公开(公告)号：US20150314447A1

公开(公告)日：2015-11-05

申请号：US14649160

申请日：2013-12-03

Applicant: Biao ZHANG ,  Jianjun WANG ,  George Q. ZHANG ,  Sangeun CHOI ,  Remus BOCA ,  Thomas A. FUHLBRIGGE ,  Thomas GROTH

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 machine operation is detected at the machine location. The controller also has a default trap routine that is executed when specific routine does not exist.

Abstract translation: 机器具有远离控制站的至少一个致动机构。 双向实时通信链路将机器位置与控制站相连。 在机器位置处的控制器具有程序代码，其被配置为从机器位置的一个或多个传感器的数据确定机器是否在机器执行其预定功能时发生实际故障并确定实际故障 或更多类型的故障，并将一个或多个故障类型传输到控制站进行分析。 控制器中的代码被配置为特定于机器功能的预编程陷阱程序，在机器位置检测到机器操作错误时自动执行。 控制器还具有默认的陷阱程序，当特定例程不存在时，它将被执行。

公开(公告)号：US09682480B2

公开(公告)日：2017-06-20

申请号：US14649160

申请日：2013-12-03

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

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

IPC: G06F19/00 ,  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 machine operation is detected at the machine location. The controller also has a default trap routine that is executed when specific routine does not exist.

公开(公告)号：US09508148B2

公开(公告)日：2016-11-29

申请号：US13817833

申请日：2011-08-25

Applicant: Biao Zhang ,  Jianjun Wang ,  Gregory F. Rossano ,  Thomas A. Fuhlbrigge

Inventor： Biao Zhang ,  Jianjun Wang ,  Gregory F. Rossano ,  Thomas A. Fuhlbrigge

IPC: G06F17/50 ,  H04N9/79 ,  B25J19/04 ,  G06K9/00 ,  G06T7/00 ,  B25J9/16

CPC classification number: G06T7/0018 ,  B25J9/1661 ,  B25J9/1687 ,  B25J9/1692 ,  B25J9/1697 ,  G05B2219/35059 ,  G05B2219/39391 ,  G05B2219/40032 ,  G05B2219/40616 ,  G05B2219/45029 ,  G06T7/80 ,  Y10S901/02 ,  Y10S901/47

Abstract: A vision-guided alignment system to align a plurality of components includes a robotic gripper configured to move one component relative to another component and a camera coupled to a processor that generates an image of the components. A simulated robotic work cell generated by the processor calculates initial calibration positions that define the movement of the robotic gripper such that position errors between the actual position of the robotic gripper and the calibration positions are compensated by a camera space manipulation based control algorithm executed by the processor to control the robotic gripper to move one component into alignment with another component based on the image of the components.

Abstract translation: 对准多个部件的视觉引导的对准系统包括被配置为相对于另一部件移动一个部件的机器人抓爪器和耦合到产生部件的图像的处理器的相机。 由处理器生成的模拟机器人工作单元计算定义机器人抓爪器的运动的初始校准位置，使得机器人抓爪器的实际位置与校准位置之间的位置误差由基于相机空间操纵的控制算法 处理器来控制机器人抓爪以基于组件的图像将一个部件移动到与另一部件对准。

公开(公告)号：US20130147944A1

公开(公告)日：2013-06-13

申请号：US13817833

申请日：2011-08-25

Applicant: Biao Zhang ,  Jianjun Wang ,  Gregory F. Rossano ,  Thomas A. Fuhlbrigge

Inventor： Biao Zhang ,  Jianjun Wang ,  Gregory F. Rossano ,  Thomas A. Fuhlbrigge

IPC: G06T7/00

CPC classification number: G06T7/0018 ,  B25J9/1661 ,  B25J9/1687 ,  B25J9/1692 ,  B25J9/1697 ,  G05B2219/35059 ,  G05B2219/39391 ,  G05B2219/40032 ,  G05B2219/40616 ,  G05B2219/45029 ,  G06T7/80 ,  Y10S901/02 ,  Y10S901/47

Abstract: A vision-guided alignment system to align a plurality of components includes a robotic gripper configured to move one component relative to another component and a camera coupled to a processor that generates an image of the components. A simulated robotic work cell generated by the processor calculates initial calibration positions that define the movement of the robotic gripper such that position errors between the actual position of the robotic gripper and the calibration positions are compensated by a camera space manipulation based control algorithm executed by the processor to control the robotic gripper to move one component into alignment with another component based on the image of the components.

Abstract translation: 对准多个部件的视觉引导的对准系统包括被配置为相对于另一部件移动一个部件的机器人抓爪器和耦合到产生部件的图像的处理器的相机。 由处理器生成的模拟机器人工作单元计算定义机器人抓爪器的运动的初始校准位置，使得机器人抓爪器的实际位置与校准位置之间的位置误差由基于相机空间操纵的控制算法 处理器来控制机器人抓爪以基于组件的图像将一个部件移动到与另一部件对准。