公开(公告)号：US20170351245A1

公开(公告)日：2017-12-07

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

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：US11613018B2

公开(公告)日：2023-03-28

申请号：US16297030

申请日：2019-03-08

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  Gregory F. Rossano ,  Jordi Artigas ,  Harald Staab ,  Thomas A. Fuhlbrigge ,  Carlos Martinez ,  Sangeun Choi ,  Jianjun Wang ,  Xiongzi Li

IPC: G06Q20/20 ,  B25J9/16 ,  B65G47/90 ,  G06Q10/087

Abstract: Systems and methods for automatic restocking different items in retail store environments having POS locations for the items are disclosed. The method includes, for a first item of the different items, storing at least one first item parameter uniquely identifying the first item. The method includes determining, based on the at least one first item parameter, a first autonomous movement control scheme for manipulation of the first item by a robotic arm. The method includes executing, by the robotic arm, the first control scheme, the executing including shelving the first item on the shelf. The method includes evaluating, by a processor or a user of the robotic arm, the executing for the first item according to at least one predetermined first performance criteria. The method includes determining and storing, based on the evaluating, an updated first control scheme for subsequent executing by the robotic arm for the first item.

公开(公告)号：US11441958B2

公开(公告)日：2022-09-13

申请号：US16731768

申请日：2019-12-31

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  Thomas A. Fuhlbrigge

IPC: G01L5/171 ,  G01N35/00 ,  B25J9/16

Abstract: Systems, methods, techniques and apparatuses of package identification are disclosed. One exemplary embodiment is a method for package identification comprising performing a set of initial inspection operations on a package; determining a portion of a plurality of possible packages based on the set of initial inspection operations and a data structure including initial inspection characteristics for the plurality of possible packages; performing a set of package movement inspection operations by moving the package using a robot; determining a set of movement characteristics based on the package movement inspection operations; and identifying which one of the portion of the plurality of possible packages corresponds to the package using the set of movement characteristics.

公开(公告)号：US20210086641A1

公开(公告)日：2021-03-25

申请号：US16579342

申请日：2019-09-23

Applicant: ABB Schweiz AG

Inventor： Thomas A. Fuhlbrigge ,  Gregory A. Cole ,  William J. Eakins ,  Stefan Rakuff ,  Harshang Shah ,  Sangeun Choi ,  Martin Krucinski

IPC: B60L53/36 ,  G05B15/02 ,  B60L53/16 ,  B60L53/66 ,  G05D1/02 ,  H02J7/00

Abstract: Devices, methods and software for automated electrical connector positioning for electric vehicle (EV) charging are provided. Using, for example, the disclosed automatic charging device, a method for charging an EV includes determining receipt of an EV-side electrical connector to a charging zone of an EV charging environment. The method includes actuating a charger-side electrical connector from an initial position outside of the charging zone to a final position inside of the charging zone. The final position corresponds to the charger-side electrical connector matingly engaged with the EV-side electrical connector.

公开(公告)号：US20210053455A1

公开(公告)日：2021-02-25

申请号：US16547218

申请日：2019-08-21

Applicant: ABB Schweiz AG

Inventor： Thomas A. Fuhlbrigge ,  Gregory A. Cole ,  William J. Eakins ,  Sangeun Choi ,  Martin Krucinski

IPC: B60L53/31 ,  B60L53/36 ,  B60L53/30 ,  B60L53/66 ,  B60L53/16

Abstract: Systems and method for underside charging of electric vehicles (EVs) are provided. With the EV positioned in a charging environment having a ground surface, a floor unit device actuates an electrical connector toward a charge receptacle of an EV vehicle unit, and the vehicle unit actuates the charge receptacle toward the electrical connector. The actuation facilitates coupling between the connector and the charge receptacle. A flow of electrical current is initiated through the coupled connector and charge receptacle to charge the EV power storage device. Upon completion of the EV charging process, the electrical connector and the charge receptacle are actuated away from one another to facilitate decoupling therebetween.

公开(公告)号：US10929811B2

公开(公告)日：2021-02-23

申请号：US16365215

申请日：2019-03-26

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  Thomas A. Fuhlbrigge

IPC: G06Q10/08 ,  G06T17/00

Abstract: Systems, methods and software for mapping locations of cartons are provided. The method includes, for a first carton, assigning a first identifier to the first carton received for positioning in: a pallet space of a pallet, or in a container space of a container. The method includes determining one or more physical properties of the first carton. The method includes associating the one or more physical properties of the first carton with the first identifier. The method includes determining an as-positioned location of the first carton in the pallet space or in the container space. The method includes generating a three-dimensional (3D) map of the pallet space or the container space. The 3D is generated based on: the determined one or more physical properties of the first carton, and the determined as-positioned location of the first carton in the pallet space or in the container space.

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

IPC: B25J9/16 ,  G03B15/02 ,  G02B13/06 ,  B25J13/08 ,  G06T7/70 ,  H04N13/254

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.

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.

公开(公告)号：US20200327768A1

公开(公告)日：2020-10-15

申请号：US16378994

申请日：2019-04-09

Applicant: ABB Schweiz AG

Inventor： Gregory F. Rossano ,  Sangeun Choi ,  Thomas A. Fuhlbrigge

IPC: G07F11/16 ,  B25J9/16 ,  B65G1/137 ,  G06Q20/20

Abstract: Systems, methods, and software are provided for automated item restocking using gantry robots and establishing safety barriers for retail work operation spaces in retail store environments. Robot controllers in communication with the gantry robots and barrier robots direct the autonomous movements thereof for transferring items between customer-accessible point of sale locations and customer-inaccessible storage, and for alternately restricting and enabling access to work operation spaces, respectively.

公开(公告)号：US10737396B2

公开(公告)日：2020-08-11

申请号：US15926513

申请日：2018-03-20

Applicant: ABB Schweiz AG

Inventor： Gregory F. Rossano ,  Remus Boca ,  Srinivas Nidamarthi ,  Thomas A. Fuhlbrigge

IPC: B25J13/02 ,  B25J11/00 ,  B25J9/00 ,  B25J9/16 ,  G05B19/423

Abstract: A dummy tool is used to teach a robot the path the robot will follow to perform work on a workpiece to eliminate the possibility of damaging an actual tool during the training. The dummy tool provides the robot programmer an indication of potential collisions between the tool and the workpiece and other objects in the work cell when path is being taught. The dummy tool can have a detachable input/output device with a graphic user interface (GUI) that can communicate wirelessly with the robot controller. The dummy tool can also have a moveable camera attached thereto to track the relationship of the tool to objects in the work area.