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1. 发明公开

EP3145682A1 SYSTEMS AND METHODS FOR TIME-BASED PARALLEL ROBOTIC OPERATION 有权转让
标题翻译： SYSTEME UND VERFAHRENFÜRZEITBASIERTEN PARALLELEN ROBOTERBETRIEB
公开(公告)号：EP3145682A1
公开(公告)日：2017-03-29
申请号：EP15725142.2
申请日：2015-04-30
申请人： Bot & Dolly LLC
发明人： LINNELL, Jeffrey , BYRNE, Kendra
IPC分类号： B25J9/16
CPC分类号： G05B19/41815 , B25J9/1656 , B25J9/1666 , B25J9/1682 , G05B2219/39083 , G05B2219/39135 , G05B2219/40475 , G05B2219/40477 , Y10S901/02
摘要： Example systems and methods may allow for parallel operation of robotic devices within a workcell, such as industrial robots controlled to manufacture an output product. One example method includes receiving ordered sequences of operations for a plurality of corresponding robotic devices, determining time-based sequences of operations for each of the robotic devices, where a time-based sequence of operations indicates positions within the workcell at corresponding timesteps of a global timeline, determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell, modifying the time-based sequences of operations in order to prevent the one or more potential collisions, and providing instructions for parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.
摘要翻译：示例系统和方法可以允许工作单元内的机器人设备的并行操作，例如被控制来制造输出产品的工业机器人。一个示例性方法包括接收多个对应的机器人设备的有序序列的操作，确定每个机器人设备的基于时间的操作序列，其中基于时间的操作序列指示工作单元内的全局对应时间步长时间线，确定涉及由工作单元内基于时间的操作序列的并行执行而导致的机器人设备的一个或多个潜在的冲突，修改基于时间的操作序列以防止一个或多个潜在的冲突，以及提供用于在所述工作单元内的所述机器人设备在所述全局时间线的时间步长上并行执行经修改的基于时间的操作序列的指令。

2. 发明公开

EP3152009A1 SYSTEMS AND METHODS FOR INSTRUCTING ROBOTIC OPERATION 有权转让
标题翻译：系统VERFAHREN ZUR ANWEISUNG VON ROBOTERBETRIEB
公开(公告)号：EP3152009A1
公开(公告)日：2017-04-12
申请号：EP15725143.0
申请日：2015-04-30
申请人： Bot & Dolly LLC
发明人： LINNELL, Jeffrey , BYRNE, Kendra
IPC分类号： B25J9/16
CPC分类号： B25J9/1671 , B25J9/1656 , B25J9/1658 , B25J9/1661 , B25J11/00 , G05B2219/31467 , G05B2219/31472 , G05B2219/32342 , G05B2219/32351 , G05B2219/40397 , G06F17/5009 , G06N3/006 , G06N3/008 , G06T13/40
摘要： Example systems and methods may allow for use of a generic robot trajectory format to control a robotic process within a workcell. One example method includes receiving a digital representation of at least one digital robot acior, including at least one robot definition corresponding to the at least one digital robot actor and at least one sequence of robot operations for the at least one digital robot actor, determining a mapping between the at least one digital robot acior and at least one corresponding physical robot actor within a physical workcell, generating at least one robot-language-specific sequence of executable instructions for the at least one physical robot actor, and transmitting the at least one robot-language specific sequence of executable instructions to the at least one physical robot actor to execute in order to perform the at least sequence of robot operations within the physical workcell.
摘要翻译：示例系统和方法可以允许使用通用机器人轨迹格式来控制工作单元内的机器人处理。一个示例性方法包括接收至少一个数字机器人演员的数字表示，包括至少一个对应于该至少一个数字机器人演员的机器人定义和至少一个数字机器人演员的至少一个机器人操作序列，确定一个在所述至少一个数字机器人演员与物理工作单元内的至少一个对应的物理机器人演员之间进行映射，为所述至少一个物理机器人演员生成至少一个机器人语言特定的可执行指令序列，以及发送所述至少一个机器人语言特定的可执行指令序列到所述至少一个物理机器人actor以执行以便在所述物理工作单元内执行所述至少一系列机器人操作。

3. 发明公开

EP3126917A1 RUNTIME CONTROLLER FOR ROBOTIC MANUFACTURING SYSTEM 有权转让
标题翻译： LAUFZEITSTEUERGERÄTFÜRROBOTISCHES HERSTELLUNGSSYSTEM
公开(公告)号：EP3126917A1
公开(公告)日：2017-02-08
申请号：EP15717719.7
申请日：2015-03-30
申请人： Bot & Dolly LLC
发明人： LINNELL, Jeffrey , BYRNE, Kendra , BITTERMAN, Matthew
IPC分类号： G05B19/409 , G05B19/42
CPC分类号： G05B19/409 , G05B19/42 , G05B2219/36056 , G05B2219/39432 , G05B2219/39443
摘要： Example systems and methods allow for runtime control of robotic devices during a construction process. One example method includes determining at least one sequence of robot operations corresponding to at least one robot actor, causing the at least one robot actor to execute a portion of the at least one sequence of robot operations during a first time period, receiving an interrupt signal from a mobile computing device indicating a modification to the at least one sequence of robot operations, where the mobile computing device is configured to display a digital interface including one or more robot parameters describing the at least one robot actor and one or more tool parameters describing operating characteristics of at least one physical tool, and causing the at least one robot actor to execute a portion of the at least one modified sequence of robot operations during a second time period.
摘要翻译：示例系统和方法允许在施工过程中对机器人设备进行运行时控制。一个示例性方法包括确定对应于至少一个机器人运动员的至少一个机器人操作序列，使得所述至少一个机器人运动员在第一时间段期间执行所述至少一个机器人操作序列的一部分，接收中断信号来自移动计算设备，其指示对所述至少一个机器人操作序列的修改，其中所述移动计算设备被配置为显示包括描述所述至少一个机器人actor的一个或多个机器人参数的数字接口以及描述的一个或多个工具参数至少一个物理工具的操作特性，并使所述至少一个机器人执行器在第二时间段期间执行所述至少一个经修改的机器人操作序列的一部分。

4. 发明公开

EP3126101A1 SOFTWARE INTERFACE FOR AUTHORING ROBOTIC MANUFACTURING PROCESS 有权转让
标题翻译： SOFTWARE-SCHNITTSTELLE ZUM ERSTELLEN EINES ROBOTERFERTIGUNGSVERFAHRENS
公开(公告)号：EP3126101A1
公开(公告)日：2017-02-08
申请号：EP15719329.3
申请日：2015-03-30
申请人： Bot & Dolly LLC
发明人： LINNELL, Jeffrey , BYRNE, Kendra , BITTERMAN, Matthew
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , G05B2219/35216 , Y10S901/41
摘要： Example systems and methods allow for use of a graphical interface to cause one or more robotic devices to construct an output product. One example method includes causing a graphical interface to be displayed on a display device, receiving input data corresponding to one or more interactions with the graphical interface indicating at least one motion path and at least one sequence of tool actions to execute at one or more points within the at least one motion path for use in construction of an output product, generating a plurality of digital nodes including at least one robot node, at least one motion command node, and at least one tool command node, and providing instructions for the at least one robot actor to move according to the sequence of robot motion commands determined by the at least one motion command node and execute the sequence of tool commands determined by the at least one tool command node to construct the output product.
摘要翻译：示例系统和方法允许使用图形界面来使一个或多个机器人设备构建输出产品。一个示例性方法包括使图形界面显示在显示设备上，接收对应于与图形界面的一个或多个交互的输入数据，该图形界面指示至少一个运动路径以及在一个或多个点执行的至少一个工具动作序列在用于构造输出产品的所述至少一个运动路径内，生成包括至少一个机器人节点的多个数字节点，至少一个运动命令节点和至少一个工具命令节点，以及为所述至少一个运动路径至少一个机器人演员根据由所述至少一个运动命令节点确定的机器人运动命令的顺序移动，并且执行由所述至少一个工具命令节点确定的工具命令序列以构建输出产物。

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