公开(公告)号：US20220266882A1

公开(公告)日：2022-08-25

申请号：US17597049

申请日：2020-06-12

Applicant: ABB Schweiz AG

Inventor： Harald Staab ,  Daniel Lasko ,  Will Eakins ,  Harshang Shah

IPC: B61L25/02 ,  B61L23/04

Abstract: An unmanned rail vehicle for surveillance, inspection and/or maintenance of an infrastructure, the infrastructure including a rail structure with a rail, the unmanned rail vehicle being movable along the rail and the unmanned rail vehicle including a first position sensor system configured for measuring, by interaction with the rail structure, first position data indicative of a position of the unmanned rail vehicle along the rail, a second position sensor system configured for measuring, by interaction with the rail structure, second position data indicative of a position of the unmanned rail vehicle along the rail, a position determining unit configured for receiving and combining first and second position data to determine the position of the unmanned rail vehicle along the rail.

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

IPC: B25J15/00 ,  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.

公开(公告)号：US20180158232A1

公开(公告)日：2018-06-07

申请号：US15835178

申请日：2017-12-07

Applicant: ABB Schweiz AG

Inventor： Gregory Cole ,  William Eakins ,  Daniel Lasko ,  Harshang Shah ,  Thomas Fuhlbrigge ,  Carlos Morato ,  Biao Zhang ,  Luiz Cheim ,  Poorvi Patel ,  Harald Staab ,  Saumya Sharma

IPC: G06T15/20 ,  G06T17/20 ,  G06T7/00 ,  G06F17/50 ,  B63G8/00

CPC classification number: G06T15/205 ,  B63B2702/12 ,  B63G8/001 ,  B63G2008/005 ,  G06F17/5009 ,  G06T7/55 ,  G06T7/593 ,  G06T7/73 ,  G06T7/97 ,  G06T17/20 ,  G06T2200/08 ,  G06T2207/10012

Abstract: A submersible vehicle which includes a plurality of cameras can be used to collect visual images of an object of interest submerged in a liquid environment, such as in a tank (e.g. transformer tank). In one form the submersible vehicle is remotely operated such as an ROV or an autonomous vehicle. Image information from the submersible along with inertial measurements in some embodiments is used with a vision based modelling system to form a model of an internal object of interest in the tank. The vision based modelling system can include a number of processes to form the model such as but not limited to tracking, sparse and dense reconstruction, model generation, and rectification.

公开(公告)号：US11613018B2

公开(公告)日：2023-03-28

申请号：US16297030

申请日：2019-03-08

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  Gregory F. Rossano ,  Jordi Artigas ,  Harald Staab ,  Thomas A. Fuhlbrigge ,  Carlos Martinez ,  Sangeun Choi ,  Jianjun Wang ,  Xiongzi Li

IPC: G06Q20/20 ,  B25J9/16 ,  B65G47/90 ,  G06Q10/087

Abstract: Systems and methods for automatic restocking different items in retail store environments having POS locations for the items are disclosed. The method includes, for a first item of the different items, storing at least one first item parameter uniquely identifying the first item. The method includes determining, based on the at least one first item parameter, a first autonomous movement control scheme for manipulation of the first item by a robotic arm. The method includes executing, by the robotic arm, the first control scheme, the executing including shelving the first item on the shelf. The method includes evaluating, by a processor or a user of the robotic arm, the executing for the first item according to at least one predetermined first performance criteria. The method includes determining and storing, based on the evaluating, an updated first control scheme for subsequent executing by the robotic arm for the first item.

公开(公告)号：US20240367320A1

公开(公告)日：2024-11-07

申请号：US18773977

申请日：2024-07-16

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Nuo Li ,  Björn Matthias ,  René Kirsten ,  Roger Mellander ,  Debora Clever ,  Christoph Byner ,  Harald Staab ,  Silke Klose

IPC: B25J9/16

Abstract: A method for implementing a safety configuration for a manipulator comprising an end effector comprises: a) reading an action instruction from a manipulator control program, the instruction defining at least one of a path to be followed by the end effector, a target position to be reached by the end effector, a target pose to be assumed by the end effector and an action to be carried out by a tool wielded by the end effector; b) reading at least one constraint instruction from the manipulator control program, the constraint instruction defining a constraint to be observed while carrying out an action instruction; and c) carrying out the action instruction read in step a) while respecting the constraint defined in the at least one constraint instruction, or transferring the manipulator into a safety mode if violation of the at least one constraint is detected while carrying out the action instruction.

公开(公告)号：US20230138217A1

公开(公告)日：2023-05-04

申请号：US18083687

申请日：2022-12-19

Applicant: ABB Schweiz AG

Inventor： Christoph Byner ,  Björn Matthias ,  Harald Staab ,  Richard Roberts

IPC: B25J9/16 ,  B25J13/08

Abstract: A robot comprises at least one articulate arm having members including a base, an end effector and a plurality of links, wherein each link is movably connected to two others of said members by respective joints, at least one sensor for detecting an external force acting on any one of the members, and a controller for controlling movements of the joints, so as to move the end effector along a pre-programmed path. In case of the sensor detecting an external force, the controller is adapted to adopt a first release strategy for escaping from the external force, to evaluate whether the first strategy is successful, and if not, to adopt a second release strategy.

公开(公告)号：US11005240B2

公开(公告)日：2021-05-11

申请号：US16718242

申请日：2019-12-18

Applicant: ABB Schweiz AG

Inventor： Tomas Kozel ,  Radek Javora ,  Pavel Vrbka ,  Josef Cernohous ,  Christoph Budde ,  Christian Simonidis ,  Harald Staab ,  Sebastian Breisch

IPC: H02B13/035 ,  H02B13/02 ,  H02B13/00

Abstract: A three phase switchgear or control gear includes: at least one compartment; a plurality of components for a first phase; a plurality of components for a second phase; and a plurality of components for a third phase. The plurality of components for the first phase, the second phase, and the third phase each include a connection to a main busbar, a circuit breaker actuator, a single phase circuit breaker pole, and a cable connection. The circuit breaker actuator and the single phase circuit breaker pole for the first phase are oriented along a first axis. The circuit breaker actuator and the single phase circuit breaker pole for the second phase are oriented along a second axis. The circuit breaker actuator and the single phase circuit breaker pole for the third phase are oriented along a third axis. The first axis, the second axis, and the third axis are inclined.

公开(公告)号：US20200282560A1

公开(公告)日：2020-09-10

申请号：US16297030

申请日：2019-03-08

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  Gregory F. Rossano ,  Jordi Artigas ,  Harald Staab ,  Thomas A. Fuhlbrigge ,  Carlos Martinez ,  Sangeun Choi ,  Jianjun Wang ,  Xiongzi Li

IPC: B25J9/16 ,  G06Q10/08 ,  B65G47/90

Abstract: Systems and methods for automatic restocking different items in retail store environments having POS locations for the items are disclosed. The method includes, for a first item of the different items, storing at least one first item parameter uniquely identifying the first item. The method includes determining, based on the at least one first item parameter, a first autonomous movement control scheme for manipulation of the first item by a robotic arm. The method includes executing, by the robotic arm, the first control scheme, the executing including shelving the first item on the shelf. The method includes evaluating, by a processor or a user of the robotic arm, the executing for the first item according to at least one predetermined first performance criteria. The method includes determining and storing, based on the evaluating, an updated first control scheme for subsequent executing by the robotic arm for the first item.

公开(公告)号：US20190322292A1

公开(公告)日：2019-10-24

申请号：US16467795

申请日：2017-12-08

Applicant: ABB Schweiz AG

Inventor： Harald Staab ,  William Eakins ,  Daniel Lasko ,  Thomas Fuhlbrigge ,  Edward Zhang ,  Harshang Shah ,  Stefan Rakuff ,  Gregory Cole ,  Gregory Rossano ,  Andrew Salm ,  Sang Choi ,  Remus Boca

IPC: B61B3/02 ,  B61C3/00 ,  B61C13/04 ,  B61C17/06 ,  B61L27/00 ,  B61D15/00

Abstract: An unmanned rail vehicle for surveillance, inspection, and/or maintenance of an industrial site is provided. The rail vehicle includes at least two carry rollers adapted for engaging on an upper rail side of a rail, wherein the center of gravity of the rail vehicle is vertically below the upper rail side; and at least one support roller connected to the chassis and adapted for rolling against a lateral rail side of the rail to laterally displace the center of gravity of the rail vehicle with respect to the upper rail side.

公开(公告)号：US10207412B2

公开(公告)日：2019-02-19

申请号：US15751091

申请日：2015-08-10

Applicant: ABB Schweiz AG

Inventor： Camilla Kullborg ,  Harald Staab ,  Jan Nyqvist

IPC: B25J11/00 ,  B25J5/00 ,  B25J9/00 ,  B25J19/00 ,  B25J19/02

Abstract: A platform including at least one industrial robot, wherein the platform is arranged to be carried by a vehicle to a working site where the at least one industrial robot is to perform a task in relation to the working site. The platform includes a platform body, a platform control unit and a connecting arrangement with a connecting device arranged to be connected to a vehicle arm of the vehicle such that the platform can be carried by the vehicle arm of the vehicle. The connecting arrangement further includes an actuator arranged to cause the platform to rotate around an axis X-X defined by the connecting device according to instructions from the platform control unit. A vehicle including the platform is also described.