公开(公告)号：US20230010651A1

公开(公告)日：2023-01-12

申请号：US17772656

申请日：2019-10-29

Applicant: Biao ZHANG ,  ABB Schweiz AG

Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

IPC: G06N3/08 ,  G06N3/04

Abstract: A system and method for collecting data regarding operation of a robot using, at least in part, responses from a first operation model to an input of sensed data from a plurality of sensors. The collected data can be used to optimize the first operation model to generate a second operation model. While the first operation model is being optimized, a train data-driven model that utilizes an end-to-end learning approach can be generated that is based, at least in part, on the collected data. Both the second operation model and the train data-driven model can be evaluated, and, based on such evaluation, a determination can be made as to whether the train data-driven model is reliable. Moreover, based on a comparison of the models, one of the second operation model and the train data-driven model can be selected for validation, and if validated, used in the operation of the robot.

公开(公告)号：US20220402136A1

公开(公告)日：2022-12-22

申请号：US17772365

申请日：2019-10-29

Applicant: Biao Zhang ,  ABB Schweiz AG

Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Ramon Casanelles ,  Jordi Artigas

IPC: B25J9/16 ,  B25J13/08

Abstract: A system and method for determining performance of a robot. In one form the robot is constructed as you assembling automotive workpieces onto an automobile assembly. In one form the robot accomplishes the task of assembling an automotive workpiece onto the automotive assembly by using vision feedback and force feedback. The vision feedback can use any number of features perform its function. Such features can include an artificial feature such as but not limited to a QR code, as well as a natural feature such as a portion of the workpiece or automotive assembly. In one embodiment the robot is capable of detecting a collision event and assessing the severity of the collision event. In another embodiment the robot is capable of evaluating its performance by attracting a performance metric against a performance threshold, and comparing a sensor fusion output with a sensor fusion output reference.

公开(公告)号：US20210339397A1

公开(公告)日：2021-11-04

申请号：US16864798

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

IPC: B25J9/16

Abstract: A robotic assembly operation is provided for assembling a second part to a first part. During setup of the assembly operation, control parameters and a control scheme are set and changed by simulating the operation and testing whether performance requirements are met. A dry run may be performed thereafter, and test data may be collected after running the simulation to determine if the performance requirements are satisfied during the dry run. During production, production data may also be collected and control parameters may be tuned when changes occur during production in order to maintain stable assembly.

公开(公告)号：US20210323164A1

公开(公告)日：2021-10-21

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

IPC: B25J9/16 ,  B25J13/08

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.

公开(公告)号：US10724371B2

公开(公告)日：2020-07-28

申请号：US15581787

申请日：2017-04-28

Applicant: ABB Schweiz AG

Inventor： Jianjun Wang ,  Carlos Martinez ,  Carlos Morato ,  Biao Zhang ,  Thomas Fuhlbrigge ,  Will Eakins ,  Sang Choi ,  Daniel Lasko ,  Jan Nyqvist ,  Remus Boca

IPC: E21C37/00 ,  E21C37/12 ,  E21D9/00 ,  E21B7/02 ,  B25J9/16 ,  F42D1/22

Abstract: In one embodiment, the present disclosure provides a robot automated mining method. In one embodiment, a method includes a robot positioning a charging component for entry into a drill hole. In one embodiment, a method includes a robot moving a charging component within a drill hole. In one embodiment, a method includes a robot filling a drill hole with explosive material. In one embodiment, a method includes operating a robot within a mining environment.

公开(公告)号：US10528034B2

公开(公告)日：2020-01-07

申请号：US15687201

申请日：2017-08-25

Applicant: ABB Schweiz AG

Inventor： George Q. Zhang ,  Xiongzi Li ,  Daniel X. Wappling ,  Anders Spaak ,  Biao Zhang ,  Remus Boca ,  Thomas A. Fuhlbrigge

IPC: B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  G05B19/4099 ,  B25J9/16 ,  G05B17/02

Abstract: One exemplary embodiment is a method comprising generating robot control code from one or more files including part geometry parameters, material addition parameters, and robot system parameters. The robot control code includes instructions to control position and material output of an additive manufacturing tool adjustable over six degrees of freedom. The method includes simulating execution of the robot control code to generate a virtual part file including virtual part geometry parameters and material addition parameters, analyzing the virtual part geometry parameters and material addition parameters relative to the one or more files, and executing the robot control code with the controller to produce the part with robot system if the analyzing indicates that the virtual part satisfies one or more conditions.

公开(公告)号：US20190287689A1

公开(公告)日：2019-09-19

申请号：US16434682

申请日：2019-06-07

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  William J. Eakins ,  Daniel T. Lasko ,  Harshang Shah ,  Thomas A. Fuhlbrigge ,  Carlos Morato ,  Biao Zhang ,  Luiz V. Cheim ,  Poorvi Patel ,  Stefan Rakuff ,  Saumya Sharma ,  Nolan W. Nicholas ,  Gregory F. Rossano ,  Sanguen Choi

IPC: G21C17/013 ,  G01B17/02 ,  G01R33/12 ,  G01N33/28 ,  G01J3/10

Abstract: An inspection system for inspecting a machine includes an inspection vehicle constructed for wireless operation while submersed in a dielectric liquid medium. The inspection vehicle is self-propelled. A controller is operative to direct the activities of the inspection vehicle. A plurality of status interrogation systems is disposed on the inspection vehicle. The status interrogation systems are operative to capture inspection data regarding a plurality of inspection procedures performed on the machine.

公开(公告)号：US20190287688A1

公开(公告)日：2019-09-19

申请号：US16434672

申请日：2019-06-07

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  William J. Eakins ,  Daniel T. Lasko ,  Harshang Shah ,  Thomas A. Fuhlbrigge ,  Biao Zhang ,  Luiz V. Cheim ,  Poorvi Patel ,  Gregory F. Rossano ,  Andrew Salm ,  Sanguen Choi

IPC: G21C17/013 ,  G02B23/24

Abstract: A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.

公开(公告)号：US10349035B2

公开(公告)日：2019-07-09

申请号：US14941826

申请日：2015-11-16

Applicant: ABB SCHWEIZ AG

Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos W. Morato ,  Remus Boca

IPC: G06K9/00 ,  G06T7/73 ,  H04N5/232 ,  H04N13/204

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.

公开(公告)号：US20190160678A1

公开(公告)日：2019-05-30

申请号：US15827334

申请日：2017-11-30

Applicant: ABB Schweiz AG

Inventor： Biao Zhang ,  Xiongzi Li ,  George Q. Zhang

IPC: B25J9/16

Abstract: A method for operating a robot includes: creating a production robot program for execution on a robotic controller, wherein the robot program defines a robot path; performing an offline simulation of robot motion along the robot path using the production robot program; analyzing loads between a robot end effector and an object along the robot path, based on the offline simulation, to identify a maximum load experienced during the simulation; tuning production robot program parameters to reduce the maximum load if the maximum load is not within a predefined limit; generating a test robot program to test the end effector and the object with the maximum load within the predefined limit; testing the end effector with the object online using the test robot program; repeating the tuning and testing until no objects are dropped during the testing; and operating the robot during production using tuned robot program parameters.