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1.发明授权公开(公告)号：US11892824B2
公开(公告)日：2024-02-06
申请号：US18251023
申请日：2020-11-05
Applicant: ABB Schweiz AG
Inventor： Jonas Larsson , Aftab Ahmad , Pietro Falco
IPC: G05B19/418 , G05D1/02
CPC classification number: G05B19/41895 , G05D1/0214 , G05D1/0223 , G05D2201/0216
Abstract: A method of detecting sensor malfunction in an automated guided vehicle, AGV, including for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of a body of the AGV based on sensor data from a wheel sensors and/or a steering sensors; for at least one motion variable, calculating a difference between the motion values for at least two different pairs; and determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable.
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公开(公告)号：US20230415331A1
公开(公告)日：2023-12-28
申请号：US18252944
申请日：2020-11-20
Applicant: ABB Schweiz AG
Inventor： Jonas Larsson
CPC classification number: B25J9/0093 , G05D1/021 , B25J5/007 , B25J13/08
Abstract: A method of handling a carrier by means of a mobile robot including a body having a base; a traction arrangement; at least one manipulator; and at least one end effector movable relative to the base; wherein the mobile robot is configured to perform an omnidirectional motion of the base relative to a surface; the method including obtaining environment data of a carrier positioned on the surface by means of an environment sensor; determining a handle position of at least one handle of the carrier based on the environment data; positioning each end effector in relation to at least one handle based on the one or more handle positions; securing each end effector to the at least one handle; and moving the mobile robot and the carrier in common over the surface by means of the mobile robot.
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公开(公告)号：US20230392656A1
公开(公告)日：2023-12-07
申请号：US18250769
申请日：2020-11-04
Applicant: ABB Schweiz AG
Inventor： Axel Johansson , Jonas Larsson
CPC classification number: F16D55/38 , F16D63/006 , B60K7/0007 , B60T13/746 , B60T1/005 , B60T1/065 , F16D2055/0058
Abstract: A brake device including a first device having a shaft; a brake element having a first frictional brake surface and an engageable structure; a second device rotatable relative to the first device about a rotation axis, the second device including a second member having an opening, a second frictional brake surface, and a forcing member pre-tensioned to force the second frictional brake surface against the first frictional brake surface; and an actuator connected to the first device, the actuator including an engaging structure movable between a disengaged position, and an engaged position to brake relative rotation between the first device and the second device about the rotation axis; wherein the shaft is concentric with the rotation axis and passes through the opening.
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Patent Agency Ranking
公开(公告)号：US20220306051A1
公开(公告)日：2022-09-29
申请号：US17596877
申请日：2019-06-26
Applicant: ABB Schweiz AG
Inventor： Jonatan Blom , Jonas Larsson
Abstract: An AGV including a support structure and at least one drive unit connected to the support structure, wherein each drive unit includes a wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis; a wheel motor arranged to drive the wheel about the wheel axis; and a steering motor arranged to drive the wheel about the steering axis; wherein the AGV further includes at least one actuation member movable in an additional degree of freedom; and wherein the at least one actuation member is arranged to be driven by the wheel motor and/or the steering motor of at least one drive unit in the additional degree of freedom. A method of controlling an AGV is also provided.
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公开(公告)号：US20240083031A1
公开(公告)日：2024-03-14
申请号：US18262958
申请日：2021-02-04
Applicant: ABB Schweiz AG
Inventor： Pietro Falco , Jonatan Blom , Jonas Larsson
CPC classification number: B25J9/1676 , B25J9/162 , B25J9/1651 , B25J9/1666 , B25J9/1694 , B25J13/089
Abstract: A method of controlling a robot, the method including obtaining, by means of a proximity sensor on the robot, a distance value indicative of a distance between an object and the robot; obtaining, by means of a thermal sensor on the robot, a temperature value indicative of a temperature of the object; and controlling the robot to reduce its mechanical impedance if the distance value is smaller than a distance threshold value and the temperature value is higher than a temperature threshold value. A control system for controlling a robot, and a robot including the control system, are also provided.
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6.发明公开公开(公告)号：US20230305546A1
公开(公告)日：2023-09-28
申请号：US18251023
申请日：2020-11-05
Applicant: ABB Schweiz AG
Inventor： Jonas Larsson , Aftab Ahmad , Pietro Falco
IPC: G05B19/418 , G05D1/02
CPC classification number: G05B19/41895 , G05D1/0214 , G05D1/0223 , G05D2201/0216
Abstract: A method of detecting sensor malfunction in an automated guided vehicle, AGV, including for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of a body of the AGV based on sensor data from a wheel sensors and/or a steering sensors; for at least one motion variable, calculating a difference between the motion values for at least two different pairs; and determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable.
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公开(公告)号：US12030467B2
公开(公告)日：2024-07-09
申请号：US17596877
申请日：2019-06-26
Applicant: ABB Schweiz AG
Inventor： Jonatan Blom , Jonas Larsson
CPC classification number: B60S9/04 , B60B33/0049 , B62D63/02
Abstract: An AGV including a support structure and at least one drive unit connected to the support structure, wherein each drive unit includes a wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis; a wheel motor arranged to drive the wheel about the wheel axis; and a steering motor arranged to drive the wheel about the steering axis; wherein the AGV further includes at least one actuation member movable in an additional degree of freedom; and wherein the at least one actuation member is arranged to be driven by the wheel motor and/or the steering motor of at least one drive unit in the additional degree of freedom. A method of controlling an AGV is also provided.
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公开(公告)号：US20220306193A1
公开(公告)日：2022-09-29
申请号：US17596910
申请日：2019-06-26
Applicant: ABB Schweiz AG
Inventor： Jonatan Blom , Jonas Larsson
Abstract: A method of braking an AGV, the AGV including a support structure and at least three drive units connected to the support structure, wherein each drive unit includes a wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis; an electric wheel motor arranged to drive the wheel about the wheel axis; a wheel sensor device arranged to determine a rotational position of the wheel about the wheel axis; an electric steering motor arranged to drive the wheel about the steering axis; and a steering sensor device arranged to determine a rotational position of the wheel about the steering axis; wherein the method includes positioning the wheels of the drive units in an invalid configuration; and position controlling each wheel about the respective steering axis in the invalid configuration.
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