公开(公告)号：US10668623B2

公开(公告)日：2020-06-02

申请号：US15169517

申请日：2016-05-31

Applicant: ABB Schweiz AG ,  Ford Motor Company

Inventor： George Q. Zhang ,  David P. Gravel ,  Soenke Kock ,  Thomas A. Fuhlbrigge ,  Heping Chen ,  Sangeun Choi ,  Arnold Bell ,  Biao Zhang

IPC: B25J9/16

Abstract: A method for robotic adaptive production includes modifying program instructions online while performing production activities in response to detecting a change in the production environment. A robotic adaptive production method includes modifying program instructions online while performing production activities to minimize a production task cycle time or improve a production task quality. A robotic adaptive production method includes estimating a relationship between a control parameter and a sensor input; and modifying the control parameter online to achieve an updated parameter based on the estimating. A robotic adaptive production method includes receiving sensor input relating to robotic performance during the performance of production tasks and online optimizing a process parameter based on robotic performance during the performance of the production tasks. A robotic adaptive production method includes determining the position and/or orientation of a feature based on a learned position and/or orientation of another feature and on a geometric relationship.

公开(公告)号：US10661442B2

公开(公告)日：2020-05-26

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.

公开(公告)号：US20190325668A1

公开(公告)日：2019-10-24

申请号：US16434371

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 ,  Sanguen Choi ,  Gregory F. Rossano ,  Andrew M. Salm ,  Saumya Sharma ,  Stefan Rakuff ,  Nolan W. Nicholas

IPC: G07C5/00 ,  G05D1/00 ,  G01N1/10

Abstract: A submersible inspection system for inspection of liquid cooled electrical transformers having a wirelessly controlled submersible inspective device. A submersion depth of the submersible can be controlled using a ballast system. The system can also include an input/output selector to switch between camera images from the submersible. A heartbeat signal indicative of a health of the transmitted signal can be transmitted to the submersible, and redundant channel selection logic can facilitate switching to a channel that includes a current heartbeat. A plurality of status interrogation systems disposed on the submersible can capture data regarding inspection procedures performed on the transformer, and the submersible can include tools for repair procedures. Data transmitted from the submersible, and overlayed with input data from an operator, can facilitate real time inspection analysis. The system can also form a model of an internal in the transformer, as well as produce a three-dimensional field of view.

公开(公告)号：US10378353B2

公开(公告)日：2019-08-13

申请号：US15581786

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

IPC: E21C37/12 ,  B25J9/16 ,  E21C37/00 ,  F42D1/22 ,  E21D9/00 ,  E21B7/02

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.

公开(公告)号：US20180154995A1

公开(公告)日：2018-06-07

申请号：US15834396

申请日：2017-12-07

Applicant: ABB Schweiz AG

Inventor： Gregory Cole ,  William Eakins ,  Daniel Lasko ,  Harshang Shah ,  Thomas Fuhlbrigge ,  Biao Zhang ,  Sanguen Choi ,  Luiz Cheim ,  Poorvi Patel ,  Andrew Salm

IPC: B63G8/22 ,  B63G8/00

CPC classification number: B63G8/22 ,  B63G8/001 ,  B63G2008/005

Abstract: A submersible inspection drone used for inspection can include a ballast system used to control depth of the submersible inspection drone. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The ballast system can include a pressure vessel for storing fluid and a bag for inflating and deflating as it receives a fluid. Buoyancy of the submersible inspection drone can be provided by change in density of the pressure vessel as a compressible gas is expanded when the ballast bag is caused to inflate or deflate. A pump can be used to draw fluid from the ballast bag and store the fluid in the pressure vessel. In one form the pressure vessel can include a compressible fluid and an incompressible fluid, where the incompressible fluid is used to inflate and deflate the bag.

公开(公告)号：US20170334071A1

公开(公告)日：2017-11-23

申请号：US15617475

申请日：2017-06-08

Applicant: ABB Schweiz AG

Inventor： Biao Zhang ,  Jianjun Wang ,  George Q. Zhang ,  Sangeun Choi ,  Remus Boca ,  Thomas A. Fuhlbrigge ,  Tomas Groth

IPC: B25J9/16

CPC classification number: B25J9/1689 ,  G05B2219/40195 ,  G05B2219/40204 ,  Y10S901/09 ,  Y10S901/46

Abstract: A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in the machine function is detected at the machine location. The controller also has a default trap routine that is executed when the specific routine does not exist.