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公开(公告)号：US20190202055A1
公开(公告)日：2019-07-04
申请号：US15902142
申请日：2018-02-22
Applicant: ABB Schweiz AG
Inventor： Jianjun Wang , Remus Boca , Biao Zhang , Carlos Martinez , Thomas Fuhlbrigge
Abstract: Unique systems, methods, techniques and apparatuses of a robot training system are disclosed. One exemplary embodiment is an industrial robot training system comprising a mixed reality display device structured to superimpose a virtual scene on a real-world view of a real-world scene including a plurality of physical objects including an industrial robot, a video input device, and a computing device. The computing device is structured to detect physical objects using video output from the video input device, generate virtual objects using the detected physical objects, simulate a virtual robot path, determine one movement of the series of robot movements causes a collision, adjust the virtual robot path so as to avoid the collision between the two virtual objects of the plurality of virtual objects, and program the industrial robot to perform a real robot path using the adjusted virtual robot path.
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公开(公告)号：US20190036337A1
公开(公告)日：2019-01-31
申请号：US16149907
申请日：2018-10-02
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Remus Boca , Jeremy Newkirk , Thomas A. Fuhlbrigge , George Q. Zhang , Xiongzi Li
IPC: H02J3/36 , B33Y30/00 , H02M5/458 , B29C64/106 , B29C64/20
Abstract: A robotic 3D printing system has a six degree of freedom (DOF) robot (12) that holds the platform (16) on which the 3D pad (15) is built on. The system uses the dexterity of the 6 DOF robot to move and rotate rue platform relative to the 3D printing head (18), which deposits the material on the platform. The system allows the part build in 3D directly with a simple printing head and depositing the material along the gravity direction. The 3D printing head is held by another robot (14) or robots. The robot movement can be calibrated to improve the accuracy and efficiency for high precision 3D part printing.
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公开(公告)号：US10173324B2
公开(公告)日：2019-01-08
申请号：US14941823
申请日：2015-11-16
Applicant: ABB SCHWEIZ AG
Inventor： Jianjun Wang , Biao Zhang , Carlos Martinez , Carlos Winsor Morato , Remus Boca
Abstract: Robot positioning is facilitated by obtaining, for each time of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot.
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公开(公告)号：US20180222055A1
公开(公告)日：2018-08-09
申请号：US15424058
申请日：2017-02-03
Applicant: ABB Schweiz AG
Inventor： Jianjun Wang , Remus Boca , Biao Zhang
IPC: B25J9/16
Abstract: A calibration article is provided for calibrating a robot and 3D camera. The calibration article includes side surfaces that are angled inward toward a top surface. The robot and camera are calibrated by capturing positional data of the calibration article relative to the robot and the camera. The captured data is used to generate correlation data between the robot and the camera. The correlation data is used by the controller to align the robot with the camera during operational use of the robot and camera.
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公开(公告)号：US20170356730A1
公开(公告)日：2017-12-14
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
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.
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Patent Agency Ranking
公开(公告)号：US11407111B2
公开(公告)日：2022-08-09
申请号：US16019768
申请日：2018-06-27
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Remus Boca , Carlos W. Morato , Carlos Martinez , Jianjun Wang , Zhou Teng , Jinmiao Huang , Magnus Wahlstrom , Johnny Holmberg
Abstract: A robot is configured to perform a task on an object using a method for generating a 3D model sufficient to determine a collision free path and identify the object in an industrial scene. The method includes determining a predefined collision free path and scanning an industrial scene around the robot. Stored images of the industrial scene are retrieved from a memory and analyzed to construct a new 3D model. After an object is detected in the new 3D model, the robot can further scan the image in the industrial scene while moving along a collision free path until the object is identified at a predefined certainty level. The robot can then perform a robot task on the object.
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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：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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