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1. 发明授权

US10933526B2 Method and robotic system for manipulating instruments 有权
公开(公告)号：US10933526B2
公开(公告)日：2021-03-02
申请号：US15960242
申请日：2018-04-23
申请人： General Electric Company
发明人： Huan Tan , Weston Blaine Griffin , Lynn Ann DeRose , Yi Xu , Ying Mao , Balajee Kannan
IPC分类号： B25J9/16 , B25J15/06 , B25J11/00
摘要： An 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.

2. 发明授权

US10272573B2 Control system and method for applying force to grasp a brake lever 有权
公开(公告)号：US10272573B2
公开(公告)日：2019-04-30
申请号：US15058560
申请日：2016-03-02
申请人： General Electric Company
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.

3. 发明申请

US20180361586A1 LOCOMOTIVE CONTROL SYSTEM WITH TASK MANAGER 审中-公开
公开(公告)号：US20180361586A1
公开(公告)日：2018-12-20
申请号：US16114318
申请日：2018-08-28
申请人： General Electric Company
发明人： Huan Tan , John Michael Lizzi , Charles Burton Theurer , Balajee Kannan , Romano Patrick
IPC分类号： B25J9/16 , B61G7/04
CPC分类号： B25J9/1682 , B25J9/16 , B25J9/1666 , B61G7/04
摘要： 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.

4. 发明申请

US20180154525A1 SYSTEMS AND METHODS FOR CONTROL OF ROBOTIC MANIPULATION 审中-公开
公开(公告)号：US20180154525A1
公开(公告)日：2018-06-07
申请号：US15885289
申请日：2018-01-31
申请人： General Electric Company
发明人： Huan Tan , John Michael Lizzi , Charles Theurer , Tai-Peng Tian , Balajee Kannan
IPC分类号： B25J9/16 , B25J9/06 , B25J5/00 , B25J19/02 , B25J13/08
CPC分类号： B25J9/1697 , B25J5/007 , B25J9/06 , B25J13/084 , B25J19/023 , G05B2219/39391 , G05B2219/42263 , Y10S901/09
摘要： 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.

5. 发明授权

US09889566B2 Systems and methods for control of robotic manipulation 有权
公开(公告)号：US09889566B2
公开(公告)日：2018-02-13
申请号：US14702014
申请日：2015-05-01
申请人： General Electric Company
发明人： Huan Tan , John Michael Lizzi , Charles Theurer , Tai-Peng Tian , Balajee Kannan
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , B25J9/06 , B25J19/02 , B25J5/00 , B25J13/08
CPC分类号： B25J9/1697 , B25J5/007 , B25J9/06 , B25J13/084 , B25J19/023 , G05B2219/39391 , G05B2219/42263 , Y10S901/09
摘要： 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.

6. 发明申请

US20180001476A1 CONTROL SYSTEM FOR COORDINATING ROBOTIC MACHINES TO COLLABORATE ON TASKS 审中-公开
公开(公告)号：US20180001476A1
公开(公告)日：2018-01-04
申请号：US15198673
申请日：2016-06-30
申请人： General Electric Company
发明人： Huan Tan , John Michael Lizzi , Charles Burton Theurer , Balajee Kannan , Romano Patrick
IPC分类号： B25J9/16 , B61G7/04
CPC分类号： B25J9/1682 , B25J9/16 , B25J9/1666 , B61G7/04
摘要： 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.

7. 发明申请

US20170173795A1 CONTROL SYSTEM AND METHOD FOR BRAKE BLEEDING 有权
公开(公告)号：US20170173795A1
公开(公告)日：2017-06-22
申请号：US15058423
申请日：2016-03-02
申请人： General Electric Company
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： B25J9/16 , G06T7/00 , H04N5/225 , B60T15/54 , H04N7/18
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.

8. 发明授权

US10471595B2 Systems and methods for control of robotic manipulation 有权
公开(公告)号：US10471595B2
公开(公告)日：2019-11-12
申请号：US15293905
申请日：2016-10-14
申请人： General Electric Company
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 , B25J19/02 , G05D1/02 , B25J5/00
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.

9. 发明授权

US10029372B2 Control system and method for brake bleeding 有权
公开(公告)号：US10029372B2
公开(公告)日：2018-07-24
申请号：US14966717
申请日：2015-12-11
申请人： General Electric Company
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
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , B60T15/54 , B61H13/02 , B25J13/08 , B25J11/00 , B25J15/00 , B25J19/02 , B60T7/16 , B60T15/04
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.

10. 发明授权

US09536311B2 System and method for component detection 有权
标题翻译：组件检测的系统和方法
公开(公告)号：US09536311B2
公开(公告)日：2017-01-03
申请号：US14500352
申请日：2014-09-29
申请人： General Electric Company
发明人： Guiju Song , Charles Burton Theurer , Tai-Peng Tian , Balajee Kannan , Arpit Jain
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06T7/0044 , G06K9/00771 , G06K9/4614 , G06T7/74 , G06T2207/30164 , G06T2207/30236
摘要： 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.
摘要翻译：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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