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    Method and system for object tracking in robotic vision guidance
    2.
    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
    3.
    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.

    System and Method for Robotic Calibration and Tuning
    4.
    发明申请
    System and Method for Robotic Calibration and Tuning 有权

    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.

    METHOD AND SYSTEM FOR OBJECT TRACKING IN ROBOTIC VISION GUIDANCE
    6.
    发明申请
    METHOD AND SYSTEM FOR OBJECT TRACKING IN ROBOTIC VISION GUIDANCE 有权

    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

    IPC: B25J9/16 ,  B25J13/08

    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.

    Automatic sensor conflict resolution for sensor fusion system
    7.
    发明授权
    Automatic sensor conflict resolution for sensor fusion system 有权

    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

    IPC: B25J9/16 ,  B25J13/08

    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.

    System and Method for Online Optimization of Sensor Fusion Model
    8.
    发明申请
    System and Method for Online Optimization of Sensor Fusion Model 有权

    公开(公告)号：US20230010651A1

    公开(公告)日：2023-01-12

    申请号：US17772656

    申请日：2019-10-29

    Applicant: Biao ZHANG ,  ABB Schweiz AG

    Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

    IPC: G06N3/08 ,  G06N3/04

    Abstract: A system and method for collecting data regarding operation of a robot using, at least in part, responses from a first operation model to an input of sensed data from a plurality of sensors. The collected data can be used to optimize the first operation model to generate a second operation model. While the first operation model is being optimized, a train data-driven model that utilizes an end-to-end learning approach can be generated that is based, at least in part, on the collected data. Both the second operation model and the train data-driven model can be evaluated, and, based on such evaluation, a determination can be made as to whether the train data-driven model is reliable. Moreover, based on a comparison of the models, one of the second operation model and the train data-driven model can be selected for validation, and if validated, used in the operation of the robot.

    System and Method for Robotic Evaluation
    9.
    发明申请
    System and Method for Robotic Evaluation 有权

    公开(公告)号：US20220402136A1

    公开(公告)日：2022-12-22

    申请号：US17772365

    申请日：2019-10-29

    Applicant: Biao Zhang ,  ABB Schweiz AG

    Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Ramon Casanelles ,  Jordi Artigas

    IPC: B25J9/16 ,  B25J13/08

    Abstract: A system and method for determining performance of a robot. In one form the robot is constructed as you assembling automotive workpieces onto an automobile assembly. In one form the robot accomplishes the task of assembling an automotive workpiece onto the automotive assembly by using vision feedback and force feedback. The vision feedback can use any number of features perform its function. Such features can include an artificial feature such as but not limited to a QR code, as well as a natural feature such as a portion of the workpiece or automotive assembly. In one embodiment the robot is capable of detecting a collision event and assessing the severity of the collision event. In another embodiment the robot is capable of evaluating its performance by attracting a performance metric against a performance threshold, and comparing a sensor fusion output with a sensor fusion output reference.

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