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1. 发明公开

US20240066701A1 SIMULATION DEVICE USING THREE-DIMENSIONAL POSITION INFORMATION OBTAINED FROM OUTPUT FROM VISION SENSOR 审中-公开
公开(公告)号：US20240066701A1
公开(公告)日：2024-02-29
申请号：US18261111
申请日：2022-02-18
申请人： FANUC CORPORATION
发明人： Takashi YAMAZAKI
IPC分类号： B25J9/16 , G05B19/4155
CPC分类号： B25J9/1671 , B25J9/1697 , G05B19/4155 , G05B2219/40311
摘要： This simulation device comprises a simulation implementation unit that simulates a movement of a robot device, and estimates a movement path of a robot. The simulation device comprises a position information generation unit that generates three-dimensional position information for a surface of a workpiece on the basis of the output of a vision sensor, which has imaged an actual workpiece. A display unit displays the three-dimensional position information for the surface of the workpiece, superimposed on an image of a robot device model, an image of a workpiece model, and the movement path of the robot.

2. 发明授权

US11726464B2 Publish/subscribe protocol for real-time process control 有权
公开(公告)号：US11726464B2
公开(公告)日：2023-08-15
申请号：US17563401
申请日：2021-12-28
申请人： FISHER-ROSEMOUNT SYSTEMS, INC.
发明人： Mark J. Nixon , Anthony Amaro, Jr. , Noel Howard Bell , John M. Caldwell , Gary K. Law
IPC分类号： G05B19/418 , G06F9/30 , G06F13/40 , H04L67/12 , G05B17/00
CPC分类号： G05B19/41885 , G05B19/4183 , G05B19/4185 , G05B19/41835 , G05B19/41845 , G05B19/41865 , G06F9/3017 , G06F13/4022 , H04L67/12 , G05B17/00 , G05B2219/13125 , G05B2219/13185 , G05B2219/2214 , G05B2219/31231 , G05B2219/32301 , G05B2219/32343 , G05B2219/32355 , G05B2219/32359 , G05B2219/32407 , G05B2219/40311
摘要： A Multi-Purpose Dynamic Simulation and run-time Control platform includes a virtual process environment coupled to a physical process environment, where components/nodes of the virtual and physical process environments cooperate to dynamically perform run-time process control of an industrial process plant and/or simulations thereof. Virtual components may include virtual run-time nodes and/or simulated nodes. The MPDSC includes an I/O Switch which delivers I/O data between virtual and/or physical nodes, e.g., by using publish/subscribe mechanisms, thereby virtualizing physical I/O process data delivery. Nodes serviced by the I/O Switch may include respective component behavior modules that are unaware as to whether or not they are being utilized on a virtual or physical node. Simulations may be performed in real-time and even in conjunction with run-time operations of the plant, and/or simulations may be manipulated as desired (speed, values, administration, etc.). The platform simultaneously supports simulation and run-time operations and interactions/intersections therebetween.

3. 发明申请

US20190184563A1 METHOD FOR COLLISION DETECTION AND AUTONOMOUS SYSTEM 审中-公开
公开(公告)号：US20190184563A1
公开(公告)日：2019-06-20
申请号：US16327613
申请日：2017-07-04
申请人： Siemens Aktiengesellschaft
发明人： Florian Krautwurm
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , B25J9/1671 , G05B2219/39082 , G05B2219/39091 , G05B2219/39094 , G05B2219/40201 , G05B2219/40202 , G05B2219/40203 , G05B2219/40311 , G05B2219/40317
摘要： Provided is a method for detecting an imminent collision between an object and a component of an autonomous system in the real environment including at least one real, decentralized autonomous component, whereby of at least a part of the autonomous system a virtual image is available, emulating at least one aspect of the autonomous system.

4. 发明授权

US09984178B2 Robot simulator, robot teaching apparatus and robot teaching method 有权
公开(公告)号：US09984178B2
公开(公告)日：2018-05-29
申请号：US14183404
申请日：2014-02-18
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Koichi Kuwahara
IPC分类号： G06F9/45 , G06F17/50 , B25J9/16
CPC分类号： G06F17/5009 , B25J9/1671 , G05B2219/40091 , G05B2219/40311 , G05B2219/40324
摘要： A robot simulator includes a generating unit, a display unit, a display control unit, and a simulation instructing unit. The generating unit generates a virtual image that includes a virtual robot obtained by imaging an actual robot having at least one axis and an operation handle capable of operating three-dimensional coordinate axes having a predetermined control point of the virtual robot as the origin. The display control unit displays on the display unit the generated virtual image. The simulation instructing unit, when an operator's operation for the operation handle is received, acquires at least one of a displacement amount of the control point and a rotation amount of the three-dimensional coordinate axes attributable to the operator's operation, and instructs the generating unit to regenerate the virtual image in which a posture of the virtual robot is changed in accordance with the displacement amount or the rotation amount thus acquired.

5. 发明授权

US09387589B2 Visual debugging of robotic tasks 有权
标题翻译：机器人任务的视觉调试
公开(公告)号：US09387589B2
公开(公告)日：2016-07-12
申请号：US14189452
申请日：2014-02-25
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Leandro G. Barajas , David W Payton , Li Yang Ku , Ryan M Uhlenbrock , Darren Earl
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , G05B13/02
CPC分类号： B25J9/1697 , B25J9/1671 , G05B13/026 , G05B2219/40311
摘要： A robotic system includes a robot, sensors which measure status information including a position and orientation of the robot and an object within the workspace, and a controller. The controller, which visually debugs an operation of the robot, includes a simulator module, action planning module, and graphical user interface (GUI). The simulator module receives the status information and generates visual markers, in response to marker commands, as graphical depictions of the object and robot. An action planning module selects a next action of the robot. The marker generator module generates and outputs the marker commands to the simulator module in response to the selected next action. The GUI receives and displays the visual markers, selected future action, and input commands. Via the action planning module, the position and/or orientation of the visual markers are modified in real time to change the operation of the robot.
摘要翻译：机器人系统包括机器人，测量包括机器人的位置和取向以及工作空间内的物体的状态信息的传感器以及控制器。视觉上调试机器人的操作的控制器包括模拟器模块，动作规划模块和图形用户界面（GUI）。模拟器模块接收状态信息，并响应于标记命令生成视觉标记作为对象和机器人的图形描绘。动作规划模块选择机器人的下一个动作。标记生成器模块响应于所选择的下一个动作生成并将标记命令输出到模拟器模块。 GUI接收并显示可视标记，选择的未来操作和输入命令。通过动作规划模块，实时修改视觉标记的位置和/或方向，以改变机器人的操作。

6. 发明授权

US5581666A Modular architecture for robotics and teleoperation 失效
标题翻译：机器人和遥控操作的模块化架构
公开(公告)号：US5581666A
公开(公告)日：1996-12-03
申请号：US432376
申请日：1995-05-01
申请人： Robert J. Anderson
发明人： Robert J. Anderson
IPC分类号： B25J9/16 , B25J9/18 , G06F15/00
CPC分类号： B25J9/161 , B25J9/1605 , G05B2219/39338 , G05B2219/39379 , G05B2219/39386 , G05B2219/40311
摘要： Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.
摘要翻译：实时机器人，远程机器人和远程操作系统的模块化和离散化系统和方法采用无源，基于网络的控制规则。模块由网络单端口和双端口组成。波形变量和位置信息在模块之间传递。每个模块的行为被分解为非耦合的线性时间不变量和耦合的非线性无记忆元素，然后分离离散化。

7. 发明授权

US12019431B2 Ease of node switchovers in process control systems 有权
公开(公告)号：US12019431B2
公开(公告)日：2024-06-25
申请号：US18116446
申请日：2023-03-02
申请人： FISHER-ROSEMOUNT SYSTEMS, INC.
发明人： Mark J. Nixon , Anthony Amaro, Jr. , Noel Howard Bell , John M. Caldwell , Gary K. Law
IPC分类号： G05B19/418 , G05B17/00 , G06F9/30 , G06F13/40 , H04L67/12
CPC分类号： G05B19/41885 , G05B19/4183 , G05B19/41835 , G05B19/41845 , G05B19/4185 , G05B19/41865 , G06F9/3017 , G06F13/4022 , H04L67/12 , G05B17/00 , G05B2219/13125 , G05B2219/13185 , G05B2219/2214 , G05B2219/31231 , G05B2219/32301 , G05B2219/32343 , G05B2219/32355 , G05B2219/32359 , G05B2219/32407 , G05B2219/40311
摘要： A Multi-Purpose Dynamic Simulation and run-time Control platform includes a virtual process environment coupled to a physical process environment, where components/nodes of the virtual and physical process environments cooperate to dynamically perform run-time process control of an industrial process plant and/or simulations thereof. Virtual components may include virtual run-time nodes and/or simulated nodes. The MPDSC includes an I/O Switch which delivers I/O data between virtual and/or physical nodes, e.g., by using publish/subscribe mechanisms, thereby virtualizing physical I/O process data delivery. Nodes serviced by the I/O Switch may include respective component behavior modules that are unaware as to whether or not they are being utilized on a virtual or physical node. Simulations may be performed in real-time and even in conjunction with run-time operations of the plant, and/or simulations may be manipulated as desired (speed, values, administration, etc.). The platform simultaneously supports simulation and run-time operations and interactions/intersections therebetween.

8. 发明授权

US11927943B2 Publish/subscribe protocol for real-time process control 有权
公开(公告)号：US11927943B2
公开(公告)日：2024-03-12
申请号：US17563424
申请日：2021-12-28
申请人： FISHER-ROSEMOUNT SYSTEMS, INC.
发明人： Mark J. Nixon , Anthony Amaro, Jr. , Noel Howard Bell , John M. Caldwell , Gary K. Law
IPC分类号： G05B19/418 , G06F9/30 , G06F13/40 , H04L67/12 , G05B17/00
CPC分类号： G05B19/41885 , G05B19/4183 , G05B19/41835 , G05B19/41845 , G05B19/4185 , G05B19/41865 , G06F9/3017 , G06F13/4022 , H04L67/12 , G05B17/00 , G05B2219/13125 , G05B2219/13185 , G05B2219/2214 , G05B2219/31231 , G05B2219/32301 , G05B2219/32343 , G05B2219/32355 , G05B2219/32359 , G05B2219/32407 , G05B2219/40311
摘要： A Multi-Purpose Dynamic Simulation and run-time Control platform includes a virtual process environment coupled to a physical process environment, where components/nodes of the virtual and physical process environments cooperate to dynamically perform run-time process control of an industrial process plant and/or simulations thereof. Virtual components may include virtual run-time nodes and/or simulated nodes. The MPDSC includes an I/O Switch which delivers I/O data between virtual and/or physical nodes, e.g., by using publish/subscribe mechanisms, thereby virtualizing physical I/O process data delivery. Nodes serviced by the I/O Switch may include respective component behavior modules that are unaware as to whether or not they are being utilized on a virtual or physical node. Simulations may be performed in real-time and even in conjunction with run-time operations of the plant, and/or simulations may be manipulated as desired (speed, values, administration, etc.). The platform simultaneously supports simulation and run-time operations and interactions/intersections therebetween.

9. 发明申请

US20150239127A1 VISUAL DEBUGGING OF ROBOTIC TASKS 有权
标题翻译：机器人任务视觉调试
公开(公告)号：US20150239127A1
公开(公告)日：2015-08-27
申请号：US14189452
申请日：2014-02-25
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC.
发明人： Leandro G. Barajas , David W. Payton , Li Yang Ku , Ryan M. Uhlenbrock , Darren Earl
IPC分类号： B25J9/16 , G05B13/02
CPC分类号： B25J9/1697 , B25J9/1671 , G05B13/026 , G05B2219/40311
摘要： A robotic system includes a robot, sensors which measure status information including a position and orientation of the robot and an object within the workspace, and a controller. The controller, which visually debugs an operation of the robot, includes a simulator module, action planning module, and graphical user interface (GUI). The simulator module receives the status information and generates visual markers, in response to marker commands, as graphical depictions of the object and robot. An action planning module selects a next action of the robot. The marker generator module generates and outputs the marker commands to the simulator module in response to the selected next action. The GUI receives and displays the visual markers, selected future action, and input commands. Via the action planning module, the position and/or orientation of the visual markers are modified in real time to change the operation of the robot.
摘要翻译：机器人系统包括机器人，测量包括机器人的位置和取向以及工作空间内的物体的状态信息的传感器以及控制器。视觉上调试机器人的操作的控制器包括模拟器模块，动作规划模块和图形用户界面（GUI）。模拟器模块接收状态信息，并响应于标记命令生成视觉标记作为对象和机器人的图形描绘。动作规划模块选择机器人的下一个动作。标记生成器模块响应于所选择的下一个动作生成并将标记命令输出到模拟器模块。 GUI接收并显示可视标记，选择的未来操作和输入命令。通过动作规划模块，实时修改视觉标记的位置和/或方向，以改变机器人的操作。

10. 发明申请

US20140236565A1 ROBOT SIMULATOR, ROBOT TEACHING APPARATUS AND ROBOT TEACHING METHOD 有权
标题翻译：机器人模拟器，机器人教学装置和机器人教学方法
公开(公告)号：US20140236565A1
公开(公告)日：2014-08-21
申请号：US14183404
申请日：2014-02-18
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Koichi KUWAHARA
IPC分类号： G06F17/50
CPC分类号： G06F17/5009 , B25J9/1671 , G05B2219/40091 , G05B2219/40311 , G05B2219/40324
摘要： A robot simulator includes a generating unit, a display unit, a display control unit, and a simulation instructing unit. The generating unit generates a virtual image that includes a virtual robot obtained by imaging an actual robot having at least one axis and an operation handle capable of operating three-dimensional coordinate axes having a predetermined control point of the virtual robot as the origin. The display control unit displays on the display unit the generated virtual image. The simulation instructing unit, when an operator's operation for the operation handle is received, acquires at least one of a displacement amount of the control point and a rotation amount of the three-dimensional coordinate axes attributable to the operator's operation, and instructs the generating unit to regenerate the virtual image in which a posture of the virtual robot is changed in accordance with the displacement amount or the rotation amount thus acquired.
摘要翻译：机器人模拟器包括生成单元，显示单元，显示控制单元和模拟指示单元。生成单元生成包括通过对具有至少一个轴的实际机器人进行成像而获得的虚拟机器人的虚拟图像和能够使具有虚拟机器人的预定控制点的三维坐标轴的操作手柄作为原点的虚拟图像。显示控制单元在显示单元上显示生成的虚像。模拟指示单元接收到操作者的操作手柄的操作时，获取控制点的位移量和归因于操作者的操作的三维坐标轴的旋转量中的至少一个，并指示生成单元根据所获取的位移量或旋转量来重新生成虚拟机器人的姿势变化的虚拟图像。

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