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1. 发明授权

US10012992B2 Integrated obstacle detection and payload centering sensor system 有权
公开(公告)号：US10012992B2
公开(公告)日：2018-07-03
申请号：US15265925
申请日：2016-09-15
申请人： Amazon Technologies, Inc.
发明人： Robert Michael Shydo, Jr.
IPC分类号： G05D1/02 , G05B19/4061 , B25J9/16
CPC分类号： G05D1/0214 , B25J9/1697 , G05B19/4061 , G05B2219/39046 , G05D1/0234 , G05D1/0246 , G05D2201/0216 , Y10S901/01
摘要： Disclosed are various embodiments for an integrated obstacle detection and payload centering sensor system. A robotic drive unit (RDU) captures, with a downward facing camera mounted to itself, an image of fiducial located on the ground. The RDU then positions itself over the fiducial and subsequently rotates. As it rotates, the RDU captures a point cloud of the surround vicinity a forward-facing three-dimensional camera mounted to itself. The RDU then identifies in the point cloud at least two legs of a storage unit positioned over the robotic drive unit. Subsequently, the RDU determines a location for each of the at least two legs relative to the fiducial and triangulates a center of the storage unit based at least in part on the location of each of the at least two legs. The RDU then centers itself underneath the storage unit.

2. 发明授权

US09352466B2 Robot positioning system for semiconductor tools 有权
标题翻译：半导体工具机器人定位系统
公开(公告)号：US09352466B2
公开(公告)日：2016-05-31
申请号：US13486019
申请日：2012-06-01
申请人： Wen-Huang Liao , Hsien-Mao Huang
发明人： Wen-Huang Liao , Hsien-Mao Huang
IPC分类号： B25J9/16 , H01L21/67 , H01L21/68 , G06K9/32
CPC分类号： B25J9/1697 , B25J9/1692 , G05B2219/39008 , G05B2219/39046 , G05B2219/45031 , G06K9/3208 , H01L21/67259 , H01L21/681
摘要： A system and method for adjusting the position and orientation of a feed arm associated with a wafer handling robot. In one embodiment, the system includes a positioning plate detachably carried by the feed arm and insertable therewith into a wafer carrier. The positioning plate includes graphic alignment indicia. An alignment apparatus is provided configured for insertion into wafer-holding slots in the wafer carrier. The apparatus includes at least one digital image sensor. With the positioning plate and alignment apparatus located in the wafer carrier, an image of the alignment indicia is displayed on a video monitor by the image sensor for comparison to a reference mark superimposed on the monitor for determining the relative position and orientation of the feed arm with respect to the wafer carrier. Some embodiments of the apparatus further include a distance detection device to measure the distance to the plate.
摘要翻译：一种用于调节与晶片处理机器人相关联的进给臂的位置和方向的系统和方法。在一个实施例中，系统包括可由进给臂可拆卸地承载并可插入到晶片载体中的定位板。定位板包括图形对齐标记。提供配置用于插入晶片载体中的晶片保持槽的对准装置。该装置包括至少一个数字图像传感器。利用位于晶片载体中的定位板和对准装置，通过图像传感器在视频监视器上显示对准标记的图像，以与叠加在监视器上的参考标记进行比较，以确定进给臂的相对位置和方向相对于晶片载体。该装置的一些实施例还包括测量到板的距离的距离检测装置。

3. 发明授权

US07571025B2 Method and device for controlling manipulators 失效
标题翻译：用于控制操纵器的方法和装置
公开(公告)号：US07571025B2
公开(公告)日：2009-08-04
申请号：US11141899
申请日：2005-06-01
申请人： Rainer Bischoff
发明人： Rainer Bischoff
IPC分类号： G05B19/418
CPC分类号： B25J9/1692 , B25J9/1682 , G05B2219/39008 , G05B2219/39045 , G05B2219/39046 , G05B2219/39051 , G05B2219/39114 , G05B2219/39397 , Y10T74/20207 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329 , Y10T74/20335
摘要： A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator. The method can be used in conjunction with a simplified, improved cooperation between manipulators.
摘要翻译：一种用于控制多个操作器的方法，例如多轴或多轴工业机器人。至少一个操纵器用作参考操纵器并且在其工作区域内以多个预设姿势移动，在该区域内确定内部位置值作为第一期望姿态。对于每个期望的姿态，随后参考操纵器的第一实际姿势由外部测量系统确定。随后，至少一个另外的操纵器移动到参考操纵器的特定姿势作为第二期望姿态，并且对于这些姿势中的每一个，另外的操纵器的实际姿势由外部测量系统确定。基于这样确定的两个操纵器的期望和实际姿态之间的实际期望的偏差，随后建立用于另外的操纵器的参数模型，并且随之可以同时补偿其自身的误差和参考机械手的误差。该方法可以与操纵器之间的简化，改进的协作结合使用。

4. 发明申请

US20180111271A1 MECHANICAL ARM POSITIONING METHOD AND SYSTEM ADOPTING THE SAME 审中-公开
公开(公告)号：US20180111271A1
公开(公告)日：2018-04-26
申请号：US15644834
申请日：2017-07-10
申请人： PEGATRON CORPORATION
发明人： Hsiang-Tin HWANG , Jen-Hui WANG , Chiung-Hung WANG , Jen-Wei CHENG
IPC分类号： B25J9/16 , H04N5/225 , G06K9/62 , G06T7/60
CPC分类号： B25J9/1692 , B25J9/1697 , G05B2219/39045 , G05B2219/39046 , G06K7/10722 , G06K7/1417 , G06K9/3216 , G06K9/6202 , G06K19/06037 , G06K2009/3225 , G06T7/60 , G06T7/66 , G06T7/74 , G06T2207/30204 , H04N5/2257
摘要： A mechanical arm positioning method configured to position a mechanical arm at a fixed point. The method includes capturing a positioning pattern through an image-capturing module disposed on mechanical arm to generate an image with a positioning image, the positioning image corresponding to positioning pattern. Subsequently, whether a center of positioning image is located at a center of the image is determined. If not, a position of mechanical arm is adjusted in parallel with a plane where the positioning pattern is located until the center of positioning image is located at the center of the image. Subsequently, whether an area of positioning image is substantially equal to a predetermined area is determined. If not, a distance between mechanical arm and positioning pattern is adjusted perpendicular to plane where the positioning pattern is located until the area of positioning image is substantially equal to predetermined area.

5. 发明申请

US20180074504A1 INTEGRATED OBSTACLE DETECTION AND PAYLOAD CENTERING SENSOR SYSTEM 有权
公开(公告)号：US20180074504A1
公开(公告)日：2018-03-15
申请号：US15265925
申请日：2016-09-15
申请人： Amazon Technologies, Inc.
发明人： Robert Michael Shydo, JR.
IPC分类号： G05D1/02 , G05B19/4061 , B25J9/16
CPC分类号： G05D1/0214 , B25J9/1697 , G05B19/4061 , G05B2219/39046 , G05D1/0234 , G05D1/0246 , G05D2201/0216 , Y10S901/01
摘要： Disclosed are various embodiments for an integrated obstacle detection and payload centering sensor system. A robotic drive unit (RDU) captures, with a downward facing camera mounted to itself, an image of fiducial located on the ground. The RDU then positions itself over the fiducial and subsequently rotates. As it rotates, the RDU captures a point cloud of the surround vicinity a forward-facing three-dimensional camera mounted to itself. The RDU then identifies in the point cloud at least two legs of a storage unit positioned over the robotic drive unit. Subsequently, the RDU determines a location for each of the at least two legs relative to the fiducial and triangulates a center of the storage unit based at least in part on the location of each of the at least two legs. The RDU then centers itself underneath the storage unit.

6. 发明授权

US09849591B2 Localization of a robot in an environment using detected edges of a camera image from a camera of the robot and detected edges derived from a three-dimensional model of the environment 有权
公开(公告)号：US09849591B2
公开(公告)日：2017-12-26
申请号：US14873430
申请日：2015-10-02
申请人： X Development LLC
发明人： Philipp Michel
IPC分类号： B25J9/16 , G05G9/047 , G06T17/05 , G06T19/20 , H04N13/02 , G06T7/73
CPC分类号： B25J9/1692 , B25J9/1697 , G05B2219/39046 , G05G9/04737 , G06T7/75 , G06T17/05 , G06T19/20 , G06T2200/04 , G06T2207/10028 , G06T2207/30244 , G06T2207/30252 , H04N13/211 , H04N13/239 , H04N13/257 , H04N13/271 , H04N13/282 , H04N2013/0092 , Y10S901/09
摘要： Methods, apparatus, systems, and computer-readable media are provided for using a camera of a robot to capture an image of the robot's environment, detecting edges in the image, and localizing the robot based on comparing the detected edges in the image to edges derived from a three-dimensional (“3D”) model of the robot's environment from the point of view of an estimated pose of the robot in the environment. In some implementations, the edges are derived based on rendering, from the 3D model of the environment, a model image of the environment from the point of view of the estimated pose—and applying an edge detector to the rendered model image to detect model image edges from the model image.

7. 发明申请

US20170354469A1 System With A Medical Instrument And A Recording Means 审中-公开
公开(公告)号：US20170354469A1
公开(公告)日：2017-12-14
申请号：US15522542
申请日：2015-10-29
申请人： KUKA Roboter GmbH
发明人： Yevgen Kogan
IPC分类号： A61B34/30 , B25J9/16 , A61B34/20
CPC分类号： A61B34/30 , A61B2034/2051 , A61B2034/2055 , A61B2034/2063 , A61B2090/3612 , B25J9/1682 , B25J9/1689 , B25J9/1692 , G05B2219/39045 , G05B2219/39046 , G05B2219/39114 , G05B2219/39397
摘要： A method for automatically predetermining an intended movement of a manipulator arrangement of a medical system having a medical instrument and a recording means for generating images, wherein the recording means and/or the instrument is guided by the manipulator arrangement. The method includes establishing an intended transformation between a reference stationary in relation to the recording means and a reference stationary in relation to the instrument; monitoring a deviation between the intended transformation and a current transformation between the reference stationary in relation to the recording means and the reference stationary in relation to the instrument; and determining a reset movement of the manipulator arrangement for returning the current transformation to the intended transformation when the deviation satisfies a predetermined condition.

8. 发明申请

US20170286901A1 System and Method for Locating, Identifying and Counting Items 审中-公开
公开(公告)号：US20170286901A1
公开(公告)日：2017-10-05
申请号：US15471722
申请日：2017-03-28
申请人： Bossa Nova Robotics IP, Inc.
发明人： Sarjoun Skaff , Jonathan Davis Taylor , Stephen Vincent Williams , Simant Dube
IPC分类号： G06Q10/08 , B25J19/02 , G06N3/08 , G05D1/00 , G01S17/89 , G01S17/42
CPC分类号： G06Q10/087 , B25J19/022 , G01S17/88 , G05B19/048 , G05B2219/39046 , G05D1/0246 , G05D2201/0207 , G06K9/00201 , G06K9/00664 , G06K9/18 , G06K9/3216 , G06K9/3241 , G06K9/46 , G06K9/4628 , G06K9/4642 , G06K9/6202 , G06K9/6267 , G06K9/627 , G06N3/008 , G06N3/0454 , G06N20/00 , G06N20/10 , H04N5/23238
摘要： A system for building a product library without requiring a planogram includes an image capture unit operated to provide images of items. Taking data from a shelf label detector and depth map creation unit, a processing module can be used to compare detected shelf labels to a depth map, define a product bounding box, and associate the bounding box with an image provided by the image capture unit to build image descriptors. The system can include one or more autonomous robots for supporting and moving the image capture unit and other components.

9. 发明授权

US10055667B2 Generating a model for an object encountered by a robot 有权
公开(公告)号：US10055667B2
公开(公告)日：2018-08-21
申请号：US15227612
申请日：2016-08-03
申请人： X Development LLC
发明人： Kurt Konolige , Nareshkumar Rajkumar , Stefan Hinterstoisser
IPC分类号： G06K9/00 , G06K9/32 , G06T7/00 , G06T17/00 , B25J9/16
CPC分类号： G06K9/3241 , B25J9/161 , B25J9/1692 , G05B2219/33038 , G05B2219/39046 , G05B2219/39543 , G05B2219/40564 , G06K9/00664 , G06T7/344 , G06T7/70 , G06T7/75 , G06T17/00 , G06T2207/10012 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084 , G06T2207/30244
摘要： Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.

10. 发明申请

US20170113351A1 CALIBRATION SYSTEM AND CALIBRATION METHOD CALIBRATING MECHANICAL PARAMETERS OF WRIST PART OF ROBOT 审中-公开
公开(公告)号：US20170113351A1
公开(公告)日：2017-04-27
申请号：US15298808
申请日：2016-10-20
申请人： FANUC CORPORATION
发明人： Kiyoshi Yoshino
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1697 , G05B2219/39008 , G05B2219/39046
摘要： A calibration system able to calibrate mechanical parameters of a wrist part by a simpler manner is provided. The calibration system utilizes a target fastened at a predetermined position with respect to the joint closest to a hand of a robot and an imaging device set around the robot so as to calibrate the parameters of a mechanical model representing the wrist part of the robot. The posture of the target is changed from a predetermined initial position to generate a plurality of preliminary positions. Using these preliminary positions as starting points, the end point position of the robot whereby the target becomes a predetermined positional relationship with respect to the imaging device on the image obtained by capturing an image of the target is calculated. The calibration system uses the calculated end point position as the basis to calibrate the mechanical parameters of the wrist part.

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