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1. 发明申请

WO2014110748A1 MOTION CONTROLLER AND ROBOT CONTROL SYSTEM USING THE SAME 审中-公开
标题翻译：运动控制器和机器人控制系统
公开(公告)号：WO2014110748A1
公开(公告)日：2014-07-24
申请号：PCT/CN2013/070581
申请日：2013-01-17
申请人： ABB TECHNOLOGY LTD. , ZAHRAI, Said , ZHANG, Feihong , ZHANG, Yicheng , SU, Chengping , MA, Bojun , YANG, Chao , ZHANG, Hui
发明人： ZAHRAI, Said , ZHANG, Feihong , ZHANG, Yicheng , SU, Chengping , MA, Bojun , YANG, Chao , ZHANG, Hui
IPC分类号： G05B19/045
CPC分类号： B25J9/161 , G05B19/4148 , G05B2219/33076 , G05B2219/33104 , G05B2219/33116 , G05B2219/34208 , G05B2219/34287 , G05B2219/34403 , G05B2219/40498
摘要： A motion controller and a robot control system using the same are provided. The motion controller (2) includes: an information sharing means (21), being adapted for sharing data representing at least one piece of information; a plurality of function modules (204, 205, 206, 207), being adapted for exchanging the information between at least two of them by accessing the data through the information sharing means (21) and respectively carrying out a plurality of functions in parallel based on the exchanged information; wherein: the function module receiving the exchanged information is adapted to carry out the function based on the received exchanged information independently of the functions that are simultaneously carried out by the other function modules (204, 205, 206, 207); the plurality of function modules (204, 205, 206, 207) share at least one processor or programmable logic (20) having a multiple of computing units (200, 201, 202, 203); and the plurality of function modules (204, 205, 206,.207) are respectively implemented by means of the computing units (200, 201, 202, 203) of the processor or on the programmable logic (20). This causes at least one of the disadvantages as below: a relatively low degree of real-time behavior of the motion controller due to lack of parallel processing of data; a relatively high degree of difficulty in integration of new program instructions in the processor of the motion controller; the computing power of the processor of the motion controller is fixed and is not scalable; and the computing power of the processor of the motion controller cannot be used to its maximum.
摘要翻译：提供了一种运动控制器和使用其的机器人控制系统。运动控制器（2）包括：信息共享装置（21），适于共享表示至少一条信息的数据; 多个功能模块（204,205,206,207），其适于通过所述信息共享装置（21）访问所述数据并且基于并行执行多个功能来交换其中的至少两个之间的信息交换信息; 其中：接收所交换的信息的功能模块适于基于所接收的交换信息执行功能，独立于由其他功能模块（204,205,206,207）同时执行的功能; 多个功能模块（204,205,206,207）共享具有多个计算单元（200,201,202,203）的至少一个处理器或可编程逻辑（20）; 并且多个功能模块（204,205,206,207）分别通过处理器的计算单元（200,201,202,203）或可编程逻辑（20）实现。这导致以下缺点中的至少一个：由于缺少数据的并行处理，运动控制器的实时行为程度相对较低; 将新程序指令集成在运动控制器的处理器中的相对较高的难度; 运动控制器的处理器的计算能力是固定的并且不可缩放; 并且运动控制器的处理器的计算能力不能被最大化地使用。

2. 发明申请

WO2007104662A1 A ROBOT CONTROLLER, A COMPUTER UNIT AND A BASE MODULE FOR A ROBOT CONTROLLER 审中-公开
标题翻译：机器人控制器，计算机单元和机器人控制器的基座模块
公开(公告)号：WO2007104662A1
公开(公告)日：2007-09-20
申请号：PCT/EP2007/052000
申请日：2007-03-02
申请人： ABB Research Ltd. , GU, Chun-Yuan , CARLSSON, Per V , MELLANDER, Roger , ZAHRAI, Said
发明人： GU, Chun-Yuan , CARLSSON, Per V , MELLANDER, Roger , ZAHRAI, Said
IPC分类号： B25J9/16
CPC分类号： B25J9/161 , G05B2219/33104 , G05B2219/33125 , G05B2219/33332 , G05B2219/34204 , G05B2219/40306 , Y02P90/185
摘要： A computer unit (1) for a robot controller, the computer unit comprising: a first and a second processor (2,3), a first set of sockets (5a-d) adapted to enable external communication between the first processor and peripheral units, a second set of sockets (6a-d) adapted to enable external communication between the second processor and peripheral units. The computer unit is adapted to change configuration between three types of configuration modes: a first configuration mode wherein the first processor and the first set of sockets are configured to be a main computer and the second processor and the second set of sockets are configured to be an axis computer, a second configuration mode wherein the first and second processors and the first and second sets of sockets are configured to be a main computer , and a third configuration mode wherein the processors and the sets of sockets are configured to be two axis computers.
摘要翻译：一种用于机器人控制器的计算机单元（1），所述计算机单元包括：第一和第二处理器（2,3），第一组插座（5a-d），适于使得所述第一处理器和外围单元之间能够进行外部通信，适于使第二处理器和外围单元之间能够进行外部通信的第二组插座（6a-d）。计算机单元适于在三种类型的配置模式之间改变配置：第一配置模式，其中第一处理器和第一组插座被配置为主计算机，并且第二处理器和第二组插座被配置为轴计算机，第二配置模式，其中第一处理器和第二处理器以及第一和第二套插槽被配置为主计算机，以及第三配置模式，其中处理器和插座组被配置为两轴计算机。

3. 发明申请

WO2014110749A1 ROBOT CONTROL SYSTEM AND METHOD THEREOF 审中-公开
标题翻译：机器人控制系统及其方法
公开(公告)号：WO2014110749A1
公开(公告)日：2014-07-24
申请号：PCT/CN2013/070584
申请日：2013-01-17
申请人： ABB TECHNOLOGY LTD. , ZAHRAI, Said , ZHANG, Feihong , ZHANG, Yicheng , SU, Chengping , MA, Bojun , YANG, Chao , ZHANG, Hui
发明人： ZAHRAI, Said , ZHANG, Feihong , ZHANG, Yicheng , SU, Chengping , MA, Bojun , YANG, Chao , ZHANG, Hui
IPC分类号： G05B19/05
CPC分类号： G05B19/054
摘要： The present invention provides e a control system for a robot, including: a shared memory module, being adapted for storage of at least one variable representing at least one piece of robot information; a robot motion control programming interface module, being adapted for providing at least one input function for receiving robot instruction data supplied from an external unit and setting at least one variable stored in the shared memory module accordingly; and a soft PLC module, being adapted for controlling motion of the robot based on the piece of robot information represented by the variable. By having the configuration of the robot control system, it is helpful for reaching at least one of the advantages: 1. providing an interface with input functions as a library in combination with robot-control-related components; 2. convenience for user to develop his own application for setting robot-control-related variable; 3. function of PLC and robot motion control programming interface being integrated and implemented by a central processing unit.
摘要翻译：本发明提供了一种用于机器人的控制系统，包括：共享存储器模块，适于存储表示至少一个机器人信息的至少一个变量; 机器人运动控制编程接口模块，适于提供至少一个输入功能，用于接收从外部单元提供的机器人指令数据，并相应地设置存储在共享存储器模块中的至少一个变量; 以及软PLC模块，其适于基于由所述变量表示的所述机器人信息来控制所述机器人的运动。通过具有机器人控制系统的配置，有助于达到以下优点中的至少一个：1.提供具有作为库的输入功能的接口与机器人控制相关组件的组合; 2.方便用户开发自己的设置机器人控制相关变量的应用程序; 3. PLC和机器人运动控制编程接口的功能由中央处理单元进行集成和实现。

4. 发明申请

WO2014086017A1 MOTION CONTROL SYSTEM USING ASYNCHRONOUS COMMUNICATION AND CONTROLLER AND METHOD THEREOF 审中-公开
标题翻译：使用异步通信和控制器的运动控制系统及其方法
公开(公告)号：WO2014086017A1
公开(公告)日：2014-06-12
申请号：PCT/CN2012/086027
申请日：2012-12-06
申请人： ABB TECHNOLOGY LTD. , ZAHRAI, Said , ZHANG, Feihong , ZHANG, Yicheng , SU, Chengping , MA, Bojun , YANG, Chao , ZHANG, Hui
发明人： ZAHRAI, Said , ZHANG, Feihong , ZHANG, Yicheng , SU, Chengping , MA, Bojun , YANG, Chao , ZHANG, Hui
IPC分类号： H04L7/02
CPC分类号： H04L1/1867 , G06F13/42 , H04J3/0667 , H04J3/0697 , H04L1/0001
摘要： Present invention provides a motion control system using asynchronous communication, and the controller and methods thereof. The motion control system include: a first controller, being adapted for preparing a multiple of data sequentially at a series of first clocks and keeping transmitting the data at a series of second clocks until it receives a confirmation; a second controller, being adapted for receiving the data and acknowledging correct receipt of the data by returning the confirmation; wherein; an interval among the series of first clocks is longer than an interval among the series of the second clocks. By having the configuration as above, it can provide at least one of the technical effects as: 1. asynchronous communication between the first controller and the second controller; 2. the two controllers with different clock rates can communicate with each other; 3. avoidance of lost data by retransmitting the data at a frequency higher than the frequency at which the data are prepared or are to be consumed; 4. the reuse of the interval between the first clocks for transmission of the data at a series of the second clocks.
摘要翻译：本发明提供一种使用异步通信的运动控制系统及其控制器及其方法。运动控制系统包括：第一控制器，适于以一系列第一时钟顺序地准备多个数据，并且以一系列第二时钟保持传输数据，直到其接收到确认; 第二控制器，适于通过返回所述确认来接收所述数据并确认所述数据的正确接收; 其中; 所述一系列第一时钟之间的间隔比所述一系列第二时钟中的间隔长。通过具有如上的配置，它可以提供以下技术效果中的至少一个：1.第一控制器和第二控制器之间的异步通信; 具有不同时钟速率的两个控制器可以相互通信; 3.通过以高于数据准备或将被消耗的频率的频率重传数据来避免丢失的数据; 在第一时钟之间的间隔的重用，用于在一系列第二时钟传输数据。

5. 发明申请

WO2014102018A1 METHOD AND APPARATUS FOR REDUCTION OF CO-WORKER'S INJURY 审中-公开
标题翻译：减少劳工伤害的方法和装置
公开(公告)号：WO2014102018A1
公开(公告)日：2014-07-03
申请号：PCT/EP2013/054032
申请日：2013-02-28
申请人： ABB TECHNOLOGY LTD , ZAHRAI, Said , MATTHIAS, Björn
发明人： ZAHRAI, Said , MATTHIAS, Björn
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , G05B2219/40201 , G05B2219/40202 , G05B2219/40559
摘要： It is provided a method and an apparatus for reduction of a potential injury of a co-worker resulting from an intersection by a hazardous zone of a work piece held by a robot and a body part of the co-worker in a cell accommodating the robot. The method includes steps of: selecting a first, a second, a third and a fourth value for a first, a second, a third and a fourth variable, wherein the first variable represents a relative velocity between the hazardous zone of the work piece and the body part of the co-worker, the second variable represents a degree of an inertia of the moving part of the robot and the work piece, the third variable represents a degree of a vulnerability of the body part of the co-worker, and the fourth variable represents a degree of a hazardousness for the hazardous zone of the work piece; and predicting a degree of a potential hazard resulting from the intersection of the hazardous zone of the work piece and the body part of the co-worker according to the first, second, third and fourth variables. It is helpful to produce data to estimate the injury for a well-defined intersection at a given relative speed in vector form between a human body part and a work piece of elementary shape held by a robot in motion.
摘要翻译：本发明提供了一种方法和装置，用于减少由机器人保持的工件的危险区域和同事的身体部分的交叉点在容纳机器人的单元中产生的同事的潜在伤害。该方法包括以下步骤：为第一，第二，第三和第四变量选择第一，第二，第三和第四值，其中第一变量表示工件的危险区域与第二个变量表示机器人和工件的运动部分的惯性程度，第三个变量表示同事的身体部位的脆弱程度，第第四个变量表示工件危险区域的危险程度; 并根据第一，第二，第三和第四变量预测工件的危险区域和同体的身体部位的交点产生的潜在危险程度。在人体部分与运动中的机器人所保持的基本形状的工件之间以矢量形式以给定的相对速度产生数据以估计良好定义的交叉点的损伤是有帮助的。

6. 发明申请

WO2003031918A1 DEVICE, SYSTEM AND METHOD FOR ON-LINE MONITORING OF FLOW QUANTITIES 审中-公开
标题翻译：用于在线监测流量的装置，系统和方法
公开(公告)号：WO2003031918A1
公开(公告)日：2003-04-17
申请号：PCT/SE2002/001844
申请日：2002-10-09
申请人： ABB AB , OHLSSON, Bertil , WINDECKER, Ulrike , ZAHRAI, Said
发明人： OHLSSON, Bertil , WINDECKER, Ulrike , ZAHRAI, Said
IPC分类号： G01F1/85
CPC分类号： F04D15/0088 , F04D27/001 , G01F1/80
摘要： Measures of a torque (T) and rotational speed (n) of a pump or fan (12) are obtained, from which a mechanical input power (Pm) can be calculated. By further using predetermined relations (47) between mechanical input power (Pm) and flow rate (Q) through the pump or fan, a measure of the flow rate (Q) can be derived without use of in-line flow or pressure sensors. In preferred embodiments the torque (T) and/or rotational speed (n) is obtained by measuring the input current (51) and voltage (50) of a motor (20) driving the pump or fan (12) and using predetermined relations (54, 58) between on the one hand current (I) and voltage (U) and on the other hand torque (T) and rotational speed (n). Furthermore, also other flow properties, such as pump head, pump efficiency (hP) and total efficiency (hT) can be determined in this manner.
摘要翻译：获得泵或风扇（12）的转矩（T）和转速（n）的测量值，可以计算出机械输入功率（Pm）。通过进一步使用通过泵或风扇的机械输入功率（Pm）和流量（Q）之间的预定关系（47），可以导出流量（Q）的度量而不使用在线流量或压力传感器。在优选实施例中，通过测量驱动泵或风扇（12）的电动机（20）的输入电流（51）和电压（50）并使用预定关系式（T）和/或转速（n）一方面为电流（I）和电压（U）之间，另一方面为扭矩（T）和转速（n）。此外，也可以以这种方式确定其它流量特性，例如泵头，泵效率（hP）和总效率（hT）。

7. 发明申请

WO2006025775A1 A CONTROL SYSTEM FOR REAL TIME APPLICATIONS FOR COOPERATIVE INDUSTRIAL ROBOTS 审中-公开
标题翻译：用于合作工业机器人的实时应用控制系统
公开(公告)号：WO2006025775A1
公开(公告)日：2006-03-09
申请号：PCT/SE2005/001198
申请日：2005-08-10
申请人： ABB AB , ZAHRAI, Said , KARLSSON, Mattias , GADE, Jörgen , CARLSSON, Per
发明人： ZAHRAI, Said , KARLSSON, Mattias , GADE, Jörgen , CARLSSON, Per
IPC分类号： B25J9/16
CPC分类号： B25J9/161 , G05B19/4148 , G05B23/0213 , G05B2219/32126 , G05B2219/34008 , G05B2219/34024 , G05B2219/34205 , G05B2219/34403
摘要： A control system adapted for real time applications, comprising means for carrying out the following functions: communication, control of a process or a device, and safety functions. The control system comprises a plurality of function modules (la-1g) adapted for at least carrying out said control function and said safety functions, each function module is adapted for receiving input data and for providing output data, each function module is adapted to carry out a defined task based on said received input data and provide output data based on the task carried out, each function module is adapted to carry out the task during a time period which is independent of what is simultaneously going on in the other modules, and that at least a part of one of said function modules is implemented by means of programmable logic.
摘要翻译：适用于实时应用的控制系统，包括用于执行以下功能的装置：通信，过程或设备的控制以及安全功能。控制系统包括适于至少执行所述控制功能和所述安全功能的多个功能模块（la-1g），每个功能模块适于接收输入数据并提供输出数据，每个功能模块适于承载基于所接收的输入数据输出定义的任务，并且基于执行的任务提供输出数据，每个功能模块适于在与其他模块中同时进行的时间段无关的时间段内执行任务，以及所述功能模块之一的至少一部分通过可编程逻辑来实现。

8. 发明申请

WO2002078891A1 AN ARC WELDING METHOD 审中-公开
标题翻译：电弧焊接方法
公开(公告)号：WO2002078891A1
公开(公告)日：2002-10-10
申请号：PCT/SE2002/000648
申请日：2002-03-28
申请人： ABB AB , KADDANI, Ahmed , WINDECKER, Ulrike , SKARIN, Dick , LEMARINIER, Pavel , ZAHRAI, Said , GU, Chun-Yuan
发明人： KADDANI, Ahmed , WINDECKER, Ulrike , SKARIN, Dick , LEMARINIER, Pavel , ZAHRAI, Said , GU, Chun-Yuan
IPC分类号： B23K9/095
CPC分类号： B23K9/1062 , B23K31/006
摘要： A method for controlling an arc welding equipment (21) used in a welding operation and adjustable by varying at least one welding parameter value, comprising the steps of determining said at least one welding parameter while using a theoretical model (24) of the welding process associated with the welding operation, and controlling the operation of the welding equipment and the welding process associated therewith by using said at least one welding parameter for adjusting the welding equipment and a device comprising an arc welding equipment (21) used in a welding operation and adjustable by varying at least one welding parameter and an arrangement (22) for controlling the operation of the arc welding equipment, said control arrangement including a means (23) adapted to determine the value of said at least one welding parameter while using a theoretical model (24) of the welding process, and a member (25) adapted to control the operation of the welding equipment and the welding process associated therewith by using said at least one welding parameter value for adjusting the welding equipment.
摘要翻译：一种用于控制在焊接操作中使用并可通过改变至少一个焊接参数值来调节的电弧焊设备（21）的方法，包括以下步骤：在使用焊接过程的理论模型（24）的同时确定所述至少一个焊接参数与焊接操作相关联，并且通过使用用于调整焊接设备的所述至少一个焊接参数和包括在焊接操作中使用的电弧焊设备（21）的设备来控制焊接设备的操作和与之相关的焊接过程，以及通过改变至少一个焊接参数可调整，以及用于控制电弧焊接设备的操作的装置（22），所述控制装置包括适于在使用理论模型时确定所述至少一个焊接参数的值的装置（23）（24），以及适于控制焊接设备的操作和焊接过程的构件（25）通过使用所述至少一个焊接参数值来调整焊接设备。

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