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公开(公告)号：US12174134B2
公开(公告)日：2024-12-24
申请号：US16990450
申请日：2020-08-11
Applicant: ABB Schweiz AG
Inventor： Tomas Kozel , Gregory Rossano , Jianjun Wang
Abstract: A thermographic inspection system is provided for inspecting electrical equipment. The system may be used while the electrical equipment is energized to monitor active performance of the equipment. The system may be used to monitor temperature differences of various components in the equipment.
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公开(公告)号：US20220410397A1
公开(公告)日：2022-12-29
申请号：US17772370
申请日：2019-10-29
Applicant: Biao Zhang , ABB Schweiz AG
Inventor： Biao Zhang , Saumya Sharma , Yixin Liu , Jianjun Wang , William J. Eakins , Andrew M. Salm , Yun Hsuan Su , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
IPC: B25J9/16
Abstract: A system and method for use of artificial and nature racking features to calibrate sensors and tune a robotic control system of a sensor fusion guided robotic assembly. The artificial tracking features can have a configuration, or be at a location, that may be less susceptible to noise and error. Thus, the sensors can at least initially be calibrated, and the control system initially tuned, using the first tracking features until the sensors and control system satisfy operation performance criteria. Second tracking features, which may correspond to features on a workpiece that will be utilized in an assembly operation performed by the robot. By pre-calibrating the sensors, and pre-tuning the control system prior to calibration using the second tracking features, sensor calibration and system tuning based on the second tracking features can be attained faster and with less complexity.
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公开(公告)号：US11518027B2
公开(公告)日：2022-12-06
申请号：US16864804
申请日：2020-05-01
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Saumya Sharma , Yixin Liu , Jianjun Wang , Will Eakins , Andrew M. Salm , Yun Hsuan Su , Jorge Vidal-Ribas , Jordi Artigas , Ramon Casanelles
Abstract: A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement unit (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.
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公开(公告)号：US20210331322A1
公开(公告)日：2021-10-28
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：US11027921B2
公开(公告)日：2021-06-08
申请号：US16380351
申请日：2019-04-10
Applicant: ABB Schweiz AG
Inventor： Gregory A. Cole , Harald Staab , Thomas A. Fuhlbrigge , Carlos Martinez , Sangeun Choi , Gregory F. Rossano , Jianjun Wang
Abstract: A product manipulation tool for interacting with products and containers at, for example, a retail facility can include a securing mechanism to secure an exposed portion of the container with respect to a horizontal surface such as a shelf. The product manipulation tool can also include a stabilizing device to stabilize the container with respect to the horizontal surface prior to securing the container. The product manipulation tool can also include a support structure for insertion underneath the container to support the load. The stabilizing mechanism may lift or tilt the container prior to insertion of the support structure. In an example, the product manipulation tool may be disposed on a mobile unit configured for locomotion about the retail facility.
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Patent Agency Ranking
公开(公告)号：US20200371055A1
公开(公告)日：2020-11-26
申请号：US16990450
申请日：2020-08-11
Applicant: ABB Schweiz AG
Inventor： Tomas Kozel , Gregory Rossano , Jianjun Wang
Abstract: A thermographic inspection system is provided for inspecting electrical equipment. The system may be used while the electrical equipment is energized to monitor active performance of the equipment. The system may be used to monitor temperature differences of various components in the equipment.
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公开(公告)号：US09914221B2
公开(公告)日：2018-03-13
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
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 machine operation is detected at the machine location. The controller also has a default trap routine that is executed when the specific routine does not exist.
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公开(公告)号：US11548158B2
公开(公告)日：2023-01-10
申请号：US16851946
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 that automatically resolves conflicts among sensor information in a sensor fusion robot system. Such methods can accommodate converging ambiguous and divergent sensor information in a manner that can allow continued, and relatively accurate, robotic operations. The processes can include handling sensor conflict via sensor prioritization, including, but not limited, prioritization based on the particular stage or segment of the assembly operation when the conflict occurs, overriding sensor data that exceeds a threshold value, and/or prioritization based on evaluations of recent sensor performance, predictions, system configuration, and/or historical information. The processes can include responding to sensor conflicts through comparisons of the accuracy of workpiece location predictions from different sensors during different assembly stages in connection with arriving at a determination of which sensor(s) is providing accurate and reliable predictions.
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公开(公告)号：US11366450B2
公开(公告)日：2022-06-21
申请号：US15467573
申请日：2017-03-23
Applicant: ABB Schweiz AG
Inventor： Biao Zhang , Jianjun Wang , Remus Boca
IPC: B25J9/16 , G05B19/408
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.
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公开(公告)号：US20200324975A1
公开(公告)日：2020-10-15
申请号：US16380351
申请日：2019-04-10
Applicant: ABB Schweiz AG
Inventor： Gregory A. Cole , Harald Staab , Thomas A. Fuhlbrigge , Carlos Martinez , Sangeun Choi , Gregory F. Rossano , Jianjun Wang
IPC: B65G1/137
Abstract: A product manipulation tool for interacting with products and containers at, for example, a retail facility can include a securing mechanism to secure an exposed portion of the container with respect to a horizontal surface such as a shelf. The product manipulation tool can also include a stabilizing device to stabilize the container with respect to the horizontal surface prior to securing the container. The product manipulation tool can also include a support structure for insertion underneath the container to support the load. The stabilizing mechanism may lift or tilt the container prior to insertion of the support structure. In an example, the product manipulation tool may be disposed on a mobile unit configured for locomotion about the retail facility.
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