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公开(公告)号：US10272573B2
公开(公告)日：2019-04-30
申请号：US15058560
申请日：2016-03-02
发明人： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Romano Patrick , Balajee Kannan , Yonatan Gefen
IPC分类号： G05B15/00 , G05B19/00 , B25J13/00 , B60T15/54 , B25J9/16 , B25J13/08 , B25J11/00 , B25J19/02 , B60T7/16 , B60T15/04 , G06T7/70 , H04N5/225 , H04N7/18
摘要： 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：US20170173795A1
公开(公告)日：2017-06-22
申请号：US15058423
申请日：2016-03-02
发明人： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Romano Patrick , Balajee Kannan , Yonatan Gefen
CPC分类号： 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
摘要： A system is provided that includes a machine assembly, a first 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. The first imaging sensor is positioned to acquire two-dimensional perception information of a working environment that includes the brake lever during movement of the machine assembly towards the brake lever. The encoder detects a displacement of the machine assembly relative to a reference position of the machine assembly. The one or more processors estimate a target position of the brake lever relative to the machine assembly during movement of the machine assembly based on the two-dimensional perception information and the displacement. The one or more processors drive the movement of the machine assembly towards the target position of the brake lever.
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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
发明人： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Romano Patrick , Balajee Kannan , Yonatan Gefen
CPC分类号： 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
摘要： 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：US09902071B2
公开(公告)日：2018-02-27
申请号：US15058423
申请日：2016-03-02
发明人： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Romano Patrick , Balajee Kannan , Yonatan Gefen
IPC分类号： G06F19/00 , B25J9/16 , B60T15/54 , H04N7/18 , H04N5/225 , G06T7/00 , B25J13/08 , B25J19/02 , B25J11/00 , B60T7/16 , B60T15/04
CPC分类号： 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
摘要： A system is provided that includes a machine assembly, a first 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. The first imaging sensor is positioned to acquire two-dimensional perception information of a working environment that includes the brake lever during movement of the machine assembly towards the brake lever. The encoder detects a displacement of the machine assembly relative to a reference position of the machine assembly. The one or more processors estimate a target position of the brake lever relative to the machine assembly during movement of the machine assembly based on the two-dimensional perception information and the displacement. The one or more processors drive the movement of the machine assembly towards the target position of the brake lever.
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公开(公告)号：US20170341236A1
公开(公告)日：2017-11-30
申请号：US15292605
申请日：2016-10-13
发明人： Romano Patrick , Shiraj Sen , Arpit Jain , Huan Tan , Yonatan Gefen , Shuai Li , Shubao Liu , Pramod Sharma , Balajee Kannan , Viktor Holovashchenko , Douglas Forman , John Michael Lizzi , Charles Burton Theurer , Omar Al Assad , Ghulam Ali Baloch , Frederick Wheeler
CPC分类号： G05D1/0251 , B25J5/007 , B25J13/081 , B25J19/021 , G05D1/0274 , G05D2201/0216 , Y10S901/01
摘要： A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component.
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公开(公告)号：US09799198B2
公开(公告)日：2017-10-24
申请号：US15058368
申请日：2016-03-02
发明人： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Romano Patrick , Viktor Holovashchenko , Balajee Kannan , Yonatan Gefen
IPC分类号： G08B21/00 , G08B21/18 , G05B15/02 , G05B19/048 , G08B7/06
CPC分类号： G08B21/18 , B25J9/1602 , G05B15/02 , G05B19/048 , G05B2219/14006 , G05B2219/23227 , G05B2219/40099 , G05B2219/40414 , G08B7/06
摘要： 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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公开(公告)号：US20170341231A1
公开(公告)日：2017-11-30
申请号：US15293905
申请日：2016-10-14
发明人： Huan Tan , Balajee Kannan , Yonatan Gefen , Romano Patrick , Omar Al Assad , Douglas Forman , Charles Theurer , John Lizzi
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J5/007 , B25J9/162 , B25J9/1661 , B25J9/1697 , B25J19/023 , G05B2219/39543 , G05B2219/40298 , G05B2219/40609 , G05D1/0246 , G05D1/0251
摘要： 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
发明人： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Romano Patrick , Viktor Holovashchenko , Balajee Kannan , Yonatan Gefen
IPC分类号： G08B21/18 , G05B19/048 , G08B7/06 , G05B15/02
CPC分类号： G08B21/18 , B25J9/1602 , G05B15/02 , G05B19/048 , G05B2219/14006 , G05B2219/23227 , G05B2219/40099 , G05B2219/40414 , G08B7/06
摘要： 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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公开(公告)号：US20170165839A1
公开(公告)日：2017-06-15
申请号：US14966717
申请日：2015-12-11
发明人： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Mauricio Castillo-Effen , Romano Patrick , Balajee Kannan , Yonatan Gefen
CPC分类号： 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
摘要： 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：US10471595B2
公开(公告)日：2019-11-12
申请号：US15293905
申请日：2016-10-14
发明人： Huan Tan , Balajee Kannan , Yonatan Gefen , Romano Patrick , Omar Al Assad , Douglas Forman , Charles Theurer , John Lizzi
摘要： 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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