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1. 发明申请

US20190202053A1 SYSTEMS AND METHOD FOR ROBOTIC LEARNING OF INDUSTRIAL TASKS BASED ON HUMAN DEMONSTRATION 审中-公开
公开(公告)号：US20190202053A1
公开(公告)日：2019-07-04
申请号：US15860377
申请日：2018-01-02
申请人： General Electric Company
发明人： Huan Tan , John Robert Hoare , Justin Michael Foehner , Steven Robert Gray , Shiraj Sen , Romano Patrick
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/161 , B25J9/1671 , G05B2219/40099 , G05B2219/40131 , G05B2219/40323 , G05B2219/40515 , G05D1/0044 , Y10S901/03
摘要： A system for performing industrial tasks includes a robot and a computing device. The robot includes one or more sensors that collect data corresponding to the robot and an environment surrounding the robot. The computing device includes a user interface, a processor, and a memory. The memory includes instructions that, when executed by the processor, cause the processor to receive the collected data from the robot, generate a virtual recreation of the robot and the environment surrounding the robot, receive inputs from a human operator controlling the robot to demonstrate an industrial task. The system is configured to learn how to perform the industrial task based on the human operator's demonstration of the task, and perform, via the robot, the industrial task autonomously or semi-autonomously.

2. 发明申请

US20170144304A1 SYSTEM AND METHOD FOR FLEXIBLE HUMAN-MACHINE COLLABORATION 有权
公开(公告)号：US20170144304A1
公开(公告)日：2017-05-25
申请号：US15424369
申请日：2017-02-03
申请人： THE JOHNS HOPKINS UNIVERSITY
发明人： Kelleher GUERIN , Gregory D. HAGER , Sebastian RIEDEL
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1628 , B25J9/163 , B25J9/1661 , B25J13/00 , G05B2219/33051 , G05B2219/36422 , G05B2219/39365 , G05B2219/40118 , G05B2219/40122 , G05B2219/40131 , G05B2219/40391 , Y10S901/02 , Y10S901/04 , Y10S901/46
摘要： Methods and systems for enabling human-machine collaborations include a generalizable framework that supports dynamic adaptation and reuse of robotic capability representations and human-machine collaborative behaviors. Specifically, a method of feedback-enabled user-robot collaboration includes obtaining a robot capability that models a robot's functionality for performing task actions, specializing the robot capability with an information kernel that encapsulates task-related parameters associated with the task actions, and providing an instance of the specialized robot capability as a robot capability element that controls the robot's functionality based on the task-related parameters. The method also includes obtaining, based on the robot capability element's user interaction requirements, user interaction capability elements, via which the robot capability element receives user input and provides user feedback, controlling, based on the task-related parameters, the robot's functionality to perform the task actions in collaboration with the user input; and providing the user feedback including task-related information generated by the robot capability element in association with the task actions.

3. 发明申请

US20090228144A1 Method For Calculating Rotation Center Point And Axis Of Rotation, Method For Generating Program, Method For Moving Manipulator And Positioning Device, And Robotic System 有权
标题翻译：用于计算旋转中心点和旋转轴的方法，用于生成程序的方法，用于移动机械手和定位装置的方法以及机器人系统
公开(公告)号：US20090228144A1
公开(公告)日：2009-09-10
申请号：US11791452
申请日：2007-01-17
申请人： Yoshiyuki Okazaki , Masaya Hirayama
发明人： Yoshiyuki Okazaki , Masaya Hirayama
IPC分类号： G06F19/00
CPC分类号： B25J9/1692 , G05B19/404 , G05B2219/37608 , G05B2219/40131 , G05B2219/40383
摘要： Disclosed is a method for calculating a rotation center point on a plane of rotation of a positioning device by using a manipulator, the positioning device positions a workpiece by rotating the plane of rotation. The method includes: a first step of obtaining location information of a predetermined position on the plane of rotation by using the manipulator, a second step of rotating the plane of rotation of the positioning device 180 degrees; a third step of obtaining location information of the predetermined position on the 180-degree rotated plane of rotation by using the manipulator; and a fourth step of calculating a point bisecting a straight line as the rotation center point of the plane of rotation of the positioning device from the location information obtained in the first step and the location information obtained in the third step, the straight line connecting the predetermined position of the first step and the predetermined position of the third step.
摘要翻译：公开了一种通过使用机械手来计算定位装置的旋转平面上的旋转中心点的方法，定位装置通过旋转旋转平面来定位工件。该方法包括：通过使用机械手获取旋转平面上的预定位置的位置信息的第一步骤，使定位装置的旋转平面旋转180度的第二步骤; 第三步骤，通过使用所述操纵器获得所述180度旋转旋转平面上的所述预定位置的位置信息; 以及第四步骤，根据在第一步骤中获得的位置信息和在第三步骤中获得的位置信息，计算将平直线作为定位装置的旋转平面的旋转中心点的点，将直线连接到第一步骤的预定位置和第三步骤的预定位置。

4. 发明申请

US20070282485A1 Robot simulation apparatus 有权
标题翻译：机器人模拟装置
公开(公告)号：US20070282485A1
公开(公告)日：2007-12-06
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： G06F19/00
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。

5. 发明申请

US20050096892A1 Simulation apparatus 有权
标题翻译：模拟装置
公开(公告)号：US20050096892A1
公开(公告)日：2005-05-05
申请号：US10972675
申请日：2004-10-26
申请人： Atsushi Watanabe , Yoshiharu Nagatsuka
发明人： Atsushi Watanabe , Yoshiharu Nagatsuka
IPC分类号： B25J9/22 , B25J9/16 , G05B19/4068 , G05B19/4093 , G06F19/00 , G06G7/48
CPC分类号： G05B19/4069 , B25J9/1671 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40131 , G05B2219/40314 , G05B2219/40323 , Y02P90/26 , Y02P90/265
摘要： A work cell is defined on the simulation apparatus and a robot mounting an image capturing device, a workpiece, etc. are arranged in it; a separately set visual volume model is introduced into it, a tool coordinate system (tool tip point) is defined at a view point, and a detection reference point (detection reference coordinate system) is set relating to the workpiece; a graphic jog is performed to make the robot move so that the tool coordinate system matches with the detection reference coordinate system; and a simulated correction amount by the visual sensor is designated and the display of the visual volume model is switched on and off in accordance with output/nonoutput of the image capturing command at the time of simulation of the operation program.
摘要翻译：在模拟装置上定义工作单元，并且在其中布置安装图像捕获装置，工件等的机器人; 在其中引入单独设置的视觉体积模型，在视点定义工具坐标系（工具尖端点），并且设置与工件有关的检测参考点（检测参考坐标系）; 执行图形点动以使机器人移动，使得工具坐标系与检测基准坐标系匹配; 并且指定视觉传感器的模拟校正量，并且在模拟操作程序时根据图像捕获命令的输出/非输出来打开和关闭视觉体积模型的显示。

6. 发明授权

US06642922B1 Interface apparatus for dynamic positioning and orientation of a robot through real-time parameter modifications 失效
标题翻译：用于通过实时参数修改来动态定位和定向机器人的接口设备
公开(公告)号：US06642922B1
公开(公告)日：2003-11-04
申请号：US09252830
申请日：1999-02-19
申请人： Akira Noda
发明人： Akira Noda
IPC分类号： G06F1500
CPC分类号： B25J9/1671 , G05B2219/40131 , G05B2219/40169 , Y02P90/265
摘要： A display plane shown in the computer graphics for displaying an arbitrary plane in a three-dimensional space is mapped to a movable range of an end effector of a robot. The movable range is limited to a displayed two-dimensional plane. A user moves and positions the end effector on the display plane.
摘要翻译：用于在三维空间中显示任意平面的计算机图形中所示的显示平面被映射到机器人的末端执行器的可移动范围。可移动范围限于显示的二维平面。使用者将末端执行器移动并定位在显示平面上。

7. 发明申请

US20170203438A1 ROBOT CONTROL, TRAINING AND COLLABORATION IN AN IMMERSIVE VIRTUAL REALITY ENVIRONMENT 审中-公开
公开(公告)号：US20170203438A1
公开(公告)日：2017-07-20
申请号：US15480135
申请日：2017-04-05
申请人： The Johns Hopkins University
发明人： Kelleher Guerin , Gregory D. Hager
IPC分类号： B25J9/16
CPC分类号： B25J9/1605 , B25J9/1671 , G05B2219/40131 , G05B2219/45097 , Y10S901/05
摘要： System and methods to create an immersive virtual environment using a virtual reality system that receives parameters corresponding to a real-world robot. The real-world robot may be simulated to create a virtual robot based on the received parameters. The immersive virtual environment may be transmitted to a user. The user may supply input and interact with the virtual robot. Feedback such as the current state of the virtual robot or the real-world robot may be provided to the user. The user may train the virtual robot. The real-world robot may be programmed based on the virtual robot training.

8. 发明申请

US20170144297A1 ROBOT CONTROL SYSTEM 审中-公开
公开(公告)号：US20170144297A1
公开(公告)日：2017-05-25
申请号：US15320310
申请日：2015-06-19
申请人： OMRON Corporation
发明人： Ryuichiro TAKAICHI , Hiroyuki INOUE , Takamasa YAMAJI , Teruki YAMADA
IPC分类号： B25J9/00
CPC分类号： B25J9/0084 , B25J9/0096 , B25J9/1656 , B25J13/006 , B25J13/06 , B25J19/00 , G05B2219/33192 , G05B2219/39448 , G05B2219/40131 , G05B2219/40205
摘要： A robot control system comprising a plurality of robots and a worker terminal that is capable of sending operation commands to a plurality of robots, by using wireless communications. The worker terminal has: an identification part that identifies a target robot to be used for work, from among a plurality of robots; a reception part that receives operation instructions for the robot from a worker; and a wireless communications part that sends operation commands to only the robot identified as the target robot by the identification part, when an operation instruction is received by the reception part.

9. 发明授权

US09643318B2 Teleoperation of machines having at least one actuated mechanism 有权
公开(公告)号：US09643318B2
公开(公告)日：2017-05-09
申请号：US14648995
申请日：2013-12-03
申请人： ABB Technology AG
发明人： Jianjun Wang , Biao Zhang , George Q. Zhang , Harald Staab , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16
CPC分类号： B25J9/1689 , B25J9/1676 , G05B2219/40117 , G05B2219/40131 , G05B2219/40168
摘要： A machine that has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. An interface at the control station allows an operator to select one or more virtual constraints on operation of the machine when the machine is performing a predetermined function. The virtual constraints are transmitted over the two way real-time communication link to the machine location. The machine has predetermined safety limits that are stored in a controlling device at the machine location. The stored predetermined safety limits are extracted and automatically mapped to the control station using the two way real-time communication link. The controlling device maps the predetermined safety limits to the virtual constraints.

10. 发明授权

US09569568B2 Robot simulation system which simulates takeout process of workpiece 有权
标题翻译：模拟工件取出过程的机器人模拟系统
公开(公告)号：US09569568B2
公开(公告)日：2017-02-14
申请号：US14642014
申请日：2015-03-09
申请人： FANUC Corporation
发明人： Yuuki Kimoto , Yoshiharu Nagatsuka
IPC分类号： G06G7/48 , G06F17/50
CPC分类号： G06F17/5009 , B25J9/1671 , G05B2219/32351 , G05B2219/40053 , G05B2219/40131 , G05B2219/40323
摘要： A robot simulation system includes a model placement part which places a three-dimensional container model in a virtual space and places three-dimensional workpiece models which have any postures at initial positions above the container model and a drop operation simulation part which simulates a drop operation in which the workpieces drop from the initial positions to the inside of the container by action of gravity. The robot simulation system is configured to create a bulk stacked state of workpiece models, based on the positions and postures of the workpiece models which are obtained as a result of simulation of the drop operation.
摘要翻译：机器人模拟系统包括将三维容器模型放置在虚拟空间中的模型放置部件，并且在容器模型上方的初始位置放置具有任何姿势的三维工件模型以及模拟放下操作的放置操作模拟部件其中工件通过重力作用从容器的初始位置下降到内部。机器人模拟系统被配置为基于通过模拟落下操作获得的工件模型的位置和姿势来创建工件模型的堆叠状态。

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