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1. 发明申请

US20170066135A1 ENHANCED SYSTEM AND METHOD FOR CONTROL OF ROBOTIC DEVICES 审中-公开
标题翻译：用于控制机器人装置的增强系统和方法
公开(公告)号：US20170066135A1
公开(公告)日：2017-03-09
申请号：US15264595
申请日：2016-09-14
申请人： SKUR, Inc.
发明人： Adam Cohen , James Creasy , Alan Gushurst
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1689 , G05B2219/39031 , G05B2219/39395 , H04L67/12 , Y10S901/47
摘要： A point cloud system having two separate sets of points, each of these sets having different points of view, creating data with potentially occluded points in the point cloud. An accelerated approach of close sister points is used to determine which occluded points can be removed by looking out from an assumed non-occluded point, then finding the closest point in the next set of points, then looking back into the first set of points, or jumping to the closest not occluded point and looking back, and if this second sister is close to initial point, it is a close sister.
摘要翻译：具有两个单独的点集合的点云系统，这些集合中的每一个具有不同的观点，在点云中创建具有潜在遮挡点的数据。使用加密的姊妹点的方法来确定哪些闭塞点可以通过从假定的非闭塞点看出来，然后找到下一组点中的最近点，然后回到第一组点，或跳到最接近的不闭合点，回头看，如果这个第二个姐姐接近初始点，那是一个亲密的姐姐。

2. 发明授权

US09452533B2 Robot modeling and positioning 有权
标题翻译：机器人建模和定位
公开(公告)号：US09452533B2
公开(公告)日：2016-09-27
申请号：US13895339
申请日：2013-05-15
申请人： New River Kinematics, Inc.
发明人： Joseph M. Calkins , Robert J. Salerno
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39019 , G05B2219/39031
摘要： In an example embodiment, a robot positioning device includes a first interface configured to communicate with a robot and a second interface configured to communicate with a location measuring system. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine robot calibration locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated model relating robot joint positions to robot locations based at least in part on the robot calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive a goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the goal location and the calibrated model.
摘要翻译：在示例性实施例中，机器人定位设备包括被配置为与机器人通信的第一接口和被配置为与位置测量系统通信的第二接口。机器人定位装置包括校准器，建模器和教练。校准器被配置为引导位置测量系统以在机器人关节定位在校准关节位置时确定机器人校准位置。建模器被配置成至少部分地基于从位置测量系统接收的机器人校准位置和机器人关节的相关联的校准关节位置来创建将机器人关节位置与机器人位置相关联的校准模型。教练被配置为从机器人接收目标位置。导师进一步被配置成至少部分地基于目标位置和校准模型将目标关节位置发送到机器人，目标关节位置。

3. 发明授权

US09962836B2 Detection device and detection method 有权
公开(公告)号：US09962836B2
公开(公告)日：2018-05-08
申请号：US15034991
申请日：2014-11-06
申请人： KUKA SYSTEMS GMBH
发明人： Richard Zunke , Andreas Domke , Konrad Wirth , Thomas Rau , Julian Stockschläder
IPC分类号： G05B19/04 , B25J9/16 , B25J19/00 , G01L5/00 , B25J13/08 , G05B19/423 , F16P3/12
CPC分类号： B25J9/1692 , B25J9/1674 , B25J9/1676 , B25J13/085 , B25J19/0095 , F16P3/12 , G01L5/008 , G05B19/423 , G05B2219/37205 , G05B2219/39013 , G05B2219/39031 , G05B2219/39319 , G05B2219/40226 , G05B2219/42288 , G05B2219/49162
摘要： A detection device and a detection method are provided for robot-induced loads that can act upon the human body in contact with the robot during a working process. The robot-induced loads, in particular forces, are measured by the measuring device (16) of an external sensing device (2). The measuring device (16) is suitably positioned and oriented in this process in the working area of an industrial robot (3) by means of a positioning device (15).

4. 发明申请

US20150002855A1 ARRANGEMENT AND METHOD FOR THE MODEL-BASED CALIBRATION OF A ROBOT IN A WORKING SPACE 审中-公开
标题翻译：机器人在工作空间中基于模型的校准的布置和方法
公开(公告)号：US20150002855A1
公开(公告)日：2015-01-01
申请号：US14365642
申请日：2011-12-19
申请人： Peter Kovacs
发明人： Peter Kovacs
IPC分类号： G01S17/06
CPC分类号： G01S5/163 , B25J9/1692 , G05B2219/39024 , G05B2219/39031
摘要： An arrangement and a method for the model-based calibration of a mechanism (1) in a workspace with at least three calibration objects that are either designed to be directed radiation patterns (2) together with an associated radiation-pattern generator (3) or radiation-pattern position sensors (4), wherein position sensors (4) provide measured values with position information that are passed along to a computing device, which determines the parameters of a mathematical mechanism model with the aid of these measured values, when a radiation pattern is encountered, characterized in that at least two calibration objects (2, 3) are rigidly connected to one another.
摘要翻译：一种用于具有至少三个校准对象的工作空间中的机构（1）的基于模型的校准的布置和方法，所述至少三个校准对象被设计为与相关联的辐射图形发生器（3）一起被定向放射图案（2）辐射图位置传感器（4），其中位置传感器（4）提供测量值，该位置信息被传递到计算设备，该计算设备通过借助于这些测量值来确定数学机构模型的参数，当辐射遇到图案，其特征在于，至少两个校准对象（2,3）彼此刚性地连接。

5. 发明授权

US08868236B2 Method and apparatus for calibration of a robot positioned on a movable platform 有权
标题翻译：用于校准位于可移动平台上的机器人的方法和装置
公开(公告)号：US08868236B2
公开(公告)日：2014-10-21
申请号：US13736407
申请日：2013-01-08
申请人： ABB Research Ltd
发明人： Torgny Brogårdh
IPC分类号： G01C9/00 , G01C17/00 , G01C19/00 , G05B19/18 , G05B19/04 , B25J9/16
CPC分类号： B25J9/1692 , B25J9/162 , G05B2219/37205 , G05B2219/39013 , G05B2219/39014 , G05B2219/39031 , G05B2219/40298 , Y10S901/01 , Y10S901/15
摘要： A method and apparatus for calibration of a robot on a platform and a robot, in relation to an object using a measuring unit mounted on the robot including placing CAD models so that the robot reaches the object, manipulating the CAD models to move the measuring unit to a pose in relation to the platform allowing measurement of a feature on the object, storing the pose, and generating a CAD model of the feature. The real robot is moved to the pose, the real platform is moved where measurements of the feature can be made, 3D measurements of the feature are performed and based thereon generating a second CAD model, performing a best fit between the CAD models, and calculating a 6 degrees of freedom pose difference between the CAD models, and instructing the mobile platform to move to compensate for the pose difference.
摘要翻译：一种用于在平台和机器人上校准机器人的方法和装置，所述方法和装置相对于使用安装在所述机器人上的测量单元的物体进行校准，包括放置CAD模型以使所述机器人到达所述物体，操纵所述CAD模型以移动所述测量单元涉及与平台相关的姿势，允许测量对象上的特征，存储姿态，以及生成特征的CAD模型。将真实的机器人移动到姿势，在可以进行特征测量的位置移动真实的平台，执行特征的3D测量，并且基于此产生第二CAD模型，在CAD模型之间执行最佳拟合，并计算 6自由度在CAD模型之间构成差异，并指示移动平台移动以补偿姿态差异。

6. 发明授权

US08620844B2 Neuron device for simulating a nerve cell and neural network device, integer cluster device, feedback control device, and computer program product thereof 有权
标题翻译：用于模拟神经细胞的神经元装置和神经网络装置，整数集群装置，反馈控制装置及其计算机程序产品
公开(公告)号：US08620844B2
公开(公告)日：2013-12-31
申请号：US12680678
申请日：2008-09-30
申请人： Shingo Shimoda , Hidenori Kimura , Masaaki Yamaoka , Hideki Kajima
发明人： Shingo Shimoda , Hidenori Kimura , Masaaki Yamaoka , Hideki Kajima
IPC分类号： G05B13/02
CPC分类号： G06N3/063 , G05B2219/39031 , G06N3/04
摘要： Using variable neuron thresholds and extended Hebb's rule in a neural network, a neuron device for simulating a nerve cell includes a threshold storage unit storing a threshold variable θ and threshold coefficients Δθ1 and Δθ2; an input reception unit receiving one or more input signal values at predetermined time intervals; an output unit outputting an output signal value “1” indicating that the neuron device is firing when the sum total s of received input signal values is equal to or greater than the value of the stored threshold variable θ, or a value “0” indicating that the neuron device is resting; and a threshold updating unit calculating Δθ1X+Δθ2(X−1) using the output signal value X and the stored threshold coefficients Δθ1 and Δθ2 and updating the value of the threshold variable θ stored in the threshold storage unit by increasing it by the calculation result.
摘要翻译：在神经网络中使用可变神经元阈值和扩展Hebb规则，用于模拟神经细胞的神经元装置包括存储阈值变量θ和阈值系数Deltatheta1和Deltatheta2的阈值存储单元; 输入接收单元，以预定的时间间隔接收一个或多个输入信号值; 当所接收的输入信号值的总和为等于或大于所存储的阈值变量theta的值时，输出表示神经元装置正在点火的输出信号值“1”的输出单元，或表示神经元器件休息; 以及阈值更新单元，使用输出信号值X和存储的阈值系数Deltatheta1和Deltatheta2来计算Deltatheta1X + Deltatheta2（X-1），并且通过将计算结果增加来更新存储在阈值存储单元中的阈值变量theta的值。

7. 发明申请

US20170139407A1 SIMULATOR, SIMULATION METHOD, AND SIMULATION PROGRAM 审中-公开
公开(公告)号：US20170139407A1
公开(公告)日：2017-05-18
申请号：US15342153
申请日：2016-11-03
申请人： OMRON Corporation
发明人： Yasunori SAKAGUCHI , Haruna SHIMAKAWA , Katsushige OHNUKI , Yuich DOI
IPC分类号： G05B19/418
CPC分类号： G05B19/41885 , G05B2219/39031 , G05B2219/40311 , Y02P90/26
摘要： A structure allows more efficient simulation using preliminary obtained image data for a target such as a workpiece. A simulator includes a creating unit that virtually creates a simulation target system in a three-dimensional virtual space, a measurement unit that performs image measurement of preliminary obtained image data using a visual sensor and outputs a measurement result, a reception unit that receives a setting of an imaging area defined for the visual sensor in a manner associated with the created system, a calculation unit that calculates a transform parameter based on a relative positional relationship between the created system and the set imaging area, and an execution unit that receives an input of a result obtained by transforming the measurement result generated by the measurement unit using the transform parameter, and executes a control operation in accordance with a control program associated with the system.

8. 发明申请

US20150032256A1 ROBOT SYSTEM, ROBOT MANAGEMENT COMPUTER, AND METHOD OF MANUFACTURING A ROBOT SYSTEM 审中-公开
标题翻译：机器人系统，机器人管理计算机以及制造机器人系统的方法
公开(公告)号：US20150032256A1
公开(公告)日：2015-01-29
申请号：US14340486
申请日：2014-07-24
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Yukio HASHIGUCHI , Shinji MURAI , Tomoyuki SHIRAKI
IPC分类号： G05B19/418 , B25J13/00
CPC分类号： G05B19/41815 , B25J13/006 , G05B19/41845 , G05B2219/32129 , G05B2219/39001 , G05B2219/39031 , Y02P90/08 , Y02P90/14 , Y02P90/16 , Y02P90/18 , Y10S901/14 , Y10S901/50
摘要： To enable simple loading of an appropriate operation control program into a robot controller, provided is a robot system, including: a robot management computer; and robot controllers for controlling robots, respectively, in which the robot management computer includes: a robot information receiving unit for receiving set-up location information about a set-up location of each of the robots; a storage for storing an operation control program of the each of the robots in association with the set-up location information; and an operation control program transmitting unit for transmitting, to each of the robot controllers, the operation control program that is associated with the set-up location information received from the robot information receiving unit.
摘要翻译：为了能够将适当的操作控制程序简单地加载到机器人控制器中，提供了一种机器人系统，其包括：机器人管理计算机; 以及分别用于控制机器人的机器人控制器，其中机器人管理计算机包括：机器人信息接收单元，用于接收关于每个机器人的设置位置的设置位置信息; 用于存储与设置位置信息相关联的每个机器人的操作控制程序的存储器; 以及操作控制程序发送单元，用于向每个机器人控制器发送与从机器人信息接收单元接收的建立位置信息相关联的操作控制程序。

9. 发明申请

US20140343727A1 ROBOT POSITIONING 有权
标题翻译：机器人定位
公开(公告)号：US20140343727A1
公开(公告)日：2014-11-20
申请号：US13895339
申请日：2013-05-15
申请人： New River Kinematics, Inc.
发明人： Joseph M. Calkins , Robert J. Salerno
IPC分类号： G05B19/418
CPC分类号： B25J9/1692 , G05B2219/39019 , G05B2219/39031
摘要： In an example embodiment, a robot positioning device includes a first interface configured to communicate with a robot and a second interface configured to communicate with a location measuring system. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine robot calibration locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated model relating robot joint positions to robot locations based at least in part on the robot calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive a goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the goal location and the calibrated model.
摘要翻译：在示例性实施例中，机器人定位设备包括被配置为与机器人通信的第一接口和被配置为与位置测量系统通信的第二接口。机器人定位装置包括校准器，建模器和教练。校准器被配置为引导位置测量系统以在机器人关节定位在校准关节位置时确定机器人校准位置。建模器被配置成至少部分地基于从位置测量系统接收的机器人校准位置和机器人关节的相关联的校准关节位置来创建将机器人关节位置与机器人位置相关联的校准模型。教练被配置为从机器人接收目标位置。导师进一步被配置成至少部分地基于目标位置和校准模型将目标关节位置发送到机器人，目标关节位置。

10. 发明授权

US07881917B2 Apparatus simulating operations between a robot and workpiece models 有权
标题翻译：模拟机器人与工件模型之间的操作的装置
公开(公告)号：US07881917B2
公开(公告)日：2011-02-01
申请号：US11806344
申请日：2007-05-31
申请人： Yoshiharu Nagatsuka , Kozo Inoue
发明人： Yoshiharu Nagatsuka , Kozo Inoue
IPC分类号： G06G7/48
CPC分类号： B25J9/1671 , G05B19/4069 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40122 , G05B2219/40127 , G05B2219/40131 , G05B2219/40314 , Y02P90/26 , Y02P90/265
摘要： A robot simulation apparatus (10) capable of creating and executing a robot program includes a virtual space creating unit (31) for creating a virtual space (60), a workpiece model layout unit (32) for automatically arranging at least one workpiece model (40) in an appropriate posture at an appropriate position in a workpiece accommodation unit model (24) defined in the virtual space, a virtual camera unit (33) for acquiring a virtual image (52) of workpiece models existing in the range of a designated visual field as viewed from a designated place in the virtual space, a correcting unit (34) for correcting the teaching points in the robot program based on the virtual image, and a simulation unit (35) for simulating the operation of the robot handling the workpieces, and as a result, interference between the robot and the workpieces can be predicted while at the same time accurately determining the required workpiece handling time.
摘要翻译：能够创建和执行机器人程序的机器人模拟装置（10）包括用于创建虚拟空间（60）的虚拟空间创建单元（31），用于自动布置至少一个工件模型的工件模型布局单元（32） 40），其位于在虚拟空间中定义的工件容纳单元模型（24）中的适当位置处的适当姿态;虚拟相机单元（33），用于获取存在于指定范围内的工件模型的虚拟图像（52）从虚拟空间中的指定位置观看的视野，用于基于虚拟图像校正机器人程序中的教导点的校正单元（34），以及用于模拟机器人处理的机器人的操作的模拟单元（35）工件，结果，可以预测机器人与工件之间的干涉，同时精确地确定所需的工件处理时间。

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