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1. 发明申请

WO2010068622A1 METHOD AND SYSTEM FOR IN-PRODUCTION OPTIMIZATION OF THE PARAMETERS OF A ROBOT USED FOR ASSEMBLY 审中-公开
标题翻译：用于组装的机器人参数的生产优化方法和系统
公开(公告)号：WO2010068622A1
公开(公告)日：2010-06-17
申请号：PCT/US2009/067125
申请日：2009-12-08
申请人： ABB RESEARCH LTD. , ZHANG, George , BELL, Arnold , WANG, Jianjun , HE, Jianmin , MARTINEZ, Carlos
发明人： ZHANG, George , BELL, Arnold , WANG, Jianjun , HE, Jianmin , MARTINEZ, Carlos
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , G05B13/024 , G05B2219/36401 , G05B2219/39102 , G05B2219/45064
摘要： A robot is used to repeatedly assemble part during a continuous production run of parts to be assembled. There are parameters of the robot associated with the assembly. These parameters are used to assemble the parts. Simultaneously with that repeated assembly the robot parameters are optimized. The parts to be assembled have a starting position for the assembly and the simultaneous optimization of the robot assembly parameters also includes the learning of the starting position. The robot assembly parameters can be optimized in a predefined manner. The optimized parameters can then be verified and the optimized and verified robot assembly parameters may then be used in place of the parameters of the robot associated with the parts assembly along with the learned starting position.
摘要翻译：机器人用于在组装的零件的连续生产运行期间反复组装零件。有与组装相关联的机器人的参数。这些参数用于组装零件。在重复组装的同时，机器人参数被优化。要组装的部件具有组装的起始位置，并且机器人组件参数的同时优化还包括初始位置的学习。机器人装配参数可以以预定的方式进行优化。然后可以验证优化的参数，然后可以使用优化和验证的机器人组件参数来代替与部件组件相关联的机器人的参数以及学习的起始位置。

2. 发明申请

WO2010014397A1 METHOD AND SYSTEM FOR CREATING HMI APPLICATIONS FOR AN AUTOMATION PROCESS 审中-公开
标题翻译：用于自动化过程创建HMI应用的方法和系统
公开(公告)号：WO2010014397A1
公开(公告)日：2010-02-04
申请号：PCT/US2009/050655
申请日：2009-07-15
申请人： ABB RESEARCH LTD. , WANG, Jianjun , LI, Xiongzi , MARTINEZ, Carlos , FUHLBRIGGE, Thomas
发明人： WANG, Jianjun , LI, Xiongzi , MARTINEZ, Carlos , FUHLBRIGGE, Thomas
IPC分类号： G06F9/44
CPC分类号： G06F8/38 , Y02P90/265
摘要： There is described a method and system for developing for an automation process a screen viewable on a target computer that has user interface objects. A development computer has a set of common design time components from a general purpose software development kit that also has a databinding facility and a set of customization components. Those components have an interface that allows access to the available for use automation process data objects and a process object picker that act as a user interface to the databinding facility to allow the browsing of a subset of the available for use data objects and selecting of one or more of the objects in the subset for binding by the databinding facility either to one or more members of the user interface objects or one or more of the user interface objects or a combination of the same.
摘要翻译：描述了一种用于为自动化过程开发可在具有用户界面对象的目标计算机上查看的屏幕的方法和系统。开发计算机具有一组通用设计时间组件，通用软件开发工具包也具有数据绑定功能和一组定制组件。这些组件具有允许访问可用于使用的自动化过程数据对象的接口和作为数据绑定设施的用户界面的过程对象选择器，以允许浏览可用数据对象的子集并选择一个或更多的子集中的对象，用于由数据绑定设施绑定到用户界面对象的一个或多个成员或一个或多个用户界面对象或其组合。

3. 发明申请

WO2014026072A1 ULTRA-FLEXIBLE PRODUCTION MANUFACTURING 审中-公开
标题翻译：超灵活生产制造
公开(公告)号：WO2014026072A1
公开(公告)日：2014-02-13
申请号：PCT/US2013/054243
申请日：2013-08-09
申请人： ABB RESEARCH LTD. , FUHLBRIGGE, Thomas, A. , NEWKIRK, Jeremy , MARTINEZ, Carlos , ZHANG, George, Q. , ROSSANO, Gregory, F. , STAAB, Harald , BOCA, Remus , CHOI, Sangeun , KOCK, Soenke , EAKINS, William, John
发明人： FUHLBRIGGE, Thomas, A. , NEWKIRK, Jeremy , MARTINEZ, Carlos , ZHANG, George, Q. , ROSSANO, Gregory, F. , STAAB, Harald , BOCA, Remus , CHOI, Sangeun , KOCK, Soenke , EAKINS, William, John
IPC分类号： G05B19/418 , G05D1/02
CPC分类号： B25J5/00 , G05B19/41895 , G05B2219/31003 , G05B2219/31013 , G05B2219/32388 , G05D1/0297 , G05D2201/0216 , Y02P90/285 , Y02P90/60 , Y10S901/01
摘要： A manufacturing system has one or more work cells that each performs one or more manufacturing processes. The system also has one or more mobile transport units ("MTUs") that deliver transportable containers containing workpieces to and from said work cells. The MTUs deliver the containers to the work cells in a manner such that the workpieces are localized in the work cells. The manufacturing system also has a computer system that has status information for each of the one or more MTUs and uses the status information to control each of the one or more MTUs to deliver the transportable containers to and from the one or more work cells.
摘要翻译：制造系统具有每个执行一个或多个制造过程的一个或多个工作单元。该系统还具有一个或多个可移动的运输单元（“MTU”），该运输单元将包含工件的可运输容器运送到所述工作单元。 MTU以将工件定位在工作单元中的方式将容器输送到工作单元。制造系统还具有计算机系统，其具有针对一个或多个MTU中的每一个的状态信息，并使用该状态信息来控制一个或多个MTU中的每一个以将运送的容器传送到一个或多个工作单元并从该一个或多个工作单元传送。

4. 发明公开

EP3377948A1 FACILITATING ROBOT POSITIONING 有权转让
公开(公告)号：EP3377948A1
公开(公告)日：2018-09-26
申请号：EP16866952.1
申请日：2016-11-15
申请人： ABB Schweiz AG , Wang, Jianjun , Zhang, Biao , Martinez, Carlos , Morato, Carlos Winsor , Boca, Remus
发明人： WANG, Jianjun , ZHANG, Biao , MARTINEZ, Carlos , MORATO, Carlos, W. , BOCA, Remus
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1692 , G06T7/74 , G06T2200/04 , G06T2207/10028 , G06T2207/30244 , Y10S901/09
摘要： 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.

5. 发明公开

EP3465362A1 USER INTERFACE FOR A TELEOPERATED ROBOT 有权转让
公开(公告)号：EP3465362A1
公开(公告)日：2019-04-10
申请号：EP16903348.7
申请日：2016-05-27
申请人： ABB Schweiz AG , Rossano, Gregory, F. , Martinez, Carlos , Wang, Jianjun , Zhang, Biao , Fuhlbrigge, Thomas, A.
发明人： ROSSANO, Gregory, F. , MARTINEZ, Carlos , WANG, Jianjun , ZHANG, Biao , FUHLBRIGGE, Thomas, A.
IPC分类号： G05B19/00

6. 发明公开

EP3378012A1 AUTOMATICALLY SCANNING AND REPRESENTING AN ENVIRONMENT HAVING A PLURALITY OF FEATURES 审中-公开
公开(公告)号：EP3378012A1
公开(公告)日：2018-09-26
申请号：EP16866960.4
申请日：2016-11-15
申请人： ABB Schweiz AG , Wang, Jianjun , Zhang, Biao , Martinez, Carlos , Morato, Carlos Winsor , Boca, Remus
发明人： WANG, Jianjun , ZHANG, Biao , MARTINEZ, Carlos , MORATO, Carlos W. , BOCA, Remus
IPC分类号： G06K9/00
CPC分类号： H04N13/204 , G06K9/00201 , G06K9/00791 , G06T7/75 , G06T2207/10016 , G06T2207/10028 , G06T2207/30252 , H04N5/232
摘要： Automatic scanning and representing an environment having a plurality of features, for example, includes scanning the environment along a scanning path, interspersing a plurality of localized scanning of the plurality of features in the environment during the scanning along the scanning path of the environment wherein the interspersed localized scanning of the plurality of features in the environment being different from the scanning the environment along the scanning path, and obtaining a representation of at least a portion of the environment based on the scanning of the environment and the interspersed localized scanning of the plurality of features in the environment.

7. 发明公开

EP3377722A1 AUTOMATICALLY SCANNING AND REPRESENTING AN ENVIRONMENT WITH COLLISION AVOIDANCE 有权转让
公开(公告)号：EP3377722A1
公开(公告)日：2018-09-26
申请号：EP16867039.6
申请日：2016-11-16
申请人： ABB Schweiz AG , Wang, Jianjun , Zhang, Biao , Martinez, Carlos , Morato, Carlos Winsor , Boca, Remus , Fuhlbrigge, Thomas, A.
发明人： WANG, Jianjun , ZHANG, Biao , MARTINEZ, Carlos , MORATO, Carlos, Winsor , BOCA, Remus , FUHLBRIGGE, Thomas
IPC分类号： E21B7/00 , G05D1/00 , G05D1/02 , G06F7/00
CPC分类号： H04N13/204 , E21B7/022 , E21D9/006 , G05D1/0248 , G05D2201/021
摘要： 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.

8. 发明申请

WO2017214422A1 ROBOT AUTOMATED MINING 审中-公开
标题翻译：机器人自动采矿
公开(公告)号：WO2017214422A1
公开(公告)日：2017-12-14
申请号：PCT/US2017/036588
申请日：2017-06-08
申请人： ABB SCHWEIZ AG , WANG, Jianjun , MARTINEZ, Carlos , MORATO, Carlos, W. , ZHANG, Biao , FUHLBRIGGE, Thomas , EAKINS, William , CHOI, Sang , LASKO, Daniel, T. , BOCA, Remus
发明人： WANG, Jianjun , MARTINEZ, Carlos , MORATO, Carlos, W. , ZHANG, Biao , FUHLBRIGGE, Thomas , EAKINS, William , CHOI, Sang , LASKO, Daniel, T. , BOCA, Remus , NYQVIST, Jan
IPC分类号： E21B7/00 , E21C37/00 , E21C37/06 , E21C37/12 , F42D1/00 , F42D1/08 , F42D1/10
摘要： In one embodiment, the present disclosure provides a robot automated mining method. In one embodiment, a method includes a robot positioning a charging component for entry into a drill hole. In one embodiment, a method includes a robot moving a charging component within a drill hole. In one embodiment, a method includes a robot filling a drill hole with explosive material. In one embodiment, a method includes operating a robot within a mining environment.
摘要翻译：在一个实施例中，本公开提供了一种机器人自动化挖掘方法。在一个实施例中，一种方法包括定位用于进入钻孔的充电部件的机器人。在一个实施例中，一种方法包括机器人在钻孔内移动充电部件。在一个实施例中，一种方法包括用炸药材料填充钻孔的机器人。在一个实施例中，一种方法包括操作采矿环境内的机器人。

9. 发明申请

WO2017087519A1 AUTOMATICALLY SCANNING AND REPRESENTING AN ENVIRONMENT WITH COLLISION AVOIDANCE 审中-公开
标题翻译：利用避碰功能自动扫描和表示环境
公开(公告)号：WO2017087519A1
公开(公告)日：2017-05-26
申请号：PCT/US2016/062277
申请日：2016-11-16
申请人： ABB SCHWEIZ AG , WANG, Jianjun , ZHANG, Biao , MARTINEZ, Carlos , MORATO, Carlos, Winsor , BOCA, Remus , FULBRIGGE, Thomas
发明人： WANG, Jianjun , ZHANG, Biao , MARTINEZ, Carlos , MORATO, Carlos, Winsor , BOCA, Remus , FULBRIGGE, Thomas
IPC分类号： E21B7/00 , G05D1/00 , G05D1/02 , G06F7/00
CPC分类号： H04N13/204 , E21B7/022 , E21D9/006 , G05D1/0088
摘要： 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.
摘要翻译：自动扫描并且表示具有避免碰撞的环境包括例如使用第一扫描路径获得环境的第一表示，基于环境的第一表示来确定第二扫描路径，所述第一表示可操作用于当获得环境的第二表示时避免与环境的接触，基于第二扫描路径获得环境的第二表示，并且其中环境的第二表示不同于环境的第一表示。该方法可用于成像和/或代表具有多个间隔开的孔的岩壁，用于接收采矿的费用。

10. 发明申请

WO2017204826A1 USER INTERFACE FOR A TELEOPERATED ROBOT 审中-公开
标题翻译：远程操作机器人的用户界面
公开(公告)号：WO2017204826A1
公开(公告)日：2017-11-30
申请号：PCT/US2016/034658
申请日：2016-05-27
申请人： ABB SCHWEIZ AG , ROSSANO, Gregory, F. , MARTINEZ, Carlos , WANG, Jianjun , ZHANG, Biao , FUHLBRIGGE, Thomas, A.
发明人： ROSSANO, Gregory, F. , MARTINEZ, Carlos , WANG, Jianjun , ZHANG, Biao , FUHLBRIGGE, Thomas, A.
IPC分类号： G05B19/00
摘要： A teleoperated robotic system that utilizes a graphical user interface (GUI) to perform work on a workpiece(s) using a robot. A coordinate system of the GUI can be correlated to the tool center point (TCP) of the robot and the TCP or workspace of a teleoperated member, such as a haptic joystick. Operable manipulation of the teleoperated member can be correlated to a movement at a particular location in the robot station, such as movement of the TCP of the robot. The GUI can also provide digital representations of the workpiece, which can be based on inputted and/or scanned information relating to a reference workpiece and/or the particular workpiece on which the robot is performing work. The GUI can further provide indications of the various stages of assembly of the workpiece, as well as an indication of work already, or to be, performed on the workpiece.
摘要翻译：遥控操作的机器人系统利用图形用户界面（GUI）对使用机器人的工件执行工作。 GUI的坐标系可以与机器人的工具中心点（TCP）以及遥控成员的TCP或工作空间（例如触觉操纵杆）相关联。远程操作部件的可操作的操纵可以与机器人站中特定位置处的移动相关联，诸如机器人的TCP的移动。 GUI还可以提供工件的数字表示，其可以基于与参考工件和/或机器人正在执行工作的特定工件有关的输入和/或扫描信息。 GUI可以进一步提供工件组装的各个阶段的指示，以及已经或将要在工件上进行的工作的指示。

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