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公开(公告)号：US10795327B2
公开(公告)日：2020-10-06
申请号：US15870560
申请日：2018-01-12
发明人： Steven Robert Gray , John Robert Hoare , Justin Michael Foehner , Huan Tan , Shiraj Sen , Romano Patrick
摘要： The present approach employs a context-aware simulation platform to facilitate control of a robot remote from an operator. Such a platform may use the prior domain/task knowledge along with the sensory feedback from the remote robot to infer context and may use inferred context to dynamically change one or both of simulation parameters and a robot-environment-task state being simulated. In some implementations, the simulator instances make forward predictions of their state based on task and robot constraints. In accordance with this approach, an operator may therefore issue a general command or instruction to a robot and based on this generalized guidance, the actions taken by the robot may be simulated, and the corresponding results visually presented to the operator prior to evaluate prior to the action being taken.
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2.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
发明人： Shiraj Sen , Steven Gray , Nicholas Abate , Roberto Silva Filho , Ching-Ling Huang , Mauricio Castillo-Effen , Ghulam Ali Baloch , Raju Venkataramana , Douglas Forman
摘要： 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：US20200158091A1
公开(公告)日：2020-05-21
申请号：US16192807
申请日：2018-11-16
发明人： Shiraj Sen , Todd William Danko , John Robert Hoare , Charles Burton Theurer , Douglas Forman , Judith Ann Guzzo
摘要： A system and method for inspecting, repairing and upgrading wind turbine rotor blades of a wind turbine. The system including deploying one or more cables via an unmanned aerial vehicle (UAV), a balloon, a ballistic mechanism or a catapult to position the one or more cables in draping engagement with a portion of the wind turbine. A climbing robot is positioned to ascend the one or more cables and perform a task related to inspecting for indications, repair of indications or upgrading the rotor blade. A slave robot system, disposed at the base location and anchored to the one or more cables, provides modulation of the cables for positioning of the climbing robot relative to the wind turbine as it ascends and descends the one or more cables. After completion of the task, the climbing robot descends the one or more cables and the cables are removed from the wind turbine.
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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
发明人： Romano Patrick , John Hoare , Justin Foehner , Steven Gray , Shiraj Sen , Huan Tan
摘要： 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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5.发明授权公开(公告)号：US11408401B2
公开(公告)日：2022-08-09
申请号：US16381169
申请日：2019-04-11
发明人： Todd William Danko , Judith Ann Guzzo , John Robert Hoare , Yakov Polishchuk , Douglas Forman , Shiraj Sen
IPC分类号： F03D80/50 , B62D57/024
摘要： A robotic access system including a robotic fan crawler configured to traverse a surface of a wind turbine and perform one or more tasks. The robotic fan crawler includes one or more fans to adhere the robotic fan crawler to the surface of the wind turbine and one or more driving components to drive the robotic fan crawler along the surface of the wind turbine. The robotic fan crawler further includes one or more omnidirectional cameras operable to capture images of the surface from multiple perspectives during an inspection activity and data collection period. One or more steering components provide directional changes of the robotic fan crawler during operation. A tether cable is coupled to the robotic fan crawler and a tether management system to provide one or more of power, communications, grounding, supplies and distance calculations.
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6.发明申请公开(公告)号：US20200325878A1
公开(公告)日：2020-10-15
申请号：US16381169
申请日：2019-04-11
发明人： Todd William Danko , Judith Ann Guzzo , John Robert Hoare , Yakov Polishchuk , Douglas Forman , Shiraj Sen
IPC分类号： F03D80/50
摘要： A robotic access system including a robotic fan crawler configured to traverse a surface of a wind turbine and perform one or more tasks. The robotic fan crawler includes one or more fans to adhere the robotic fan crawler to the surface of the wind turbine and one or more driving components to drive the robotic fan crawler along the surface of the wind turbine. The robotic fan crawler further includes one or more omnidirectional cameras operable to capture images of the surface from multiple perspectives during an inspection activity and data collection period. One or more steering components provide directional changes of the robotic fan crawler during operation. A tether cable is coupled to the robotic fan crawler and a tether management system to provide one or more of power, communications, grounding, supplies and distance calculations.
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公开(公告)号：US10607406B2
公开(公告)日：2020-03-31
申请号：US15879743
申请日：2018-01-25
发明人： Shiraj Sen , Steven Robert Gray , Arpit Jain , Huan Tan , Douglas Forman , Judith Ann Guzzo
IPC分类号： G06T17/10 , G01B11/24 , G05D1/10 , G06T7/70 , G06T17/05 , G01B21/20 , G01B17/06 , G01S17/89 , G01B15/04 , B64C39/02 , B63G8/00 , G06T19/00
摘要： A method for generating a three-dimensional model of an asset includes receiving input parameters corresponding to constraints of a mission plan for operating an unmanned vehicle around an asset, generating the mission plan based on the input parameters including information of a representative asset type, wherein the mission plan includes waypoints identifying locations and orientations of one or more image sensors of the unmanned vehicle, generating a flight path for the unmanned vehicle connecting the waypoints that satisfy one or more predefined criteria, monitoring a vehicle state of the unmanned vehicle during execution of the flight path from one waypoint to the next waypoint, determining, at each waypoint, a local geometry of the asset sensed by the one or more image sensors, changing the mission plan on-the-fly based on the local geometry, and capturing images of the asset along waypoints of the changed mission plan.
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公开(公告)号：US20170329307A1
公开(公告)日：2017-11-16
申请号：US15584995
申请日：2017-05-02
发明人： Mauricio Castillo-Effen , Victor Robert Abate , John Michael Lizzi, JR. , Huan Tan , Charles Burton Theurer , Charles Robert Gilman , Shiraj Sen , Peter Henry Tu , Arpit Jain
IPC分类号： G05B19/4065 , B25J9/16
CPC分类号： B25J9/1661 , B25J9/1602 , B25J9/163 , B25J9/1664 , B25J9/1671 , B25J9/1697 , F01D5/005 , F22B37/00 , G05B19/042 , G05B19/048 , G05B19/4065 , G05B19/4097 , G05B2219/35134 , G05B2219/40323 , G05B2219/42329 , G05B2219/49007 , G05D1/0094 , G05D1/101 , G06Q10/08 , Y02P90/083 , Y10S901/01 , Y10S901/44
摘要： A processing system having at least one processor operatively coupled to at least one memory. The processor receives sensor data from the at least one sensor indicating one or more characteristics of the asset. The processor generates, updates, or maintains a digital representation that models the one or more characteristics of the asset. The processor detects a defect of the asset based at least in part on the one or more characteristics. The processor generate an output signal encoding or conveying instructions to provide a recommendation to an operator, to control the at least one robot to address the defect on the asset, or both, based on the defect and the digital representation of the asset.
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公开(公告)号：US20200158094A1
公开(公告)日：2020-05-21
申请号：US16192810
申请日：2018-11-16
发明人： Todd William Danko , Shiraj Sen , John Robert Hoare , Charles Burton Theurer , Douglas Forman , Judith Ann Guzzo
摘要： A method including positioning a modular robotic component proximate an area of interest on a surface of a wind turbine. The modular robotic component including a plurality of modules that perform a plurality of tasks. The method further including inspecting the area of interest with the modular robotic component for an indication requiring at least one of repair or upgrade and operating the modular robotic component to perform the plurality of tasks sequentially as the modular robotic component moves along the surface of the wind turbine. A modular robotic component and system including the modular robotic component are disclosed.
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公开(公告)号：US20200082623A1
公开(公告)日：2020-03-12
申请号：US16684212
申请日：2019-11-14
摘要： 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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