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    Method and system for object tracking in robotic vision guidance
    33.
    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
    34.
    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.

    Industrial robot training using mixed reality
    35.
    发明授权
    Industrial robot training using mixed reality 有权

    公开(公告)号：US10751877B2

    公开(公告)日：2020-08-25

    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

    IPC: B25J9/16 ,  G06T19/00 ,  H04N7/18

    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.

    User interface for a teleoperated robot
    36.
    发明授权
    User interface for a teleoperated robot 有权

    公开(公告)号：US10730180B2

    公开(公告)日：2020-08-04

    申请号：US15825914

    申请日：2017-11-29

    Applicant: ABB Schweiz AG

    Inventor： Gregory F. Rossano ,  Carlos Martinez ,  Jianjun Wang ,  Biao Zhang ,  Thomas A. Fuhlbrigge

    IPC: B25J9/16 ,  B25J13/02 ,  B25J13/06 ,  B25J13/08 ,  B25J11/00 ,  G06F3/0484 ,  G06K9/20 ,  G06K9/62 ,  G06K9/78

    Abstract: A teleoperated robotic system that utilizes a graphical user interface (GUI) to perform work on a workpiece(s) using a robot. A coordinate system of the GUI is correlated to the tool center point (TCP) of the robot and the TCP or workspace of a teleoperated member, such as a haptic joystick. Operable manipulation of the teleoperated member is correlated to a movement at a particular location in the robot station, such as movement of the TCP of the robot. The GUI can also provide digital representations of the workpiece, which is based on inputted and/or scanned information relating to a reference workpiece and/or the particular workpiece on which the robot is performing work. The GUI can further provide indications of the various stages of assembly of the workpiece, as well as an indication of work already, or to be, performed on the workpiece.

    ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM
    38.
    发明申请
    ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM 审中-公开

    公开(公告)号：US20180275632A1

    公开(公告)日：2018-09-27

    申请号：US15467573

    申请日：2017-03-23

    Applicant: ABB Schweiz AG

    Inventor： Biao Zhang ,  Jianjun Wang ,  Remus Boca

    IPC: G05B19/408

    CPC classification number: G05B19/4086

    Abstract: Apparatus and method is disclosed for determining position of a robot relative to objects in a workspace which includes the use of a camera, scanner, or other suitable device in conjunction with object recognition. The camera, etc is used to receive information from which a point cloud can be developed about the scene that is viewed by the camera. The point cloud will be appreciated to be in a camera centric frame of reference. Information about a known datum is used and compared to the point cloud through object recognition. For example, a link from a robot could be the identified datum so that, when recognized, the coordinates of the point cloud can be converted to a robot centric frame of reference since the position of the datum would be known relative to the robot.

    Contact force limiting with haptic feedback for a tele-operated robot
    40.
    发明授权
    Contact force limiting with haptic feedback for a tele-operated robot 有权

    公开(公告)号：US09849595B2

    公开(公告)日：2017-12-26

    申请号：US15016578

    申请日：2016-02-05

    Applicant: ABB Schweiz AG

    Inventor： Jianjun Wang ,  Thomas A. Fuhlbrigge ,  Biao Zhang

    IPC: B25J9/16 ,  B25J13/02 ,  G06F3/01

    CPC classification number: B25J13/025 ,  B25J9/1689 ,  G05B2219/36455 ,  G05B2219/37396 ,  G06F3/016 ,  G06F2203/014 ,  G06F2203/015 ,  Y10S901/04

    Abstract: One exemplary embodiment is a system comprising an operator input device structured to move in response to operator-applied force and to selectably output feedback force to the operator. A first computing system is structured to receive input from the operator input device and provide an output. A second computing system is structured to receive the output and provide a robot control command subject to a force constraint. An industrial robot system is in operative communication with the second computing system and comprises a robotic arm structured to move in response to the command. The second computing system is structured process the output to impose a force constraint using a dual threshold hysteresis control. The first computing system is structured to apply a feedback force to the operator input device correlated to force associated with the industrial robot system.

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