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公开(公告)号：US20160093054A1
公开(公告)日：2016-03-31
申请号：US14500352
申请日：2014-09-29
Applicant: General Electric Company
Inventor： Guiju Song , Charles Burton Theurer , Tai-Peng Tian , Balajee Kannan , Arpit Jain
CPC classification number: G06T7/0044 , G06K9/00771 , G06K9/4614 , G06T7/74 , G06T2207/30164 , G06T2207/30236
Abstract: A method and system that include an imaging device configured to capture image data of the vehicle. The vehicle includes one or more components of interest. The method and system include a memory device configured to store an image detection algorithm based on one or more image templates corresponding to the one or more components of interest. The method and system also includes an image processing unit operably coupled to the imaging device in the memory device. The image processing unit is configured to determine one or more shapes of interest of the image data using the image detection algorithm that correspond to the one or more components of interest, and determine one or more locations of the one or more shapes of interest respective to the vehicle.
Abstract translation: 一种包括被配置为捕获车辆的图像数据的成像装置的方法和系统。 车辆包括一个或多个感兴趣的部件。 该方法和系统包括被配置为存储基于与感兴趣的一个或多个成分相对应的一个或多个图像模板的图像检测算法的存储器件。 该方法和系统还包括可操作地耦合到存储器件中的成像装置的图像处理单元。 图像处理单元被配置为使用对应于感兴趣的一个或多个分量的图像检测算法来确定图像数据的一个或多个感兴趣的形状，并且确定一个或多个感兴趣的形状的一个或多个位置， 机动车。
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公开(公告)号：US20150224650A1
公开(公告)日：2015-08-13
申请号：US14178902
申请日：2014-02-12
Applicant: GENERAL ELECTRIC COMPANY
Inventor： Yi Xu , Lynn Ann DeRose , Weston Blaine Griffin , Ying Mao , Xianqiao Tong , Balajee Kannan
CPC classification number: B25J15/0608 , B25J9/1692 , B25J9/1697 , G05B2219/36371 , G05B2219/39393 , G05B2219/39567 , G05B2219/40053 , G05B2219/40564 , Y10S901/02 , Y10S901/40 , Y10S901/47 , Y10S902/02
Abstract: Embodiments of the disclosure comprise a vision-based robotic manipulation system that identifies, singulates, and removes an individual surgical instrument from a cluttered environment. A computer-vision algorithm incorporated with the system is robust against optical challenges such as changing light conditions, specularities, and inter-reflections among various surgical instruments. The system estimates 2D pose (as opposed to a more challenging 3D pose) using a camera with normal room lighting to identify each object, including its specified data matrix barcode; and incorporates the use of a robotic arm with a compliant electromagnetic gripper to handle objects having large shape variance. The system can then relocate the objects as desired. The robot manipulator is utilized in hospital and research settings, manufacturing, and sterile environments.
Abstract translation: 本公开的实施例包括基于视觉的机器人操纵系统，其从杂乱的环境识别，单独和移除单个外科器械。 与系统结合的计算机视觉算法对于诸如改变各种手术器械中的光条件，镜面反射和相互反射之类的光学挑战是鲁棒的。 该系统使用具有正常房间照明的相机来估计2D姿态（与更具挑战性的3D姿势相反）来识别每个对象，包括其指定的数据矩阵条形码; 并且结合使用具有柔性电磁夹具的机器臂来处理具有大形状差异的物体。 然后，系统可以根据需要重新定位对象。 机器人操纵器用于医院和研究设施，制造和无菌环境。
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公开(公告)号：US10300601B2
公开(公告)日：2019-05-28
申请号：US16114318
申请日：2018-08-28
Applicant: General Electric Company
Inventor： Huan Tan , John Michael Lizzi , Charles Burton Theurer , Balajee Kannan , Romano Patrick
Abstract: A locomotive control system may include first and second robotic machines and a task manager. The first and second robotic machines have respective first and second sets of capabilities for interacting with a surrounding environment. The task manager selects the first and second robotic machines from a group to perform a task based on the first and second sets of capabilities of the robotic machines. The task involves manipulating and/or inspecting a target object of a vehicle. The task manager assigns a first sequence of sub-tasks to be performed by the first robotic machine and a second sequence of sub-tasks to be performed by the second robotic machine. The first and second robotic machines are configured to coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.
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公开(公告)号：US20170341231A1
公开(公告)日：2017-11-30
申请号：US15293905
申请日：2016-10-14
Applicant: General Electric Company
Inventor： Huan Tan , Balajee Kannan , Yonatan Gefen , Romano Patrick , Omar Al Assad , Douglas Forman , Charles Theurer , John Lizzi
IPC: B25J9/16
CPC classification number: B25J9/1664 , B25J5/007 , B25J9/162 , B25J9/1661 , B25J9/1697 , B25J19/023 , G05B2219/39543 , G05B2219/40298 , G05B2219/40609 , G05D1/0246 , G05D1/0251
Abstract: A robot system is provided that includes a base, an articulable arm, a visual acquisition unit, and at least one processor. The articulable arm extends from the base and is configured to be moved toward a target. The visual acquisition unit is mounted to the arm or the base, and acquires environmental information. The at least one processor is operably coupled to the arm and the visual acquisition unit, the at least one processor configured to: generate an environmental model using the environmental information; select, from a plurality of planning schemes, using the environmental model, at least one planning scheme to translate the arm toward the target; plan movement of the arm toward the target using the selected at least one planning scheme; and control movement of the arm toward the target using the at least one selected planning scheme.
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公开(公告)号：US20170178485A1
公开(公告)日：2017-06-22
申请号：US15058368
申请日：2016-03-02
Applicant: General Electric Company
Inventor： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Romano Patrick , Viktor Holovashchenko , Balajee Kannan , Yonatan Gefen
IPC: G08B21/18 , G05B19/048 , G08B7/06 , G05B15/02
CPC classification number: G08B21/18 , B25J9/1602 , G05B15/02 , G05B19/048 , G05B2219/14006 , G05B2219/23227 , G05B2219/40099 , G05B2219/40414 , G08B7/06
Abstract: Method includes executing a dynamic decision-making process that includes (a) receiving environmental data and (b) determining a fused ensemble based on the environmental data and a state parameters of a current state of a machine assembly. The fused ensemble includes communications from a system interface to the operator for the state parameters. The communications inform an operator about the state parameters and includes at least one of a visual signal, an audible signal, or a tactile signal from the system interface. The decision-making process also includes (c) communicating the fused ensemble to the operator through the system interface and (d) repeating (a)-(c) while the machine assembly is in the current state. The fused ensemble is configured to change based on changes in the environmental data.
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Patent Agency Ranking
公开(公告)号：US20170165839A1
公开(公告)日：2017-06-15
申请号：US14966717
申请日：2015-12-11
Applicant: General Electric Company
Inventor： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Mauricio Castillo-Effen , Romano Patrick , Balajee Kannan , Yonatan Gefen
CPC classification number: B25J9/1697 , B25J9/1666 , B25J9/1679 , B25J11/00 , B25J13/085 , B25J15/00 , B25J19/021 , B60T7/16 , B60T15/048 , B60T15/54 , B61H13/02 , G05B2219/40039 , G05B2219/40586 , G05B2219/40613 , Y10S901/01
Abstract: A system includes a machine assembly, an imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The imaging sensor acquires perception information of a working environment that includes the brake lever. The encoder detects a displaced position of the machine assembly relative to a reference position of the machine assembly. The one or more processors detect a position of the brake lever relative to the machine assembly based on the acquired perception information and the detected displacement of the arm. The one or more processors generate a motion trajectory for the machine assembly that provides a path to the brake lever. The one or more processors drive movement of the machine assembly along the motion trajectory towards the brake lever.
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公开(公告)号：US20160325432A1
公开(公告)日：2016-11-10
申请号：US15216192
申请日：2016-07-21
Applicant: General Electric Company
Inventor： Tai-Peng Tian , Charles Theurer , Balajee Kannan , Huan Tan , Arpit Jain , Guiju Song
CPC classification number: B25J9/1666 , B25J5/007 , B25J9/1697 , B25J19/023 , G05D1/0214 , Y10S901/01 , Y10S901/09
Abstract: A manipulation platform includes a navigation system, manipulation arm, and one or more area sensors. The navigation unit locates a position of the manipulation platform, and a manipulation arm has a device or a collection sensor. The area sensors acquire data representative of at least a portion of an area in which the manipulation platform is located. Processors determine or predict a presence of an external object within a manipulation range of the manipulation arm using the data acquired by the one or more area sensors. The processors respond to a determination of the external body being, or being predicted to be, within the manipulation range by controlling one or more of the manipulation arm or the manipulation platform.
Abstract translation: 操纵平台包括导航系统，操纵臂和一个或多个区域传感器。 导航单元定位操纵平台的位置，操纵臂具有装置或收集传感器。 区域传感器获取表示操纵平台所在区域的至少一部分的数据。 处理器使用由一个或多个区域传感器获取的数据来确定或预测在操纵臂的操纵范围内的外部对象的存在。 处理器通过控制操作臂或操纵平台中的一个或多个来响应外部身体的确定或被预测处于操纵范围内。
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公开(公告)号：US20160059416A1
公开(公告)日：2016-03-03
申请号：US14473241
申请日：2014-08-29
Applicant: General Electric Company
Inventor： Tai-Peng Tian , Burt Theurer , Balajee Kannan , Huan Tan , Arpit Jain , Guiju Song
CPC classification number: B25J9/1666 , B25J5/007 , B25J5/02 , B25J9/1697 , B25J19/023 , Y10S901/01 , Y10S901/09
Abstract: A robot in one embodiment includes a navigation system, a manipulation unit, a visual recognition unit, and a processing unit. The visual recognition unit includes at least one detector configured to acquire presence information of humans within at least a portion of the area. The processing unit is operably coupled to the navigation system, manipulation unit, and visual recognition unit, and is configured to determine a presence of a human within at least one predetermined range of the robot using the presence information from the visual recognition unit, determine at least one control action responsive to determining the presence of the human within the at least one predetermined range, and control at least one of the navigation system or manipulation unit to implement the at least one control action.
Abstract translation: 一个实施例中的机器人包括导航系统，操纵单元，视觉识别单元和处理单元。 视觉识别单元包括至少一个检测器，其被配置为获取该区域的至少一部分内的人的存在信息。 处理单元可操作地耦合到导航系统，操纵单元和视觉识别单元，并且被配置为使用来自视觉识别单元的存在信息来确定在机器人的至少一个预定范围内的人的存在， 至少一个控制动作响应于在所述至少一个预定范围内确定所述人的存在，以及控制所述导航系统或操纵单元中的至少一个以实现所述至少一个控制动作。
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公开(公告)号：US09259844B2
公开(公告)日：2016-02-16
申请号：US14178902
申请日：2014-02-12
Applicant: GENERAL ELECTRIC COMPANY
Inventor： Yi Xu , Lynn Ann DeRose , Weston Blaine Griffin , Ying Mao , Xianqiao Tong , Balajee Kannan
CPC classification number: B25J15/0608 , B25J9/1692 , B25J9/1697 , G05B2219/36371 , G05B2219/39393 , G05B2219/39567 , G05B2219/40053 , G05B2219/40564 , Y10S901/02 , Y10S901/40 , Y10S901/47 , Y10S902/02
Abstract: Embodiments of the disclosure comprise a vision-based robotic manipulation system that identifies, singulates, and removes an individual surgical instrument from a cluttered environment. A computer-vision algorithm incorporated with the system is robust against optical challenges such as changing light conditions, specularities, and inter-reflections among various surgical instruments. The system estimates 2D pose (as opposed to a more challenging 3D pose) using a camera with normal room lighting to identify each object, including its specified data matrix barcode; and incorporates the use of a robotic arm with a compliant electromagnetic gripper to handle objects having large shape variance. The system can then relocate the objects as desired. The robot manipulator is utilized in hospital and research settings, manufacturing, and sterile environments.
Abstract translation: 本公开的实施例包括基于视觉的机器人操纵系统，其从杂乱的环境识别，单独和移除单个外科器械。 与系统结合的计算机视觉算法对于诸如改变各种手术器械中的光条件，镜面反射和相互反射之类的光学挑战是鲁棒的。 该系统使用具有正常房间照明的相机来估计2D姿态（与更具挑战性的3D姿势相反）来识别每个对象，包括其指定的数据矩阵条形码; 并且结合使用具有柔性电磁夹具的机器臂来处理具有大形状差异的物体。 然后，系统可以根据需要重新定位对象。 机器人操纵器用于医院和研究设施，制造和无菌环境。
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公开(公告)号：US10759051B2
公开(公告)日：2020-09-01
申请号：US15960272
申请日：2018-04-23
Applicant: General Electric Company
Inventor： Huan Tan , Weston Blaine Griffin , Lynn Ann DeRose , Yi Xu , Ying Mao , Balajee Kannan
Abstract: The present approach relates to integrated planning of robot navigation and manipulator motion in performing tasks. In particular, as discussed herein sensor information, such as visual information, may be used for the robot to locate a target object when it arrives at a working location. Adjustments may be made based on this information that may include moving the robot and planning a manipulator arm motion.
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