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1.发明授权公开(公告)号：US10682677B2
公开(公告)日：2020-06-16
申请号：US15591851
申请日：2017-05-10
Applicant: General Electric Company
Inventor： Shiraj Sen , Steven Gray , Nicholas Abate , Roberto Silva Filho , Ching-Ling Huang , Mauricio Castillo-Effen , Ghulam Ali Baloch , Raju Venkataramana , Douglas Forman
Abstract: A three-dimensional model data store may contain a three-dimensional model of an industrial asset, including points of interest associated with the industrial asset. An inspection plan data store may contain an inspection plan for the industrial asset, including a path of movement for an autonomous inspection robot. An industrial asset inspection platform may receive sensor data from an autonomous inspection robot indicating characteristics of the industrial asset and determine a current location of the autonomous inspection robot along the path of movement in the inspection plan along with current context information. A forward simulation of movement for the autonomous inspection robot may be executed from the current location, through a pre-determined time window, to determine a difference between the path of movement in the inspection plan and the forward simulation of movement along with future context information.
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公开(公告)号：US11487350B2
公开(公告)日：2022-11-01
申请号：US15860367
申请日：2018-01-02
Applicant: General Electric Company
Inventor： Romano Patrick , John Hoare , Justin Foehner , Steven Gray , Shiraj Sen , Huan Tan
Abstract: In accordance with certain implementations of the present approach, a reduced, element-by-element, data set is transmitted between a robot having a sensor suite and a control system remote from the robot that is configured to display a representation of the environment local to the robot. Such a scheme may be useful in allowing a human operator remote from the robot to perform an inspection using the robot while the robot is on-site with an asset and the operator is off-site. In accordance with the present approach, an accurate representation of the environment in which the robot is situated is provided for the operator to interact with.
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Patent Agency Ranking
公开(公告)号：US20200082623A1
公开(公告)日：2020-03-12
申请号：US16684212
申请日：2019-11-14
Applicant: General Electric Company
Inventor： Steven Gray , Shiraj Sen , Ghulam Ali Baloch , Mauricio Castillo-Effen , Charles Theurer
Abstract: Provided are systems and methods for generating an autonomous 3D inspection plan for an unmanned robot. In an example, the method may include receiving a selection of a plurality of regions of interest with respect to a virtual asset displayed in virtual space, detecting a 3D position of the regions of interest within a coordinate frame of the virtual space, auto-generating a travel path about a physical asset corresponding to the virtual asset by generating a virtual 3D travel path with respect to the virtual asset based on the detected 3D positions of the selected regions of interest within the coordinate frame, aligning the virtual 3D travel path in the virtual space with a physical travel path in a physical space, and outputting a robotic inspection plan comprising the auto-generated physical travel path for the unmanned robot.
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公开(公告)号：US10777004B2
公开(公告)日：2020-09-15
申请号：US16684212
申请日：2019-11-14
Applicant: General Electric Company
Inventor： Steven Gray , Shiraj Sen , Ghulam Ali Baloch , Mauricio Castillo-Effen , Charles Theurer
Abstract: Provided are systems and methods for generating an autonomous 3D inspection plan for an unmanned robot. In an example, the method may include receiving a selection of a plurality of regions of interest with respect to a virtual asset displayed in virtual space, detecting a 3D position of the regions of interest within a coordinate frame of the virtual space, auto-generating a travel path about a physical asset corresponding to the virtual asset by generating a virtual 3D travel path with respect to the virtual asset based on the detected 3D positions of the selected regions of interest within the coordinate frame, aligning the virtual 3D travel path in the virtual space with a physical travel path in a physical space, and outputting a robotic inspection plan comprising the auto-generated physical travel path for the unmanned robot.
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公开(公告)号：US10690525B2
公开(公告)日：2020-06-23
申请号：US15861054
申请日：2018-01-03
Applicant: General Electric Company
Inventor： Yang Zhao , Huan Tan , Steven Gray , Ghulam Baloch , Mauricio Castillo-Effen , Judith Guzzo , Shiraj Sen , Douglas Forman
IPC: G01D18/00 , B64C39/02 , G01C23/00 , G01C19/5776 , G01S17/06 , G06T7/77 , G06K9/62 , G06T7/73 , G01C21/20 , G01S17/89 , G05D1/00 , H04N5/232 , G01S17/86
Abstract: System and methods may evaluate and/or improve target aiming accuracy for a sensor of an Unmanned Aerial Vehicle (“UAV”). According to some embodiments, a position and orientation measuring unit may measure a position and orientation associated with the sensor. A pose estimation platform may execute a first order calculation using the measured position and orientation as the actual position and orientation to create a first order model. A geometry evaluation platform may receive planned sensor position and orientation from a targeting goal data store and calculate a standard deviation for a target aiming error utilizing: (i) location and geometry information associated with the industrial asset, (ii) a known relationship between the sensor and a center-of-gravity of the UAV, (iii) the first order model as a transfer function, and (iv) an assumption that the position and orientation of the sensor have Gaussian-distributed noises with zero mean and a pre-determined standard deviation.
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公开(公告)号：US10521960B2
公开(公告)日：2019-12-31
申请号：US15585502
申请日：2017-05-03
Applicant: General Electric Company
Inventor： Steven Gray , Shiraj Sen , Ghulam Ali Baloch , Mauricio Castillo-Effen , Charles Theurer
Abstract: Provided are systems and methods for generating an autonomous 3D inspection plan for an unmanned robot. In an example, the method may include receiving a selection of a plurality of regions of interest with respect to a virtual asset displayed in virtual space, detecting a 3D position of the regions of interest within a coordinate frame of the virtual space, auto-generating a travel path about a physical asset corresponding to the virtual asset by generating a virtual 3D travel path with respect to the virtual asset based on the detected 3D positions of the selected regions of interest within the coordinate frame, aligning the virtual 3D travel path in the virtual space with a physical travel path in a physical space, and outputting a robotic inspection plan comprising the auto-generated physical travel path for the unmanned robot.
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公开(公告)号：US20190202059A1
公开(公告)日：2019-07-04
申请号：US15860367
申请日：2018-01-02
Applicant: General Electric Company
Inventor： Romano Patrick , John Hoare , Justin Foehner , Steven Gray , Shiraj Sen , Huan Tan
CPC classification number: B25J9/1679 , G05D1/0044 , G06F3/011 , Y10S901/44
Abstract: In accordance with certain implementations of the present approach, a reduced, element-by-element, data set is transmitted between a robot having a sensor suite and a control system remote from the robot that is configured to display a representation of the environment local to the robot. Such a scheme may be useful in allowing a human operator remote from the robot to perform an inspection using the robot while the robot is on-site with an asset and the operator is off-site. In accordance with the present approach, an accurate representation of the environment in which the robot is situated is provided for the operator to interact with.
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