96 results about "Workcell" patented technology

The present disclosure relates to systems, devices, and methods for automated cell sorting within a cell processing system. In an embodiment, the present disclosure relates to an automated cell sorting system comprising a cartridge having a cell sorting module, where the cell sorting module comprises a flow cell, and an instrument within a bay of a cell processing workcell, where the instrument comprises a magnetic array couplable to the flow cell, each of the magnets within the magnetic array having a width of w and being spaced apart by between about w / 3 to about 3 / 4w, and wherein the flow cell has a height of between about 1 / 12w to about 1 / 8w.

The present disclosure relates to systems, devices, and methods for automated cell sorting within a cell processing system. In an embodiment, the present disclosure relates to an automated cell sorting system comprising a cartridge having a cell sorting module, where the cell sorting module comprises a flow cell, and an instrument within a bay of a cell processing workcell, where the instrument comprises a magnetic array couplable to the flow cell, each of the magnets within the magnetic array having a width of w and being spaced apart by between about w / 3 to about ¾w, and wherein the flow cell has a height of between about 1 / 12w to about ⅛w.

The present disclosure relates to systems, devices, and methods for automated cell sorting within a cell processing system. In an embodiment, the present disclosure relates to an automated cell sorting system comprising a cartridge having a cell sorting module, where the cell sorting module comprises a flow cell, and an instrument within a bay of a cell processing workcell, where the instrument comprises a magnetic array couplable to the flow cell, each of the magnets within the magnetic array having a width of w and being spaced apart by between about w / 3 to about 3 / 4w, and wherein the flow cell has a height of between about 1 / 12w to about 1 / 8w.

Techniques and systems for performing a perception analysis for a robotic stowing operation are described. An example technique includes obtaining, via multiple sensors, multiple first images, wherein each first image is an image of a different container of an inventory holder within a robotic workcell. A first machine learning (ML) and image processing pipeline is performed with the first images to determine displacement locations for the containers of the inventory holder. A second ML and image processing pipeline is performed with the first images to determine content signatures for the containers. A plan is generated for stowing a first item into a first container, based at least in part on the plurality of content signatures and the plurality of displacement locations. A robotic apparatus is controlled to stow the first item into the first container, based on the plan.

Various embodiments of the teachings herein include an information processing method. An example method includes: generating a workflow in an OT domain described by using a common information model based on an instruction input by a user, wherein the workflow defines an operation to be performed by a workcell in the OT domain; converting the workflow into a function block program described in a domain specific language; and deploying the function block program described in the domain specific language to runtime of a main controller of the workcell for execution, to control an OT device in the workcell to perform, based on the workflow, the operation.

Various embodiments include a workflow generation method. An example includes: receiving a behavior tree construction operation entered on a graphical user interface (GUI) by a user, including an addition operation and a line connection operation performed on behavior tree nodes comprising function block nodes, one behavior tree is used for representing one workflow of service operations to be executed by resources in one workcell, and the function block nodes are used for implementing the service operations in the workflow; instantiating the behavior tree nodes and establishing connection relationships among the nodes in response to the construction operation, wherein some or all of the instantiated function block nodes are associated with resources for executing corresponding service operations; and generating a behavior tree corresponding to one workflow using the connection relationships among the tree nodes.

Various embodiments of the teachings herein include a dynamic workflow implementation method. An example includes: constructing a behavior tree comprising: a plurality of function block nodes, and connection relationships between the function block nodes; analyzing the behavior tree to obtain a workflow representing service operations to be performed by resources comprising the dynamic resource in one workcell; and deploying the workflow to a runtime of the corresponding workcell so the runtime determines a resource instance of the dynamic resource based on on-site resource data and controls resources comprising the resource instance to perform the operations based on the workflow. At least one of the plurality of function block nodes is bound to a dynamic resource including a placeholder for reference to a plurality of resource instances of a same type.

Various embodiments of the teachings herein include workflow creation methods. An example includes: storing preset behavior tree nodes in a node library, the nodes including main control nodes for controlling a running state of a workflow and function block nodes operable for implementing operations of a resource in a workcell; displaying the library on a GUI; receiving construction of behavior a tree and an instantiation configuration operation performed by a user on the GUI based on the node library, the behavior tree representing a workflow used for defining operations to be executed by a workcell; and generating a behavior tree instance corresponding to a workflow in response to the construction of the behavior tree. Construction of the behavior tree based on the node library comprises: connecting the start node, the function block nodes, and the end node or the start node, the function block nodes, and the loop node sequentially.

A method (200) for adjusting the position of a component of a robot work unit (30) in a virtual robot work unit (40) simulating the robot work unit (30). The method (200) comprises: acquiring relative positioning information (202) between a robot (31) and an object carrier (32) from a controller (10) for the robot (31) in a robot work unit (30); and adjusting the relative position between a virtual robot (41) corresponding to the robot (31) in the virtual robot work unit (40) and a virtual object carrier (42) corresponding to the object carrier (32) in the virtual robot work unit (40) on the basis of the relative position information. Relative positioning information between the robot (31) and the object carrier (32) can thus be automatically obtained and digitally analyzed.

Various embodiments of the teachings herein include a workflow creation method. Some examples include: receiving an operation performed by a user on a GUI constructing a functional block model; receiving an operation performed by the user including nesting a behavior tree into a second functional block, wherein the behavior tree defines an operation for a first workcell, and the functional block model defines an operation for a second workcell; in response to a first functional block in the functional block model triggering an input event of the second functional block, then the second functional block triggers an execution signal to a root node in the behavior tree at a preset frequency, so the behavior tree starts execution from the root node and outputs an execution result; the second functional block triggers a corresponding output event according to the execution result; and generating an instance of the functional block model.

Various embodiments of the teachings herein include a workflow constructing and monitoring method. For example, a method may include: generating a behavior tree corresponding to a workflow using a behavior tree construction operation entered by a user on a GUI, the tree comprising function block nodes implementing a service operation; adding and connecting a data block to each function block node of a function block node in the behavior tree, each data block configured to present corresponding data in the service operation of the function block node connected thereto; and parsing the behavior tree connected with data blocks, deploying the workflow corresponding to the behavior tree to a runtime of a corresponding workcell so that the runtime executes the workflow to control each resource in the workcell to execute the service operation according to the workflow, and providing corresponding data to the corresponding data block for display.

The improved electric tool working unit comprises a working unit body, the working unit body comprises a shell with an inner cavity and an open side, and a first working piece and a second working piece capable of reciprocating movement; the assembly structure of the first working piece and the second working piece is arranged in the inner cavity of the shell; and a sealing plate is arranged on the open side of the shell, and the assembly structure of the first working piece and the second working piece is hidden in the inner cavity after the sealing plate is assembled. In the working unit in the application, the assembly structure of the first working piece and the second working piece is hidden in the inner cavity through the sealing plate. In the working state, the first working piece and the second working piece will be driven by the internal driving structure to move reciprocally at a high frequency, so as to achieve the purpose of pruning branches, and therefore, the dirt accumulation will affect the working efficiency. The hidden assembly structure in the application can significantly reduce the dirt accumulation at the assembly structure during work, and improve the working efficiency.

To provide a technology which can cool an electric motor sufficiently while suppressing foreign matters from entering an inside of a working machine.SOLUTION: A working machine includes: a work unit having a work mechanism, an electric motor, and a motor housing; a control device; a base; a rear housing; a front handle; and a rear handle. The base includes a passage part. The motor housing includes an inner air inlet port which opens to an inside of the passage part, and an outer exhaust port which opens to an external of the working machine. The rear housing includes an outer air inlet port which opens to the external of the working machine, and an inner exhaust port which opens to the inside of the passage part. A cooling air flow passage is formed from the external of the working machine, via the outer air inlet port, an inside of the rear housing, the inner exhaust port, the inside of the passage part, the inner air inlet port, an inside of the motor housing, and the outer exhaust port, to the external of the working machine. The inner air inlet port and the inner exhaust port overlap each other when viewed along a longitudinal direction.SELECTED DRAWING: Figure 18

To provide a motor unit which can be used in a low output type work unit.SOLUTION: A motor unit causes a work unit to operate. The motor unit includes: a body housing which includes a first housing and a second housing and in which a housing space is defined between the first housing and the second housing and the first housing and the second housing define an entire outer shape of the body housing; a motor which is disposed in the housing space; an output unit which can be fixed to the work unit and causes the work unit to operate when the motor operates; a battery terminal which is exposed to the outside of the body housing and can be connected to the battery for supplying electric power to the motor; and a control unit which is disposed in the housing space and controls the motor.SELECTED DRAWING: Figure 12

In an automated system and method uses a multi-axis robot arm and computer vision system to perform critical demil processes using a plurality of networked workcells monitored and managed by a central processor. An inspection and paint removal cell strips paint or other coatings from the outer surface of the ordnance for disposal of the paint or other coatings. A defusing cell is operative to remove a fuse from the ordinance for disposal of the fuse, and a cutting and definning cell operative to remove fins from the body of the ordnance, and cut into the body of the ordnance to determine if submunitions are present in the ordnance. A multi-axis robot arm and computer vision system removes submunitions from the ordnance, if present, inspecting the submunitions, and transferring the submunitions to the cutting and definning cell for subsequent processing.

To provide a work machine capable of preventing a working unit from contacting a member other than the working unit by restricting a rotational range of the working unit.SOLUTION: An electric shovel as a work machine comprises an electric motor, a working unit rotated by the electric motor, and a regulating member that regulates rotation of the working unit.SELECTED DRAWING: Figure 3

The utility model discloses a measuring device for engineering exploration, and the device comprises a main body unit which comprises a fixed disc, the fixed disc is rotatably provided with a support, the support is provided with an installation member, the support is provided with a supporting leg in a clamping manner, the fixed disc is provided with an installation port, and the installation port is fixedly provided with a first connecting rod; the working unit comprises a sliding groove formed in a first connecting rod, a lifting block is arranged in the sliding groove in a sliding mode, a connecting disc is fixedly arranged on the lifting block, a first connecting component is arranged in the first connecting rod, a second connecting component is arranged in the first connecting component, a second handle is fixedly arranged on the second connecting component, and a measuring component is arranged on the connecting disc. The connecting plates are pushed towards the two sides, so that the inner walls of the clamping grooves in the connecting plates are separated from the clamping blocks, then the mounting plates are pulled, so that the mounting plates are separated from the clamping blocks, the supporting feet can be taken down, the matched supporting feet are replaced according to specific conditions, and the situation that the fixing of the device is unstable due to environmental influence is avoided.

A method for performing robot dynamic path modification using a remote tool center point (RTCP) coordinate frame, for applications such as material dispensing. A processing tool is fixedly mounted in a workcell and the robot holds and moves the workpiece during the processing. The RTCP coordinate frame is defined at the tip of the tool. A nominal processing path on the workpiece is defined, and a prescribed offset distance from the tip of the tool to the workpiece is defined. A sensor measures the actual offset distance from the tool tip to the workpiece. A controller applies the offset in the RTCP coordinate frame and calculates robot motions causing the robot to move the workpiece nominal path past the tool tip at the offset distance. The controller converts the offset from the RTCP frame to a workcell frame, and performs inverse kinematics calculations to generate robot joint motion commands.

The present invention relates generally to working machines with working units that are subject to fluctuating loads or have fluctuating power consumption. The invention relates, on the one hand, to a drive train assembly for driving such a working unit with fluctuating power consumption from a power source, comprising a drive unit transmission that converts a drive movement of the power source into a working movement of the working unit and is connected to the working unit via a transmission output element and to the power source via a transmission input element, as well as a flywheel energy storage device for dampening load shocks or fluctuations. On the other hand, the invention also relates to the working machine with a drive unit with fluctuating power consumption and the aforementioned drive train assembly with flywheel energy storage device.It is proposed to connect the flywheel energy storage system to the drive train section leading from the drive unit to the driven working unit via a branching flywheel train at various points of engagement, so that the flywheel moments are split and the loads are distributed across different points of engagement, thus avoiding overloads and premature wear at a single point of engagement and also significantly reducing the size of the system through load distribution.

This invention discloses an autonomous sensing robotic arm suitable for confined spaces. A lateral translation slide rail is mounted on the upper end of a compact equipment mounting base, allowing for reciprocating movement along the length of the base. A second-stage rotation unit is mounted on the first telescopic arm, enabling second-stage horizontal rotation adjustment of the second telescopic arm and cooperating with the first-stage rotation unit to achieve horizontal positioning. A binocular stereo vision sensor, mounted on the second telescopic arm, performs real-time 3D ranging, identifies unexpected obstacles within the work area, and generates a 3D point cloud of the local environment, providing environmental perception data for obstacle avoidance and path planning. This invention improves operational flexibility, ensures operational continuity, significantly increases overall operational efficiency, enhances operational reliability, and significantly reduces the requirements for operator skills and experience.

The disclosed technology embodies beneficial methods of online task and motion planning for robots based on robot task decomposition into subtasks with additional features that indicate, among other things, whether dynamic trajectory correction is allowed during execution of the subtasks. Decomposition and feature marking enable hybrid motion control during task execution, for example, some subtasks allow reactive motion planning to be employed to avoid collisions, while other subtasks do not allow reactive motion to be employed. Collision avoidance of non-reactive subtasks involves, for example, coordinating volume reservation within the robot workcell involved to prevent other robots from interfering with the robots that are performing designated non-reactive subtasks. It is determined which sub-tasks are non-reactive dependent on information contained in the input task specification, and may be based on user analysis or automatic analysis of robotic applications involved.

A working machine may include a working unit including a working mechanism, an electric motor, and a motor housing, a control unit, a base, a rear housing, a front handle, and a rear handle. The base may include a passage. The motor housing may include an inner air inlet and an outer air outlet. The rear housing may include an outer air inlet and an inner air outlet. A cooling air passage may be defined in which air flows from the outer air inlet to the outer air outlet through an inside of the rear housing, the inner air outlet, the inside of the passage, the inner air inlet, and an inside of the motor housing. As viewed along a front-rear direction, the inner air inlet and the inner air outlet may overlap each other.

To provide a method for performing robot dynamic path modification using a remote tool center point (RTCP) coordinate system, for the field of applications such as coating with material.SOLUTION: A processing tool is fixedly attached into a workcell and the robot holds and moves the workpiece during a processing period. The RTCP coordinate system is defined at the tip of the tool. A nominal processing path on the workpiece is defined, and a prescribed offset distance from the tip of the tool to the workpiece is defined. A sensor measures the actual offset distance from the tool tip to the workpiece. A controller applies the offset in the RTCP coordinate system and calculates robot motions causing the robot to move along the workpiece nominal path past the tool tip at the offset distance. The controller converts the offset from the RTCP frame to a workcell frame, and performs inverse kinematics calculations to generate robot joint motion commands.SELECTED DRAWING: Figure 4

Image sensors distributed about a workcell including industrial machinery are registered using a registration object and an information tag associated therewith. The tag contains information specifying the location of the object and / or the pose of the object. This information is acquired along with images of the registration object, and the sensors are registered based at least in part on the images and the acquired information.

The present disclosure relates to a drive device for a working machine. A fuel cell unit (13) is configured to operate the drive device and to provide excess fuel cell energy. A working unit (36) is configured to perform a work task of the working machine. A working pump (32) is configured to provide a pressurized fluid at least at a pressure level for the working unit (36). The working pump (32) can be operated by the fuel cell energy of the fuel cell unit (13). A fluid storage unit (12) is configured to store the pressurized fluid of the working pump (32) and to discharge the pressurized fluid at the pressure level for the working unit (36) as load point reduction energy. The working unit (36) can be operated via the load point reduction energy.The operating power of the fuel cell unit (13) can be increased by operating the working pump (32) with the excess fuel cell energy from the fuel cell unit (13). The operating power of the fuel cell unit (13) can be reduced by supplying the load point reduction energy to operate the working unit (36) via the fluid storage unit (12).

The present invention relates to a self-propelled harvesting machine (1), wherein the harvesting machine (1) comprises a header (4) for receiving crop (2), working units (20) for processing the received crop (2), a transfer device (15) for discharging the processed crop (2), a camera system (16) for capturing images (41) of a crop stream (21) passing through the harvesting machine (1), and an image evaluation device (27) for evaluating the images (41), wherein the image evaluation device (27) is configured to analyze the images (41) of the crop stream (21) for a proportion of, in particular inorganic, impurities contained in the crop stream (21) by means of a machine learning algorithm.

A method of detecting and correcting an operational anomaly in an autonomous robot includes receiving an indication of an anomaly impeding performance of a robot from fulfilling a prescribed task in a workcell of the robot, and determining, based on the anomaly, a need and potential for automated recovery. A table or lookup maps, based on the anomaly, at least one remedial action corresponding to the recovery, and receives, from a central server, a command to commence the remedial action. An anomaly which is responsive to automated correction is remedied by the remedial action or set of commands, so that minor problems do not interfere with robotic production. More serious or detrimental errors or malfunctions, such as those affecting workplace safety, are likewise deferred from automatic recovery pending appropriate remedial measures.

The invention discloses an environment-friendly additive automatic compounding device, and belongs to the technical field of additive processing. The environment-friendly additive automatic compounding device comprises a barrel body, a proportioning assembly, a driving assembly and a plurality of working units, a concrete raw material and an additive are added into the barrel body through the proportioning assembly, and a stirred concrete finished product is discharged; the driving assembly comprises a main shaft, an adjusting disc and an adjusting sleeve; the working unit comprises a first sliding block, a second sliding block, a connecting arm and a movable rod; the first sliding blocks and the second sliding blocks are in one-to-one correspondence; the first sliding block is in up-down resettable sliding connection with the main shaft, and the second sliding block is in radial resettable sliding connection with the adjusting disc; the two ends of the connecting arm are rotationally connected with the first sliding block and the second sliding block correspondingly. The movable rod is fixedly connected with the second sliding block so as to drive the movable rod to horizontally retract or expand; and attachments remaining on the barrel wall after stirring can be automatically cleaned, so that the safety is ensured while the cleaning efficiency is improved.

To provide a working machine capable of stopping a rotating part of a working part based on the position of the working part.SOLUTION: A working part 51 including a first boom 411 that is coupled to a main frame 11 mountable on a traveling machine body B and is turnable, a second boom 413 that is coupled to the first boom 411 and is turnable about an axis parallel to the first boom 411, and a rotor shaft 512 that is turnably coupled to the second boom 413 and is rotationally driven, and a control part t for controlling the working part 51 to stop the rotor shaft 512 when it is determined that the working part 51 is positioned inside the machine body width of the traveling machine body B when viewed from the rear in the traveling direction by the turning of the first boom 411 and the second boom 413.SELECTED DRAWING: Figure 1

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for enabling a free-focus robotics imaging system. One of the methods includes receiving, in a robotic control system comprising a robot having a plurality of moveable components and a camera comprising a deformable lens mounted on a first component of the one or more movable components of the robot, data from the camera comprising a first working distance from the camera in a workcell. A command is generated to move the one or more movable components. A second working distance is received from the camera as a result of moving the one or more moveable components, and a voltage parameter is applied for the second working distance to the deformable lens to focus the camera at the second working distance.