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公开(公告)号：US10065317B2
公开(公告)日：2018-09-04
申请号：US15198673
申请日：2016-06-30
Applicant: General Electric Company
Inventor： Huan Tan , John Michael Lizzi , Charles Burton Theurer , Balajee Kannan , Romano Patrick
IPC: G05B19/418 , B25J9/16 , B61G7/04
Abstract: A system includes 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：US20170341235A1
公开(公告)日：2017-11-30
申请号：US15282102
申请日：2016-09-30
Applicant: General Electric Company
Inventor： Ghulam Ali Baloch , Huan Tan , Balajee Kannan , Charles Theurer
CPC classification number: G05D1/0246 , B25J9/162 , G05B2219/39082 , G05B2219/40282 , G05B2219/40424 , G05B2219/45084 , G05D1/0061 , G05D1/0248 , G05D1/0274 , G05D2201/0216 , Y10S901/01 , Y10S901/47
Abstract: A robotic system includes a robotic vehicle having a propulsion system, one or more sensors that image data representative of an external environment, and a controller that determines a waypoint for the robotic vehicle to move toward. The controller determines limitations on movement of the robotic vehicle toward a waypoint. The limitations are based on the image data. The controller controls the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects. The controller determines one or more additional waypoints subsequent to the robotic vehicle reaching the waypoint, determines one or more additional limitations on the movement of the robotic vehicle toward each of the respective additional waypoints, and control the propulsion system of the robotic vehicle to sequentially move the robotic vehicle to the one or more additional waypoints.
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公开(公告)号：US20170174199A1
公开(公告)日：2017-06-22
申请号：US15058494
申请日：2016-03-02
Applicant: General Electric Company
Inventor： Omar Al Assad , Douglas Forman , Charles Theurer , Balajee Kannan , Huan Tan
CPC classification number: B25J13/003 , B25J9/1612 , B25J9/162 , B25J9/1661 , B25J9/1664 , B25J9/1666 , B25J9/1679 , B25J9/1694 , B25J9/1697 , B25J11/00 , B25J13/085 , B25J19/021 , B25J19/023 , B60T7/16 , B60T15/048 , B60T15/54 , G05B2219/40039 , G05B2219/40586 , G05B2219/40613 , G06T7/004 , G06T7/70 , H04N5/2253 , H04N7/181 , Y10S901/01
Abstract: A robotic system validates brake bleeding by detecting one or more forces generated by a machine assembly acting to move a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The system also detects displacement of the machine assembly as the machine assembly acts to move the brake lever, monitors one or more sounds generated one or more of during or after the machine assembly acts to move the brake lever, and determines that the brake lever has been moved to a position to open the valve of the air brake system to release the air brake system based on the one or more forces that are detected, the displacement that is detected, and/or the one or more sounds that are monitored.
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公开(公告)号：US20170173790A1
公开(公告)日：2017-06-22
申请号：US15058560
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 , Balajee Kannan , Yonatan Gefen
CPC classification number: B25J13/003 , B25J9/1612 , B25J9/162 , B25J9/1661 , B25J9/1664 , B25J9/1666 , B25J9/1679 , B25J9/1694 , B25J9/1697 , B25J11/00 , B25J13/085 , B25J19/021 , B25J19/023 , B60T7/16 , B60T15/048 , B60T15/54 , G05B2219/40039 , G05B2219/40586 , G05B2219/40613 , G06T7/70 , H04N5/2253 , H04N7/181 , Y10S901/01
Abstract: Systems and methods are provided for an automation system. The systems and methods calculate a motion trajectory of a manipulator and an end-effector. The end-effector is configured to grasp a target object. The motion trajectory defines successive positions of the manipulator and the end-effector along a plurality of via-points toward the target object. The systems and methods further acquire force/torque (F/T) data from an F/T sensor associated with the end-effector, and adjusts the motion trajectory based on the F/T data.
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公开(公告)号：US20160318187A1
公开(公告)日：2016-11-03
申请号：US14702014
申请日：2015-05-01
Applicant: General Electric Company
Inventor： Huan Tan , John Michael Lizzi , Charles Theurer , Tai-Peng Tian , Balajee Kannan
CPC classification number: B25J9/1697 , B25J5/007 , B25J9/06 , B25J13/084 , B25J19/023 , G05B2219/39391 , G05B2219/42263 , Y10S901/09
Abstract: A robot system and method are provided that move an articulable arm relative to a target object. Perception information corresponding to a position of the arm relative to the target object is acquired at an acquisition rate. Movement of the arm is controlled at a control rate that is at least one of faster than or unsynchronized with the acquisition rate. Predicted position information representative of a predicted positioning of the arm is provided using the perception information. The arm is controlled using the perception information and the predicted position information.
Abstract translation: 提供了一种机器人系统和方法，其相对于目标对象移动可铰接臂。 以获取速率获取与臂相对于目标对象的位置对应的感知信息。 控制臂的移动控制在与采集速率相比快或不同步的至少一个控制速率。 使用感知信息来提供表示臂的预测位置的预测位置信息。 使用感知信息和预测位置信息来控制手臂。
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Patent Agency Ranking
公开(公告)号：US20190321977A1
公开(公告)日：2019-10-24
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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公开(公告)号：US20190321969A1
公开(公告)日：2019-10-24
申请号：US15960242
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 disclosed approach relates to manipulation of tools or instruments in the performance of a task by a robot. In accordance with this approach, sensor data is acquired and processed to identify a subset of instruments initially susceptible to manipulation. The instruments are then manipulated in the performance of the task based on the processed sensor data.
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公开(公告)号：US10252424B2
公开(公告)日：2019-04-09
申请号：US15885289
申请日：2018-01-31
Applicant: General Electric Company
Inventor： Huan Tan , John Michael Lizzi , Charles Theurer , Tai-Peng Tian , Balajee Kannan
Abstract: A robot system and method are provided that move an articulable arm relative to a target object. Perception information corresponding to a position of the arm relative to the target object is acquired. Movement of the arm is controlled based on the perception information. After movement of the arm, predicted position information representative of a predicted positioning of the arm is provided using the perception information and control signal information. The arm is subsequently controlled using the predicted position information.
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公开(公告)号：US10093022B2
公开(公告)日：2018-10-09
申请号：US15058494
申请日：2016-03-02
Applicant: General Electric Company
Inventor： Omar Al Assad , Douglas Forman , Charles Theurer , Balajee Kannan , Huan Tan
IPC: B25J13/00 , B25J9/16 , B25J13/08 , B60T15/04 , B25J11/00 , B25J19/02 , B60T7/16 , B60T15/54 , G06T7/00
Abstract: A robotic system validates brake bleeding by detecting one or more forces generated by a machine assembly acting to move a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The system also detects displacement of the machine assembly as the machine assembly acts to move the brake lever, monitors one or more sounds generated one or more of during or after the machine assembly acts to move the brake lever, and determines that the brake lever has been moved to a position to open the valve of the air brake system to release the air brake system based on the one or more forces that are detected, the displacement that is detected, and/or the one or more sounds that are monitored.
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公开(公告)号：US10065314B2
公开(公告)日：2018-09-04
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
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.
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