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    Product Manipulation Tool
    11.
    发明申请
    Product Manipulation Tool 审中-公开

    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.

    INDUSTRIAL ROBOT TRAINING USING MIXED REALITY
    13.
    发明申请
    INDUSTRIAL ROBOT TRAINING USING MIXED REALITY 审中-公开

    公开(公告)号：US20190202055A1

    公开(公告)日：2019-07-04

    申请号：US15902142

    申请日：2018-02-22

    Applicant: ABB Schweiz AG

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

    IPC: B25J9/16 ,  G06T19/00 ,  H04N7/18

    Abstract: Unique systems, methods, techniques and apparatuses of a robot training system are disclosed. One exemplary embodiment is an industrial robot training system comprising a mixed reality display device structured to superimpose a virtual scene on a real-world view of a real-world scene including a plurality of physical objects including an industrial robot, a video input device, and a computing device. The computing device is structured to detect physical objects using video output from the video input device, generate virtual objects using the detected physical objects, simulate a virtual robot path, determine one movement of the series of robot movements causes a collision, adjust the virtual robot path so as to avoid the collision between the two virtual objects of the plurality of virtual objects, and program the industrial robot to perform a real robot path using the adjusted virtual robot path.

    Facilitating robot positioning
    14.
    发明授权
    Facilitating robot positioning 有权

    公开(公告)号：US10173324B2

    公开(公告)日：2019-01-08

    申请号：US14941823

    申请日：2015-11-16

    Applicant: ABB SCHWEIZ AG

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

    IPC: G06K9/00 ,  B25J9/16 ,  G06T7/73

    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.

    Machine learning-based systems and methods for controlling robotic object picking and placement in training and run time environments
    16.
    发明授权
    Machine learning-based systems and methods for controlling robotic object picking and placement in training and run time environments 有权

    公开(公告)号：US11185980B2

    公开(公告)日：2021-11-30

    申请号：US16385470

    申请日：2019-04-16

    Applicant: ABB Schweiz AG

    Inventor： Jinmiao Huang ,  Carlos Martinez ,  Sangeun Choi

    IPC: B25J9/16

    Abstract: Methods, systems, and software for controlling object picking and placement by a robot system are disclosed. The method includes assigning machine learning training data of a machine learning model for an object. The machine learning training data includes a plurality of known grasp location labels assigned to the object positioned in a plurality of different object poses. The method includes providing the object in a work space of the robot system. For the object in the work space in a first pose of the plurality of different object poses, the method includes: mapping a first candidate grasp location on the object; executing robotic movements for the first candidate grasp location on the object; and evaluating a result of the executing for the first candidate grasp location according to at least one predetermined performance criteria.

    Object grasp system and method
    19.
    发明授权
    Object grasp system and method 有权

    公开(公告)号：US11312581B2

    公开(公告)日：2022-04-26

    申请号：US16385592

    申请日：2019-04-16

    Applicant: ABB Schweiz AG

    Inventor： Jinmiao Huang ,  Sangeun Choi ,  Carlos Martinez

    IPC: B65G47/90

    Abstract: A grasping system includes a robotic arm having a gripper. A fixed sensor monitors a grasp area and an onboard sensor moves with the gripper also monitors the area. A controller receives information indicative of a position of an object to be grasped and operates the robotic arm to bring the gripper into a grasp position adjacent the object based on information provided by the fixed sensor. The controller is also programmed to operate the gripper to grasp the object in response to information provided by the first onboard sensor.

    Object Grasp System and Method
    20.
    发明申请
    Object Grasp System and Method 审中-公开

    公开(公告)号：US20200331709A1

    公开(公告)日：2020-10-22

    申请号：US16385592

    申请日：2019-04-16

    Applicant: ABB Schweiz AG

    Inventor： Jinmiao Huang ,  Sangeun Choi ,  Carlos Martinez

    IPC: B65G47/90

    Abstract: A grasping system includes a robotic arm having a gripper. A fixed sensor monitors a grasp area and an onboard sensor moves with the gripper also monitors the area. A controller receives information indicative of a position of an object to be grasped and operates the robotic arm to bring the gripper into a grasp position adjacent the object based on information provided by the fixed sensor. The controller is also programmed to operate the gripper to grasp the object in response to information provided by the first onboard sensor.

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