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公开(公告)号：US20190389548A1
公开(公告)日：2019-12-26
申请号：US16434643
申请日：2019-06-07
Applicant: ABB Schweiz Ag
Inventor： Gregory A. Cole , William J. Eakins , Daniel I. Lasko , Harshang Shah , Thomas A. Fuhlbrigge , Luiz V. Cheim , Poorvi Patel , Biao Zhang , Saumya Sharma , Andrew Salm
IPC: B63G8/00 , G01N21/954 , G21C17/013 , G21C17/017 , B63G8/16 , G05D1/00
Abstract: An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.
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公开(公告)号：US20190286119A1
公开(公告)日：2019-09-19
申请号：US16434639
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 , Luiz V. Cheim , Poorvi Patel , Biao Zhang , Saumya Sharma , Gregory F. Rossano
Abstract: A submersible remotely operable vehicle used for inspection of liquid cooled electrical transformers can include a number of separate cameras and sensors for mapping and navigating the internal structure of the transformer with liquid coolant remaining in the transformer. The remotely operable vehicle can be wirelessly controlled to perform various inspection functions while the number of cameras provide video streams for processing to produce a three dimensional field of view based on an observation position of the remotely operable vehicle.
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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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Patent Agency Ranking
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：US20210023714A1
公开(公告)日：2021-01-28
申请号：US16520549
申请日：2019-07-24
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Thomas A. Fuhlbrigge , Saumya Sharma , Yixin Liu
Abstract: An in-hand object location system including at least one robotic hand including a plurality of grippers and a body and at least one camera disposed on a periphery surface of the plurality of grippers. The system also includes at least one illumination surface disposed on a periphery surface of the plurality of grippers and at least one tactile sensor disposed in the at least one illumination surface. The at least one robotic hand, the plurality of grippers, the at least one camera, the at least one illumination surface and the at least one tactile sensor are electrically connected to a controller.
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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
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.
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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
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.
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28.发明申请公开(公告)号：US20180371520A1
公开(公告)日：2018-12-27
申请号：US15633409
申请日：2017-06-26
Applicant: ABB Schweiz AG
Inventor： Saumya Sharma , Yixin Liu , Nolan Nicholas
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.
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