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    Systems and methods for determining the concentrations of multiple species using multiple sensors
    11.
    发明授权
    Systems and methods for determining the concentrations of multiple species using multiple sensors 有权

    公开(公告)号：US10689683B2

    公开(公告)日：2020-06-23

    申请号：US15633409

    申请日：2017-06-26

    Applicant: ABB Schweiz AG

    Inventor： Saumya Sharma ,  Yixin Liu ,  Nolan Nicholas

    IPC: G01N21/00 ,  C12Q1/06 ,  C12Q1/24 ,  C12M1/34

    Abstract: A plurality of sensors of the same composition or different compositions are provided on a substrate or in a bundle and are sensitive to a plurality of constituent species in a mixed species medium being measured. The sensors of the same composition may each be maintained at different temperatures. The sensors of different compositions may each be maintained at the same temperature or different temperatures. The intersection of measurement values from the plurality of sensors may be used to determine the actual concentrations of the constituent species (e.g., hydrogen and oxygen) in the mixed species medium.

    Method and system for object tracking in robotic vision guidance
    12.
    发明授权
    Method and system for object tracking in robotic vision guidance 有权

    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

    IPC: B25J13/08 ,  B25J9/16

    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.

    RECOVERY SYSTEM AND METHOD USING MULTIPLE SENSOR INPUTS
    13.
    发明申请
    RECOVERY SYSTEM AND METHOD USING MULTIPLE SENSOR INPUTS 有权

    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

    IPC: B25J9/16 ,  B25J13/08

    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.

    Method of Automated Calibration for In-Hand Object Location System
    15.
    发明申请
    Method of Automated Calibration for In-Hand Object Location System 有权

    公开(公告)号：US20210023713A1

    公开(公告)日：2021-01-28

    申请号：US16521061

    申请日：2019-07-24

    Applicant: ABB Schweiz AG

    Inventor： Biao Zhang ,  Yixin Liu ,  Thomas A. Fuhlbrigge ,  Saumya Sharma

    IPC: B25J9/16 ,  B25J13/08

    Abstract: A method of automated in-hand calibration including providing at least one robotic hand including a plurality of grippers connected to a body and providing at least one camera disposed on a periphery surface of the plurality of grippers. The method also includes providing at least one tactile sensor disposed in the at least one illumination surface and actuating the plurality of grippers to grasp an object. The method further includes locating a position of the object with respect to the at least one robotic hand and calibrating a distance parameter via the at least one camera. The method also includes calibrating the at least one tactile sensor with the at least one camera and generating instructions to grip and manipulate an orientation of the object via an image feed from the at least one camera for a visualization of the object.

    Light emitting diode sensor device including a contoured structure
    16.
    发明授权
    Light emitting diode sensor device including a contoured structure 有权

    公开(公告)号：US10462876B2

    公开(公告)日：2019-10-29

    申请号：US15609879

    申请日：2017-05-31

    Applicant: ABB Schweiz AG

    Inventor： Nolan W. Nicholas ,  Saumya Sharma ,  Yixin Liu

    IPC: G01J1/58 ,  G01J3/02 ,  H05B33/08 ,  G01J1/30 ,  H05B37/02 ,  H01L27/144

    Abstract: A light emitting diode (LED) sensor including a first LED device disposed on a support and configured to emit a radiation, and a second LED device disposed on the support and configured to receive the emitted radiation. A structure is formed on the support, the first LED device, and the second LED device. The structure defines a contoured surface. A material is located adjacently to the contoured surface, wherein the material includes a property adapted to reflect the emitted radiation from the first LED to the second LED. The structure includes an ellipsoid and the contoured surface defines an ellipsoidal surface. First and second foci are defined by the ellipsoid, wherein emitted radiation from the first LED device converges at the first foci and the second foci and is reflected to the second LED device. The device is configured to determine a temperature or a chemical property of an analyte.

    Automatic sensor conflict resolution for sensor fusion system
    19.
    发明授权
    Automatic sensor conflict resolution for sensor fusion system 有权

    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

    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.

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