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1. 发明公开

CN108804127A 工程系统有权
公开(公告)号：CN108804127A
公开(公告)日：2018-11-13
申请号：CN201810370886.7
申请日：2018-04-23
申请人：西门子股份公司
发明人：本杰明·卢茨
IPC分类号： G06F8/656 , G06F8/658
CPC分类号： G05B19/4188 , G05B19/0426 , G05B2219/40444 , G06F8/658 , G06F8/656
摘要：本发明涉及一种用于规划自动化装置的工程系统，其中工程系统设计为：根据技术层次以结构化方式存储和显示用于至少一个自动化设备的第一对象和用于至少一个操作员系统的第二对象，以及由第一对象生成用于加载到自动化设备中的第一运行时间数据和由第二对象生成用于加载到操作员系统中的第二运行时间数据，其中第一运行时间数据的组成部分与第二运行时间数据的组成部分有效联接。借助于所提出的措施可以在规划错误与运行时间数据的增量加载的影响之间进行区分。

2. 发明授权

US5889926A Method for planning/controlling robot motion 失效
标题翻译：计算/控制机器人运动的方法
公开(公告)号：US5889926A
公开(公告)日：1999-03-30
申请号：US898551
申请日：1997-07-22
申请人： David Alan Bourne , Sivaraj Sivarama Krishnan
发明人： David Alan Bourne , Sivaraj Sivarama Krishnan
IPC分类号： B21D5/01 , B25J9/16 , B25J9/18 , G05B19/4093 , G06F15/20
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m-1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.
摘要翻译：提供了一种计算机化方法/系统，用于规划机器人在由初始位置到目标位置的障碍物限制的空闲空间内的运动。在执行该方法/系统时，生成一个计划，使得机器人能够通过弯曲装置执行的整个弯曲操作顺序保持和操纵工件。针对运动序列中的第m次运动提出了由机器人制造的多个提出的运动，并且模拟了限制自由空间的机器人和障碍物的至少一部分。确定机器人和每个建议的运动的障碍物之间是否发生碰撞，并且通过针对运动序列中的每个运动选择包括运动序列的计划，将不会产生所提出的运动在碰撞中，这将使机器人更接近目标位置。在选择拟议的动议时，可以考虑与每个拟议移动相关联的估计费用。估计成本可以基于在将特定提议的运动作为第m次运动之后从机器人的位置到达目标位置的欧几里德距离，和/或估计成本可以根据机器人行进时间的函数来确定第（m-1）运动到第m运动。提供了不同的方法来执行精细运动规划和总体运动规划。

3. 发明授权

US09689696B1 Determining handoff checkpoints for low-resolution robot planning 有权
公开(公告)号：US09689696B1
公开(公告)日：2017-06-27
申请号：US14861852
申请日：2015-09-22
申请人： X Development LLC
发明人： Jared Stephen Russell
IPC分类号： G01C21/34 , B25J5/00 , B25J9/16 , B25J13/00
CPC分类号： B25J9/1666 , G05B2219/40437 , G05B2219/40444 , G05D1/0287 , G05D1/0297 , G05D2201/0211 , Y10S901/01
摘要： Methods, apparatus, systems, and computer-readable media are provided for determining and assigning intermediate handoff checkpoints for low-resolution robot planning. In various implementations, a global path planner may identify a task to be performed by a robot in an environment. In various implementations, the global path planner may determine, based at least in part on one or more attributes of the environment or the task, an intermediate handoff checkpoint for the robot to reach by a scheduled time while the robot performs the task. In various implementations, the global path planner may determine that a measure of reactivity that would be attributable to the robot upon the robot being assigned the intermediate handoff checkpoint satisfies a reactivity threshold. In various implementations, the global path planner may provide, to a local path planner associated with the robot, data indicative of the intermediate handoff checkpoint.

4. 发明授权

US5835684A Method for planning/controlling robot motion 失效
公开(公告)号：US5835684A
公开(公告)日：1998-11-10
申请号：US338115
申请日：1994-11-09
申请人： David Alan Bourne , Sivaraj Sivarama Krishnan
发明人： David Alan Bourne , Sivaraj Sivarama Krishnan
IPC分类号： B21D5/01 , B25J9/16 , B25J9/18 , G05B19/4093 , G06F15/20
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m-1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.

5. 发明授权

US09989371B1 Determining handoff checkpoints for low-resolution robot planning 有权
公开(公告)号：US09989371B1
公开(公告)日：2018-06-05
申请号：US15602425
申请日：2017-05-23
申请人： X Development LLC
发明人： Jared Stephen Russell
IPC分类号： G01C21/34 , B25J5/00 , B25J9/16 , B25J13/00
CPC分类号： B25J9/1666 , G05B2219/40437 , G05B2219/40444 , G05D1/0287 , G05D1/0297 , G05D2201/0211 , Y10S901/01
摘要： Methods, apparatus, systems, and computer-readable media are provided for determining and assigning intermediate handoff checkpoints for low-resolution robot planning. In various implementations, a global path planner may identify a task to be performed by a robot in an environment. In various implementations, the global path planner may determine, based at least in part on one or more attributes of the environment or the task, an intermediate handoff checkpoint for the robot to reach by a scheduled time while the robot performs the task. In various implementations, the global path planner may determine that a measure of reactivity that would be attributable to the robot upon the robot being assigned the intermediate handoff checkpoint satisfies a reactivity threshold. In various implementations, the global path planner may provide, to a local path planner associated with the robot, data indicative of the intermediate handoff checkpoint.

6. 发明授权

US06493607B1 Method for planning/controlling robot motion 有权
标题翻译：计算/控制机器人运动的方法
公开(公告)号：US06493607B1
公开(公告)日：2002-12-10
申请号：US09160142
申请日：1998-09-25
申请人： David Alan Bourne , Sivaraj Sivarama Krishnan
发明人： David Alan Bourne , Sivaraj Sivarama Krishnan
IPC分类号： G05B1904
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m−1) th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.
摘要翻译：提供了一种计算机化方法/系统，用于规划机器人在由初始位置到目标位置的障碍物限制的空闲空间内的运动。在执行该方法/系统时，生成一个计划，使得机器人能够通过弯曲装置执行的整个弯曲操作顺序保持和操纵工件。针对运动序列中的第m次运动提出了由机器人制造的多个提出的运动，并且模拟了限制自由空间的机器人和障碍物的至少一部分。确定机器人和每个建议的运动的障碍物之间是否发生碰撞，并且通过针对运动序列中的每个运动选择包括运动序列的计划，将不会产生所提出的运动在碰撞中，这将使机器人更接近目标位置。在选择拟议的动议时，可以考虑与每个拟议移动相关联的估计费用。估计成本可以基于在将特定提议的运动作为第m次运动之后从机器人的位置到达目标位置的欧几里德距离，和/或估计成本可以根据机器人行进时间的函数来确定第（m-1）运动到第m运动。提供了不同的方法来执行精细运动规划和总体运动规划。

7. 发明公开

EP0738199A1 METHOD FOR PLANNING/CONTROLLING ROBOT MOTION 失效
标题翻译：机器人运动规划方法/ CONTROL
公开(公告)号：EP0738199A1
公开(公告)日：1996-10-23
申请号：EP95936761.0
申请日：1995-11-09
申请人： AMADA COMPANY LIMITED , U.S. AMADA LTD.
发明人： BOURNE, David, Alan , KRISHNAN, Sivaraj, Sivarama
IPC分类号： B21D5 , B25J9 , G05B19
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon an euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m -1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.

8. 发明公开

EP0945227A2 Method for planning/controlling robot motion 失效
标题翻译： Verfahren zur Plannung und Steuerung von Robotern
公开(公告)号：EP0945227A2
公开(公告)日：1999-09-29
申请号：EP99109178.6
申请日：1995-11-09
申请人： AMADA COMPANY, LIMITED , U.S. AMADA LTD.
发明人： Bourne, David Alan , Krishnan, Sivaraj Sivarama
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m -1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.
摘要翻译：提供了一种计算机化方法/系统，用于规划机器人在由初始位置到目标位置的障碍物限制的自由空间内的运动。在执行该方法/系统时，产生一个计划，使得机器人可以在由弯曲装置执行的整个弯曲操作的顺序中保持和操纵工件。针对运动序列中的第m次运动提出了由机器人制造的多个提出的运动，并且将自动空间的限制的机器人和障碍物的至少一部分建模。确定是否在机器人和每个建议的运动的障碍物之间发生碰撞，并且通过选择运动序列中的每个运动来生成包括运动序列的计划，所提出的不会产生的运动在碰撞中，这将使机器人更接近目标位置。在选择拟议运动时，可以考虑与每个拟议运动相关的估计费用。估计成本可以基于在将特定提议的运动作为第m次运动之后从机器人的位置到达目标位置的欧几里德距离，和/或可以根据机器人行进时间的函数来确定估计成本（m -1）运动到第m次运动。提供了不同的方法来执行精细运动规划和总体运动规划。

9. 发明公开

EP0945227A3 Method for planning/controlling robot motion 失效
标题翻译：用于规划和机器人的控制方法
公开(公告)号：EP0945227A3
公开(公告)日：2000-06-07
申请号：EP99109178.6
申请日：1995-11-09
申请人： AMADA COMPANY, LIMITED , U.S. AMADA LTD.
发明人： Bourne, David Alan , Krishnan, Sivaraj Sivarama
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m -1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.

10. 发明授权

EP0738199B1 METHOD FOR PLANNING/CONTROLLING ROBOT MOTION 失效
标题翻译：机器人运动规划方法/ CONTROL
公开(公告)号：EP0738199B1
公开(公告)日：2000-03-08
申请号：EP95936761.6
申请日：1995-11-09
申请人： AMADA COMPANY, LIMITED , U.S. AMADA LTD.
发明人： BOURNE, David, Alan , KRISHNAN, Sivaraj, Sivarama
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon an euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m -1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.

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