公开(公告)号：US20170140539A1

公开(公告)日：2017-05-18

申请号：US14941832

申请日：2015-11-16

Applicant: ABB Technology AG

Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos Winsor Morato

IPC: G06T7/00 ,  B25J9/16

CPC classification number: B25J9/1687 ,  B25J9/1697 ,  G05B2219/34165 ,  G05B2219/37563 ,  G05B2219/40425 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20061

Abstract: Three-dimensional visual servoing for positioning a robot in an environment is facilitated. Three-dimensional point cloud data of a scene of the environment is obtained, the scene including a feature. The three-dimensional point cloud data is converted into a two-dimensional image, and a three-dimensional position of the feature is identified based on the two-dimensional image. An indication of the identified three-dimensional position of the feature is then provided.

公开(公告)号：US20160152416A1

公开(公告)日：2016-06-02

申请号：US14902970

申请日：2014-07-07

Applicant: Thomas FUHLBRIDGE ,  ABB TECHNOLOGY AG

Inventor： Harald Josef Staab ,  Gregory Rossano ,  Eduardo Botelho ,  Thomas Fuhibrigge ,  George Zhang ,  Sang Choi ,  Carlos Martinez

IPC: B65G43/02

CPC classification number: B65G43/02 ,  B65G23/00

Abstract: A method inspects a conveyor (10) having opposing sides (34, 35) and a length. The conveyor includes an endless belt (16) and a plurality of roller structures (24) disposed in spaced relation along at least a portion of the length of the conveyor and under a top flight (17) of the belt for supporting the belt while material is being conveyed on the belt. Each roller structure includes at least one roller (12, 12′) constructed and arranged to rotate about an axis as the belt is conveyed with the material. The method orients an unmanned vehicle (22), having sensor structure (28) thereon, at one side of the conveyor, and causes the vehicle to travel along the portion of the length of the conveyor while the sensor structure obtains data regarding a state of at least a portion of the belt and of rollers of the plurality of roller structures while the conveyor is operating.

Abstract translation: 一种方法检查具有相对侧面（34,35）和长度的输送机（10）。 输送机包括环形带（16）和沿输送机长度的至少一部分间隔设置的多个辊结构（24），并且位于带的顶部飞行（17）下方，用于支撑带，同时材料 正在皮带上传送。 每个辊结构包括至少一个辊（12,12'），所述至少一个辊（12,12'）构造和布置成当带材与材料一起输送时围绕轴线旋转。 该方法将传感器结构（28）上的无人驾驶车辆（22）定向在输送机的一侧，并且使得车辆沿着输送机的长度部分行进，同时传感器结构获得关于 在输送机运行时，至少一部分带和多个辊结构的辊。

公开(公告)号：US10341639B2

公开(公告)日：2019-07-02

申请号：US14941838

申请日：2015-11-16

Applicant: ABB Technology AG

Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos W. Morato ,  Remus Boca ,  Thomas Fuhlbrigge

IPC: H04N13/204 ,  E21D9/00 ,  E21B7/02 ,  G05D1/02

Abstract: Automatic scanning and representing an environment with collision avoidance includes, for example, obtaining a first representation of the environment using a first scanning path, determining a second scanning path based on the first representation of the environment operable to avoid contact with the environment when obtaining a second representation of the environment, obtaining the second representation of the environment based on the second scanning path, and wherein the second representation of the environment is different from the first representation of the environment. The method may be employed in imaging and/or representing a rock wall having a plurality of spaced-apart holes for receiving charges for mining.

公开(公告)号：US09950873B2

公开(公告)日：2018-04-24

申请号：US14902970

申请日：2014-07-07

Applicant: ABB TECHNOLOGY AG ,  Thomas Fuhlbridge

Inventor： Harald Josef Staab ,  Gregory Rossano ,  Eduardo Botelho ,  Thomas Fuhlbrigge ,  George Zhang ,  Sang Choi ,  Carlos Martinez

IPC: G01N19/00 ,  B65G43/02 ,  B65G23/00

CPC classification number: B65G43/02 ,  B65G23/00

Abstract: A method inspects a conveyor (10) having opposing sides (34, 35) and a length. The conveyor includes an endless belt (16) and a plurality of roller structures (24) disposed in spaced relation along at least a portion of the length of the conveyor and under a top flight (17) of the belt for supporting the belt while material is being conveyed on the belt. Each roller structure includes at least one roller (12, 12′) constructed and arranged to rotate about an axis as the belt is conveyed with the material. The method orients an unmanned vehicle (22), having sensor structure (28) thereon, at one side of the conveyor, and causes the vehicle to travel along the portion of the length of the conveyor while the sensor structure obtains data regarding a state of at least a portion of the belt and of rollers of the plurality of roller structures while the conveyor is operating.

公开(公告)号：US10046459B2

公开(公告)日：2018-08-14

申请号：US14941832

申请日：2015-11-16

Applicant: ABB Technology AG

Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos Winsor Morato

IPC: G06K9/00 ,  B25J9/16 ,  G06T7/73

Abstract: Three-dimensional visual servoing for positioning a robot in an environment is facilitated. Three-dimensional point cloud data of a scene of the environment is obtained, the scene including a feature. The three-dimensional point cloud data is converted into a two-dimensional image, and a three-dimensional position of the feature is identified based on the two-dimensional image. An indication of the identified three-dimensional position of the feature is then provided.

公开(公告)号：US20170136626A1

公开(公告)日：2017-05-18

申请号：US14941823

申请日：2015-11-16

Applicant: ABB Technology AG

Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos Winsor Morato ,  Remus Boca

IPC: B25J9/16 ,  G06T7/20 ,  G06T7/00

CPC classification number: B25J9/1697 ,  B25J9/1692 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/30244 ,  Y10S901/09

Abstract: Robot positioning is facilitated by obtaining, for each time of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot.

公开(公告)号：US20150209960A1

公开(公告)日：2015-07-30

申请号：US14420100

申请日：2013-07-23

Applicant: ABB TECHNOLOGY AG

Inventor： Xiongzi Li ,  Oyvind A. Landsnes ,  Thomas A. Fuhlbrigge ,  Steinar Riveland ,  Carlos Martinez ,  Christoffer Apneseth

IPC: B25J9/16 ,  G06F17/50

CPC classification number: B25J9/1671 ,  G05B2219/35343 ,  G05B2219/45065 ,  G06F17/5009 ,  Y10S901/43

Abstract: A system for tuning robot trajectory to obtain optimal material thickness on an object includes at least one robot adapted to dispense material, a controller connected to the robot to control movement of the robot and to dispense material in relation to the object. A tuner is connected to the controller to iteratively simulate dispensing of the material on the object based on movement of the robot, and to adjust dispensing of the material and movement of the robot to obtain a desired material thickness on the object based on the iterative simulations. A related method to optimize dispensing material on an object includes simulating a path trajectory of a material dispensing robot in relation to an object is also disclosed.

Abstract translation: 用于调整机器人轨迹以在物体上获得最佳材料厚度的系统包括至少一个适于分配材料的机器人，连接到机器人的控制器以控制机器人的运动并且相对于物体分配材料。 调谐器连接到控制器以基于机器人的运动迭代地模拟物体上的材料的分配，并且基于迭代模拟来调整材料的分配和机器人的移动以获得物体上的期望的材料厚度 。 还公开了一种用于优化物体上的分配材料的相关方法，包括模拟材料分配机器人相对于物体的路径轨迹。