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11. 发明授权

US08260460B2 Interactive robot control system and method of use 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US08260460B2
公开(公告)日：2012-09-04
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G06F19/00 , G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

12. 发明申请

US20110071676A1 INTERACTIVE ROBOT CONTROL SYSTEM AND METHOD OF USE 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US20110071676A1
公开(公告)日：2011-03-24
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

13. 发明申请

US20020068994A1 Robot control system and method 有权
标题翻译：机器人控制系统及方法
公开(公告)号：US20020068994A1
公开(公告)日：2002-06-06
申请号：US09851136
申请日：2001-05-09
申请人： Samsung Electronics Co., Ltd.
发明人： Sung-Jin Hong
IPC分类号： G06F019/00
CPC分类号： G05B19/4155 , G05B2219/36056
摘要： Disclosed is a robot control system and method for controlling a robot that performs working on a working path between a specified working start point and a working end point. The robot control system includes an interrupt request signal generating section for generating a signal for requesting change of the working path of the robot, an upper controller for generating an interrupt signal including a specified changed value for changing in real time the working path of the robot in accordance with the interrupt request signal generating section, and a robot controller for controlling in real time the operation of the robot in accordance with the interrupt signal from the upper controller. Thus, the motion of the robot that is working can be changed in real time.
摘要翻译：公开了一种用于控制在指定的工作起点和工作终点之间的工作路径上进行工作的机器人的机器人控制系统和方法。机器人控制系统包括：中断请求信号生成部，生成用于请求变更机器人的工作路径的信号;上位控制器，用于产生中断信号，该中断信号包括用于实时改变机器人的工作路径的指定变化值根据中断请求信号产生部分，以及机器人控制器，用于根据来自上控制器的中断信号实时地控制机器人的操作。因此，正在工作的机器人的运动可以实时改变。

14. 发明申请

US20180004187A1 Runtime Controller for Robotic Manufacturing System 审中-公开
公开(公告)号：US20180004187A1
公开(公告)日：2018-01-04
申请号：US15708864
申请日：2017-09-19
申请人： X Development LLC
发明人： Jeffrey Linnell , Kendra Byrne , Matthew Bitterman
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.

15. 发明申请

US20170097625A1 OPERATION PROCEDURE MANAGEMENT METHOD AND SYSTEM 审中-公开
公开(公告)号：US20170097625A1
公开(公告)日：2017-04-06
申请号：US15126750
申请日：2014-06-19
申请人： HITACHI, LTD.
发明人： Pulung WASKITO , Kimitaka TAMURA
IPC分类号： G05B19/042
CPC分类号： G05B19/0426 , G05B2219/36056 , G06Q10/0631
摘要： An operation procedure management method and system effectively prevents degradation of the operation quality and the occurrence of accidents includes a plurality of client terminals, and a server system for providing information regarding operation procedures to each of a plurality of operators. A first processing unit stores and manages information regarding a diversion relation between the operation procedures in storage apparatuses and, upon a change of one of the operation procedures, searches for other operation procedures having the diversion relation with the changed operation procedure on the basis of the diversion-related information and transmitting changed contents as a change notification to the client terminal retained by the operator who conducts the operation procedure detected by the search; and a second processing unit which has received the change notification, displays a message according to the changed contents of the operation procedure on an output device at an appropriate timing.

16. 发明授权

US06912430B2 Execution device and debug device for motion program 失效
标题翻译：运动程序的执行装置和调试装置
公开(公告)号：US06912430B2
公开(公告)日：2005-06-28
申请号：US10452912
申请日：2003-06-03
申请人： Kazuo Fujino
发明人： Kazuo Fujino
IPC分类号： G05B19/05 , G05B11/01 , G05B19/4155 , G06K5/04
CPC分类号： G05B19/4155 , G05B2219/34329 , G05B2219/34338 , G05B2219/34347 , G05B2219/36056
摘要： An executing apparatus for executing a motion program which contains both a motion instruction for controlling operation of a machine, and an instruction for controlling input/output with respect to an external appliance. The apparatus comprises a motion executing unit, an IO executing unit and an event managing unit. The motion executing unit contains an object memory for registering the motion instruction. An event registers an execution condition of the motion instruction. An action memory registers an execution command of the motion instruction. The IO executing unit contains an object memory for registering an output instruction used to control an output signal supplied to the external appliance. An event memory registers a condition of an input signal state supplied from the external appliance. An action memory executes the output instruction. The event managing unit registers an event management table for establishing a relationship between the motion executing unit and the IO executing unit before executing the motion instruction.
摘要翻译：一种用于执行运动程序的执行装置，其包含用于控制机器的操作的运动指令和用于控制相对于外部设备的输入/输出的指令。该装置包括运动执行单元，IO执行单元和事件管理单元。运动执行单元包含用于登记运动指令的对象存储器。事件注册运动指令的执行条件。动作存储器记录运动指令的执行命令。 IO执行单元包含用于登记用于控制提供给外部设备的输出信号的输出指令的对象存储器。事件存储器记录从外部设备提供的输入信号状态的条件。动作存储器执行输出指令。事件管理单元在执行运动指令之前注册用于建立运动执行单元和IO执行单元之间的关系的事件管理表。

17. 发明申请

US20050107915A1 Robot system and a method and a software product for the robot system 审中-公开
标题翻译：机器人系统以及机器人系统的方法和软件产品
公开(公告)号：US20050107915A1
公开(公告)日：2005-05-19
申请号：US10495332
申请日：2002-11-11
申请人： Ingemar Reyier , Peter Eriksson
发明人： Ingemar Reyier , Peter Eriksson
IPC分类号： B25J9/16 , B25J9/18 , G06F19/00
CPC分类号： B25J9/1656 , G05B2219/32126 , G05B2219/36043 , G05B2219/36056
摘要： A robot system comprising an industrial robot with a control system including a main memory (5) with at least one robot program an external computer (4) connected to the control system, wherein the robot system is adapted such that the robot program is editable in the external computer. The robot system comprises means 816) for obtaining a reference to that part of the robot program which is to be edited and for creating a local reflection in the external computer of said part, means (14) for generating and sending an order to the control system to carry out a change directly in said part of the robot program in the main memory of the control system, and means for updating the reflection. A method for editing a robot program from an external computer, which is connected to the control system of the robot. The method comprises obtaining a reference to that part of the robot program that is to be edited, creating a local reflection of said program part in the external computer by fletching a copy of the program part according to the reference, editing the program part in the external computer, sending an order to the control system to carry out a change in the robot program in dependence on said editing and carrying out said change directly in the main memory of the control system, and updating the reflection.
摘要翻译：一种机器人系统，包括具有控制系统的工业机器人，所述控制系统包括具有与所述控制系统连接的外部计算机（4）的具有至少一个机器人程序的主存储器（5），其中所述机器人系统适于使所述机器人程序可编辑外部电脑。机器人系统包括用于获得对要被编辑的机器人程序的该部分的参考并用于在所述部分的外部计算机中创建局部反射的装置816），用于生成并向控制发送命令的装置（14）系统，直接在控制系统的主存储器中的机器人程序的所述部分中进行改变，以及用于更新反射的装置。一种从外部计算机编辑机器人程序的方法，该方法连接到机器人的控制系统。该方法包括获得对要编辑的机器人程序的该部分的引用，通过根据该参考通过对程序部分的副本进行剪切来创建外部计算机中的所述程序部分的局部反射，编辑程序部分外部计算机，向控制系统发送命令，根据所述编辑执行机器人程序的改变，并且直接在控制系统的主存储器中执行所述改变，并更新反射。

18. 发明授权

US5644486A Programmable controller for mechanical systems 失效
标题翻译：机械系统可编程控制器
公开(公告)号：US5644486A
公开(公告)日：1997-07-01
申请号：US327246
申请日：1994-10-24
申请人： Sung S. Chang , James L. Harman , Gary Steven Jacobson , Wesley A. Kirschner , Micheal J. Ramadei , Eric L. Zuidema
发明人： Sung S. Chang , James L. Harman , Gary Steven Jacobson , Wesley A. Kirschner , Micheal J. Ramadei , Eric L. Zuidema
IPC分类号： G05B19/416 , G06F19/00
CPC分类号： G05B19/416 , G05B2219/34216 , G05B2219/34418 , G05B2219/36056 , G05B2219/36395
摘要： An apparatus for controlling a mechanical system in response to messages from a host computer system. The apparatus includes a conventional communications link for communicating messages from the host computer system to a motion control processor and interface and driver circuits for converting digital signals generated by the motion control processor in response to messages from the host computer system into control signals having appropriate waveforms and timing for controlling a particular mechanical system. The motion control processor is programmed to perform a number of tasks in accordance with a schedule downloaded from the host computer system. The host computer system downloads profiles which consist of series of segments consisting of data structures which define elements in the mechanical system to be controlled, identify functions to be performed and include necessary data. Tasks performed by the motion control processor include a communications interface task for handling messages from the host data system, a profile handler task for executing profiles, a motion control task for controlling motors in the mechanical system, and a read sensors task for reading sensor in the mechanical system. Other conventional, non-critical tasks may be performed by the motion control processor on a less frequently scheduled basis or in a background mode of operation. New profiles, schedules, and tick period duration may be down loaded from the host computer system dynamically, during operation of the mechanical system to provide highly flexible, adaptive control of the mechanical system.
摘要翻译：一种用于响应于来自主计算机系统的消息来控制机械系统的装置。该装置包括用于将来自主计算机系统的消息传送到运动控制处理器的传统通信链路，以及用于将由运动控制处理器生成的数字信号响应于来自主计算机系统的消息转换成具有适当波形的控制信号的接口和驱动器电路以及用于控制特定机械系统的时序。运动控制处理器被编程为根据从主计算机系统下载的调度来执行多个任务。主计算机系统下载由包括在要控制的机械系统中定义要素的数据结构组成的一系列段的轮廓，识别待执行的功能并且包括必要的数据。由运动控制处理器执行的任务包括用于处理来自主机数据系统的消息的通信接口任务，用于执行简档的简档处理程序任务，用于控制机械系统中的电动机的运动控制任务以及用于读取传感器的读取传感器任务机械系统。运动控制处理器可以在较不频繁调度的基础上或在背景操作模式中执行其他常规的非关键任务。在机械系统的运行期间，可以从主机系统动态地下载新的配置文件，日程表和打勾周期持续时间，以提供对机械系统的高度灵活的自适应控制。

19. 发明授权

US4140953A Real time program modification apparatus 失效
标题翻译：实时程序修改装置
公开(公告)号：US4140953A
公开(公告)日：1979-02-20
申请号：US663481
申请日：1976-03-03
申请人： Maurice J. Dunne
发明人： Maurice J. Dunne
IPC分类号： B25J9/00 , B25J9/16 , B25J9/18 , B25J9/22 , G05B19/02 , G05B19/409 , G05B19/4093 , G05B19/414 , G05B19/42 , G05B19/425
CPC分类号： G05B19/425 , G05B19/409 , G05B19/40931 , G05B2219/34236 , G05B2219/34244 , G05B2219/35426 , G05B2219/36056 , G05B2219/36078 , G05B2219/36088 , G05B2219/45083 , Y02P90/265
摘要： A programmable manipulator apparatus employs a memory for storing digital representations corresponding to different positions of the programmable manipulator in a number of different axes. The manipulator apparatus includes encoders for developing position signals representing the position of the manipulator in each of the axes. During repetitive work cycles, the stored digital signals in the memory are utilized as command signals and are compared with the encoder signals to move the manipulator to each set of positions in sequence corresponding to the various recorded positions as they appear in the memory. A program modification apparatus is provided to modify or correct certain manipulative positions of various sequence steps during the repetitive work cycles. The operator selects the program steps to be modified along with the desired positional modifications of the manipulator both as to magnitude and direction in the various axes as determined by his observations and/or results of the work cycle.
摘要翻译：可编程机械手装置采用存储器来存储对应于多个不同轴上的可编程机械手的不同位置的数字表示。操纵器装置包括用于显示表示机械手在每个轴中的位置的位置信号的编码器。在重复的工作循环期间，存储器中存储的数字信号被用作命令信号，并且与编码器信号进行比较，以将操纵器按顺序移动到与存储器中出现的各种记录位置对应的每组位置。提供了一种程序修改装置，用于在重复工作循环期间修改或校正各种顺序步骤的某些操纵位置。操作者根据他的观察结果和/或工作周期的结果，选择要修改的程序步骤以及操纵器的所需的位置修改，关于各个轴的大小和方向。

20. 发明公开

US20230330812A1 AUTONOMOUS MODIFICATION OF WATERJET CUTTING SYSTEMS 审中-公开
公开(公告)号：US20230330812A1
公开(公告)日：2023-10-19
申请号：US18212085
申请日：2023-06-20
申请人： Flow International Corporation
发明人： Glenn A. Erichsen , Alex M. Chillman , Jordan J. Hopkins , Adam G. Law , Amanda C. Kotchon , Paul H. Tacheron , Charles D. Burnham , Brian Kent , Mohamed Hashish , Craig D. Sunada , Jiannan Zhou
IPC分类号： B24C1/04 , G05B19/4097
CPC分类号： B24C1/045 , G05B19/4097 , G05B2219/36046 , G05B2219/36053 , G05B2219/36056 , G05B2219/36505 , G05B2219/37576 , G05B2219/45036 , G05B2219/49012
摘要： Systems and methods for providing real-time modification of cutting process programs using feedback from one or more sensors which measure one or more operational parameters of a cutting process and/or cutting apparatus. The sensor readings may be used to provide real-time modification of a motion program after such motion program has been provided to a motion controller. Examples of such operational parameters may include waterjet pump supply pressure, the abrasive mass flow rate, the force of the waterjet on the target piece, etc. The systems and methods discussed herein also utilize a cutting algorithm or program to calculate actual cut quality based on one or more sensor inputs, and to generate warnings or system shut-downs accordingly. The systems and methods discussed herein also utilize inspection devices to inspect coupons or first articles, and use the inspection data to autonomously modify motion programs and/or cutting process models without user intervention.

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