10
申请号：US16851946
申请日：2020-04-17
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Jianjun Wang , Yixin Liu , Saumya Sharma , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
Abstract: A system and method that automatically resolves conflicts among sensor information in a sensor fusion robot system. Such methods can accommodate converging ambiguous and divergent sensor information in a manner that can allow continued, and relatively accurate, robotic operations. The processes can include handling sensor conflict via sensor prioritization, including, but not limited, prioritization based on the particular stage or segment of the assembly operation when the conflict occurs, overriding sensor data that exceeds a threshold value, and/or prioritization based on evaluations of recent sensor performance, predictions, system configuration, and/or historical information. The processes can include responding to sensor conflicts through comparisons of the accuracy of workpiece location predictions from different sensors during different assembly stages in connection with arriving at a determination of which sensor(s) is providing accurate and reliable predictions.
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Patent Agency Ranking
公开(公告)号：US20250014322A1
公开(公告)日：2025-01-09
申请号：US18570721
申请日：2021-06-17
Applicant: ABB Schweiz AG
Inventor： Qilin Zhang , Yinwei Zhang , Biao Zhang , Jorge Vidal-Ribas
IPC: G06V10/82
Abstract: A robotic system capable of being trained with a plurality of images that are synthetically augmented from an initial image data set includes a training system toward that end. An image augmentation system includes in one form a neural network trained to generate synthetic images using a generative adversarial network which includes the ability to synthesize images having various poses with adjustments to image parameters such as light and color among potential others. In another form the image augmentation system includes a set of images projected or transformed from its original pose to a number of different poses using an affine transform, and the ability to progress across an entire dimensional space of anticipated robot movements which produce various potential poses.
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公开(公告)号：US20220410397A1
公开(公告)日：2022-12-29
申请号：US17772370
申请日：2019-10-29
Applicant: Biao Zhang , ABB Schweiz AG
Inventor： Biao Zhang , Saumya Sharma , Yixin Liu , Jianjun Wang , William J. Eakins , Andrew M. Salm , Yun Hsuan Su , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
IPC: B25J9/16
Abstract: A system and method for use of artificial and nature racking features to calibrate sensors and tune a robotic control system of a sensor fusion guided robotic assembly. The artificial tracking features can have a configuration, or be at a location, that may be less susceptible to noise and error. Thus, the sensors can at least initially be calibrated, and the control system initially tuned, using the first tracking features until the sensors and control system satisfy operation performance criteria. Second tracking features, which may correspond to features on a workpiece that will be utilized in an assembly operation performed by the robot. By pre-calibrating the sensors, and pre-tuning the control system prior to calibration using the second tracking features, sensor calibration and system tuning based on the second tracking features can be attained faster and with less complexity.
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公开(公告)号：US11518027B2
公开(公告)日：2022-12-06
申请号：US16864804
申请日：2020-05-01
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Saumya Sharma , Yixin Liu , Jianjun Wang , Will Eakins , Andrew M. Salm , Yun Hsuan Su , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
Abstract: A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement unit (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.
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公开(公告)号：US20210331322A1
公开(公告)日：2021-10-28
申请号：US16856508
申请日：2020-04-23
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Jianjun Wang , Yixin Liu , Saumya Sharma , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
Abstract: A system and method for predicting the location at which a feature that is being tracked during a robotic assembly operation will be located within one or more images captured by a vision device. A vision device can be mounted to a robot such that the location of the vision device as the robot moves can be known or determined. In the event of an interruption of the tracking of the feature by the vision device as the corresponding workpiece is moving, the location of the feature relative to a vision device can be predicted, such as, via use of current or past historical movement information for the feature and/or the associated workpiece. Using the predicted location of the feature and the known location of the vision device, the location at which the feature will be located in an image(s) captured by the vision device can be predicted.
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公开(公告)号：US20240278434A1
公开(公告)日：2024-08-22
申请号：US18570156
申请日：2021-06-17
Applicant: ABB Schweiz AG
Inventor： Yinwei Zhang , Qilin Zhang , Biao Zhang , Jorge Vidal-Ribas
CPC classification number: B25J9/1697 , B25J9/1664 , B25J11/0075
Abstract: A robotic system for use in installing final trim and assembly part includes an auto-labeling system that combines images of a primary component, such as a vehicle, with those of computer based model, where feature based object tracking methods are used to compare the two. In some forms a camera can be mounted to a moveable robot, while in other the camera can be fixed in position relative to the robot. An artificial marker can be used in some forms. Robot movement tracking can also be used. A runtime operation can utilize a deep learning network to augment feature-based object tracking to aid in initializing a pose of the vehicle as well as an aid in restoring tracking if lost.
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