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1. 发明申请

US20050137746A1 System and method for communication between an industrial robot and a tpu 审中-公开
标题翻译：工业机器人与tpu之间的通信的系统和方法
公开(公告)号：US20050137746A1
公开(公告)日：2005-06-23
申请号：US10493628
申请日：2002-10-20
申请人： Erik Carlson , Jan Endresen , Svein Johannessen
发明人： Erik Carlson , Jan Endresen , Svein Johannessen
IPC分类号： B25J13/02 , B25J13/06 , G05B19/423 , G06F3/00 , G06F3/01 , G06F19/00
CPC分类号： G06F3/016 , B25J13/02 , B25J13/065 , G05B19/427 , G05B2219/33192 , G05B2219/40562
摘要： An industrial robot comprising a manipulator (2), a control unit (3) for controlling the manipulator, a portable operating unit (4) for reaching an manually operating the robot, which operating unit is adapted for communication with the control unit and comprising a operator control means (9).
摘要翻译：一种工业机器人，包括操纵器（2），用于控制所述操纵器的控制单元（3），用于到达手动操作所述机器人的便携式操作单元（4），所述操作单元适于与所述控制单元通信，并且包括操作员控制装置（9）。

2. 发明授权

US07577497B2 Industrial robot with portable emergency stop unit 有权
标题翻译：带便携式紧急停机装置的工业机器人
公开(公告)号：US07577497B2
公开(公告)日：2009-08-18
申请号：US10473744
申请日：2002-04-02
申请人： Svein Johannessen , Jan Endresen , Erik Carlson , Ralph Sjöberg
发明人： Svein Johannessen , Jan Endresen , Erik Carlson , Ralph Sjöberg
IPC分类号： G06F19/00 , H04Q5/22 , G05B19/00
CPC分类号： B25J13/06 , B25J9/1674 , B25J19/06 , G05B2219/33192 , G05B2219/39001 , G05B2219/39384 , G05B2219/39447 , G05B2219/50198
摘要： An industrial robot including a manipulator, a control unit for controlling the manipulator, a portable operating unit for teaching and manually operating the robot, which operating unit is adapted for wireless communication with the control unit, and an emergency stop unit. The emergency stop unit is arranged movable and the portable operating unit includes a first receiving member for receiving the emergency stop unit.
摘要翻译：一种工业机器人，包括操纵器，用于控制操纵器的控制单元，用于教导和手动操作机器人的便携式操作单元，该操作单元适于与控制单元无线通信，以及紧急停止单元。紧急停止单元可移动地布置，便携式操作单元包括用于接收紧急停止单元的第一接收构件。

3. 发明授权

US07451016B2 Industrial robot comprising a portable operating unit which a movable key device for identification of the robot 失效
标题翻译：工业机器人包括用于识别机器人的可移动键装置的便携式操作单元
公开(公告)号：US07451016B2
公开(公告)日：2008-11-11
申请号：US10473743
申请日：2002-04-02
申请人： Svein Johannessen , Jan Endresen , Erik Carlson
发明人： Svein Johannessen , Jan Endresen , Erik Carlson
IPC分类号： G06F19/00 , H04Q5/22 , G05B19/00 , G05B23/00 , B25J9/18 , B25J9/22
CPC分类号： B25J9/1674 , B25J9/1689 , B25J13/06 , B25J19/06 , G05B2219/33105 , G05B2219/33192 , G05B2219/34456 , G05B2219/36104 , G05B2219/36115 , G05B2219/39001 , G05B2219/39384
摘要： An industrial robot system including a plurality of industrial robots. Each robot includes a manipulator, a control unit for automatically operating the manipulator, and a movable key device configured to store information about the identity of the robot to which the moveable key device belongs. A portable operating unit is configured to teach and program the robots. The portable operating unit is adapted for wireless communication with each control unit. The portable operating unit includes a member for receiving one of the moveable key devices, a reader for reading a robot identity from the received moveable device, and a communication establisher for establishing wireless communication between the operating unit and the control unit of the identified robot upon reading the robot identity from the moveable key device.
摘要翻译：一种包括多个工业机器人的工业机器人系统。每个机器人包括操纵器，用于自动操作操纵器的控制单元和被配置为存储关于可移动键设备所属机器人的身份的信息的可移动键设备。便携式操作单元被配置为教导和编程机器人。便携式操作单元适于与每个控制单元的无线通信。便携式操作单元包括用于接收可移动键设备之一的构件，用于从接收到的可移动设备读取机器人身份的读取器，以及用于在操作单元和所识别的机器人的控制单元之间建立无线通信的通信建立器，从可移动键设备读取机器人标识。

4. 发明申请

US20090212731A1 ROBOT CONTROL SYSTEM COMPRISING A PORTABLE OPERATING DEVICE WITH SAFETY EQUIPMENT 有权
标题翻译：机器人控制系统，包括具有安全设备的便携式操作设备
公开(公告)号：US20090212731A1
公开(公告)日：2009-08-27
申请号：US11919822
申请日：2006-05-02
申请人： Jan Endresen , Erik Carlson , Ralph Sjöberg , Olov Nylén
发明人： Jan Endresen , Erik Carlson , Ralph Sjöberg , Olov Nylén
IPC分类号： B25J9/22
CPC分类号： B25J9/1674 , B25J13/06
摘要： A robot controller including a control unit and a portable operating device (TPU) for teaching and manually operating the robot. The TPU includes safety equipment, a safety TPU-part having a first communication unit and a main TPU-part having a third communication unit. The control unit includes a safety control part having a second communication unit and a main control part having a forth communication unit. The first and second communication units are arranged such that they form a first communication channel for transferring communication data including information regarding the status of safety equipment from the TPU to the control unit. The third and fourth communication units are arranged such that they form a second communication channel for transferring general communication data between the TPU and the control unit. Each of the main TPU-part, the safety TPU-part, the main control part, and the safety control part includes a central processing unit adapted for generating and/or handling the communication data. Each of the communication units is connected to a network. Each of the communication units forms a node in the network.
摘要翻译：一种机器人控制器，包括用于教导和手动操作机器人的控制单元和便携式操作装置（TPU）。 TPU包括安全设备，具有第一通信单元的安全TPU部件和具有第三通信单元的主TPU部件。控制单元包括具有第二通信单元和具有第四通信单元的主控制部件的安全控制部件。第一和第二通信单元布置成使得它们形成用于将包括关于安全设备的状态的信息的通信数据从TPU传送到控制单元的第一通信信道。第三和第四通信单元被布置成使得它们形成用于在TPU和控制单元之间传送总体通信数据的第二通信信道。主TPU部件，安全TPU部件，主控部件和安全控制部件中的每一个包括适于生成和/或处理通信数据的中央处理单元。每个通信单元连接到网络。每个通信单元在网络中形成一个节点。

5. 发明申请

US20070297890A1 Industrial Robot System with a Portable Operator Control Device 失效
标题翻译：具有便携式操作员控制装置的工业机器人系统
公开(公告)号：US20070297890A1
公开(公告)日：2007-12-27
申请号：US11630480
申请日：2005-06-23
申请人： Ralph Sjoberg , Nick Warren , Jan Endresen , Erik Carlson
发明人： Ralph Sjoberg , Nick Warren , Jan Endresen , Erik Carlson
IPC分类号： B66C3/00 , G05B19/18
CPC分类号： G08C17/00 , B25J13/065 , B25J19/06 , G01S13/878 , G06Q10/0639
摘要： An industrial robot including a manipulator, a control unit for controlling the manipulator, a portable operating unit for teaching and manually operating the robot, which operating unit is adapted for wireless communication with the control unit and including an operator control. The transmissions may be made wirelessly with redundant software processes for transmission and/or reception. Safety is increased by ensuring that the operator is within the specified operating area.
摘要翻译：一种工业机器人，包括操纵器，用于控制机械手的控制单元，用于教导和手动操作机器人的便携式操作单元，该操作单元适于与控制单元无线通信并包括操作者控制。传输可以用用于传输和/或接收的冗余软件过程进行无线传输。通过确保操作员在指定的操作区域内来增加安全性。

6. 发明授权

US07208900B2 Industrial robot system 失效
标题翻译：工业机器人系统
公开(公告)号：US07208900B2
公开(公告)日：2007-04-24
申请号：US10493626
申请日：2002-10-17
申请人： Erik Carlson , Jan Endresen , Snorre Kjesbu
发明人： Erik Carlson , Jan Endresen , Snorre Kjesbu
IPC分类号： G05B19/18 , G06F13/10
CPC分类号： G01S5/14 , B25J13/006 , B25J13/02 , B25J13/065 , B25J19/06 , F16P3/141 , F16P3/144 , F16P3/147
摘要： An industrial robot including a manipulator, a control unit for controlling the manipulator, and a portable operating unit for teaching and manually operating the robot. The portable operating unit is adapted for wireless communication with the control unit and includes an operator control. The invention increases the safety by ensuring that the operator is within the specified operating area.
摘要翻译：一种工业机器人，包括操纵器，用于控制操纵器的控制单元，以及用于教导和手动操作机器人的便携式操作单元。便携式操作单元适于与控制单元的无线通信，并且包括操作员控制。本发明通过确保操作者在指定的操作区域内来增加安全性。

7. 发明申请

US20150381231A1 Fast Frequency Hopping Adapted To The Environment 有权
标题翻译：快速跳频适应环境
公开(公告)号：US20150381231A1
公开(公告)日：2015-12-31
申请号：US14424913
申请日：2012-08-30
申请人： Anne Vallestad , Jan Endresen , Erik Carlson , Knut Rimstad
发明人： Anne Vallestad , Jan Endresen , Erik Carlson , Knut Rimstad
IPC分类号： H04B1/7136 , H04B17/309 , H04B1/715 , H04W24/08
CPC分类号： H04B1/7136 , H04B1/713 , H04B1/715 , H04B17/309 , H04B2001/7154 , H04W24/08 , H04W84/22
摘要： A transmitting node in an industrial wireless network transmits a first number of bits to a receiving node, where at least one bit is partitioned into segments and each segment is transmitted at a different frequency according to a frequency transmission scheme. The receiving node receives the number of bits, determines the quality of each segment of a received bit, collects quality determinations of segments, forms a quality measure for each frequency through combining quality determinations of the corresponding frequency, compares each quality measure with a quality measure criterion, determines at least one frequency that does not fulfill the quality measure criterion and informs the transmitting node about frequencies for which the corresponding quality measures do not fulfill the quality measure criterion. The transmitting node receives the information and updates the frequency transmission scheme.
摘要翻译：工业无线网络中的发送节点向接收节点发送第一数量的比特，其中至少一个比特被划分为多个分段，并且根据频率传输方案以不同的频率发送每个分段。接收节点接收比特数，确定接收到的比特的每个片段的质量，收集片段的质量确定，通过组合对应频率的质量确定来形成每个频率的质量度量，将每个质量度量与质量度量进行比较确定不符合质量测量标准的至少一个频率，并通知发送节点关于相应质量测量不符合质量测量标准的频率。发送节点接收信息并更新频率传输方案。

8. 发明授权

US07933667B2 Industrial robot system with a portable operator control device 失效
标题翻译：工业机器人系统带有便携式操作员控制装置
公开(公告)号：US07933667B2
公开(公告)日：2011-04-26
申请号：US11630480
申请日：2005-06-23
申请人： Ralph Sjöberg , Nick Warren , Jan Endresen , Erik Carlson
发明人： Ralph Sjöberg , Nick Warren , Jan Endresen , Erik Carlson
IPC分类号： G05B9/02 , G05B19/04 , G06F19/00 , B25J9/18 , B25J5/00 , B25J9/22 , G05B19/19 , G05B19/42
CPC分类号： G08C17/00 , B25J13/065 , B25J19/06 , G01S13/878 , G06Q10/0639
摘要： An industrial robot including a manipulator, a control unit for controlling the manipulator, a portable operating unit for teaching and manually operating the robot, which operating unit is adapted for wireless communication with the control unit and including an operator control. The transmissions may be made wirelessly with redundant software processes for transmission and/or reception. Safety is increased by ensuring that the operator is within the specified operating area.
摘要翻译：一种工业机器人，包括操纵器，用于控制机械手的控制单元，用于教导和手动操作机器人的便携式操作单元，该操作单元适于与控制单元的无线通信并且包括操作者控制。传输可以用用于传输和/或接收的冗余软件过程进行无线传输。通过确保操作员在指定的操作区域内来增加安全性。

9. 发明申请

US20050055130A1 Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US20050055130A1
公开(公告)日：2005-03-10
申请号：US10473733
申请日：2002-04-02
申请人： Erik Carlson , Svein Johannesson , Jan Endresen , Ralph Sjoberg
发明人： Erik Carlson , Svein Johannesson , Jan Endresen , Ralph Sjoberg
IPC分类号： B25J9/16 , B25J9/18 , B25J13/06 , B25J19/06 , G01S7/40
CPC分类号： B25J9/1689 , B25J13/06 , B25J19/06 , G05B2219/31162 , G05B2219/33192 , G05B2219/39001 , G05B2219/39384 , G05B2219/39447
摘要： A communication system for safe wireless control of an manoeuvrable object (3), comprising a control unit (1) having means for operating the object and receiving means for wireless information, and a portable operating unit (2) having sending means for wireless information, where said information is divided in time slots (ts), each containing a data package (21). The receiving means comprises detecting means for detecting in a time part (tp) of a time slot the presence of said data package and calculating means for calculating upon a reception failure the number of time parts having no presence of said data package following a time slot with presence of said data package. The control unit exercises a control command when a data package with a correct information has been received within a number of time parts just exceeding a full time slot.
摘要翻译：一种用于对可操作对象（3）的安全无线控制的通信系统，包括具有用于操作所述对象的装置和用于无线信息的接收装置的控制单元（1）和具有用于无线信息的发送装置的便携式操作单元（2）其中所述信息在时隙（ts）中被划分，每个时隙包含数据包（21）。接收装置包括检测装置，用于在时隙部分（tp）检测所述数据包的存在和计算装置，用于在接收到故障后计算在时隙之后不存在所述数据包的时间部分的数量存在所述数据包。当具有正确信息的数据包已被接收到超过全时隙的时间部分的数量时，控制单元执行控制命令。

10. 发明授权

US09419678B2 Fast frequency hopping adapted to the environment 有权
标题翻译：快速跳频适应环境
公开(公告)号：US09419678B2
公开(公告)日：2016-08-16
申请号：US14424913
申请日：2012-08-30
申请人： Anne Vallestad , Jan Endresen , Erik Carlson , Knut Rimstad
发明人： Anne Vallestad , Jan Endresen , Erik Carlson , Knut Rimstad
IPC分类号： H04B1/7136 , H04B1/713 , H04B17/309 , H04B1/715 , H04W24/08 , H04W84/22
CPC分类号： H04B1/7136 , H04B1/713 , H04B1/715 , H04B17/309 , H04B2001/7154 , H04W24/08 , H04W84/22
摘要： A transmitting node in an industrial wireless network transmits a first number of bits to a receiving node, where at least one bit is partitioned into segments and each segment is transmitted at a different frequency according to a frequency transmission scheme. The receiving node receives the number of bits, determines the quality of each segment of a received bit, collects quality determinations of segments, forms a quality measure for each frequency through combining quality determinations of the corresponding frequency, compares each quality measure with a quality measure criterion, determines at least one frequency that does not fulfill the quality measure criterion and informs the transmitting node about frequencies for which the corresponding quality measures do not fulfill the quality measure criterion. The transmitting node receives the information and updates the frequency transmission scheme.
摘要翻译：工业无线网络中的发送节点向接收节点发送第一数量的比特，其中至少一个比特被划分为多个分段，并且根据频率传输方案以不同的频率发送每个分段。接收节点接收比特数，确定接收到的比特的每个片段的质量，收集片段的质量确定，通过组合对应频率的质量确定来形成每个频率的质量度量，将每个质量度量与质量度量进行比较确定不符合质量测量标准的至少一个频率，并通知发送节点关于相应质量测量不符合质量测量标准的频率。发送节点接收信息并更新频率传输方案。

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