公开(公告)号：US10471595B2

公开(公告)日：2019-11-12

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 ,  B25J19/02 ,  G05D1/02 ,  B25J5/00

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.

公开(公告)号：US10029372B2

公开(公告)日：2018-07-24

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

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  B60T15/54 ,  B61H13/02 ,  B25J13/08 ,  B25J11/00 ,  B25J15/00 ,  B25J19/02 ,  B60T7/16 ,  B60T15/04

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.

公开(公告)号：US11408401B2

公开(公告)日：2022-08-09

申请号：US16381169

申请日：2019-04-11

Applicant: General Electric Company

Inventor： Todd William Danko ,  Judith Ann Guzzo ,  John Robert Hoare ,  Yakov Polishchuk ,  Douglas Forman ,  Shiraj Sen

IPC: F03D80/50 ,  B62D57/024

Abstract: 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.

公开(公告)号：US20200325878A1

公开(公告)日：2020-10-15

申请号：US16381169

申请日：2019-04-11

Applicant: General Electric Company

Inventor： Todd William Danko ,  Judith Ann Guzzo ,  John Robert Hoare ,  Yakov Polishchuk ,  Douglas Forman ,  Shiraj Sen

IPC: F03D80/50

Abstract: 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.

公开(公告)号：US20200215660A1

公开(公告)日：2020-07-09

申请号：US16242591

申请日：2019-01-08

Applicant: General Electric Company

Inventor： Huan Tan ,  Yakov Polishchuk ,  Shaopeng Liu ,  Li Zhang ,  Douglas Forman

IPC: B24B37/04 ,  B24B27/00 ,  B25J5/00 ,  B25J15/00 ,  B25J19/02

Abstract: A system for polishing a surface of a component includes a motorized apparatus including a body, a drive system coupled to the body, and an arm including a proximal end coupled to the body and a distal end opposite the proximal end. The motorized apparatus further includes a tool coupled to the distal end of the arm. The tool is configured to polish the surface of the component. The motorized apparatus also includes an actuator coupled to the arm. The system also includes a controller configured to position the tool relative to the component by positioning at least one of the body and the arm relative to the component to reach the target area on the component while maintaining a distance between the tool and the body that is less than a threshold distance. The threshold distance is less than a full reach of the arm and is determined to prevent vibrations of the tool and the arm from exceeding a predefined level.

公开(公告)号：US10607406B2

公开(公告)日：2020-03-31

申请号：US15879743

申请日：2018-01-25

Applicant: General Electric Company

Inventor： Shiraj Sen ,  Steven Robert Gray ,  Arpit Jain ,  Huan Tan ,  Douglas Forman ,  Judith Ann Guzzo

IPC: G06T17/10 ,  G01B11/24 ,  G05D1/10 ,  G06T7/70 ,  G06T17/05 ,  G01B21/20 ,  G01B17/06 ,  G01S17/89 ,  G01B15/04 ,  B64C39/02 ,  B63G8/00 ,  G06T19/00

Abstract: 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.

公开(公告)号：US10272573B2

公开(公告)日：2019-04-30

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

IPC: 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

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.

公开(公告)号：USD834037S1

公开(公告)日：2018-11-20

申请号：US29557424

申请日：2016-03-09

Applicant: GENERAL ELECTRIC COMPANY

Designer： Melody Yvette Ivory ,  Douglas Forman ,  So Young Kim ,  Vanessa Stepanenko ,  Robert Johnston

公开(公告)号：US20170173795A1

公开(公告)日：2017-06-22

申请号：US15058423

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

IPC: B25J9/16 ,  G06T7/00 ,  H04N5/225 ,  B60T15/54 ,  H04N7/18

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 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.

公开(公告)号：US11761938B2

公开(公告)日：2023-09-19

申请号：US16448328

申请日：2019-06-21

Applicant: General Electric Company

Inventor： Radislav Alexandrovich Potyrailo ,  Douglas Forman ,  Steven Go

IPC: G01N33/00 ,  G01N27/02 ,  G05D1/10 ,  G05D1/02 ,  B64C39/02 ,  G05D1/00

CPC classification number: G01N33/0073 ,  B64C39/024 ,  G01N27/028 ,  G05D1/0011 ,  G05D1/021 ,  G05D1/0206 ,  G05D1/0278 ,  G05D1/101 ,  G05D2201/0207

Abstract: A sensor system includes an unmanned vehicle system is provided that includes a housing, and an environmental sensor system coupled to the housing, the environmental sensor system configured to detect one or more environmental conditions of an environment in operational contact with the unmanned vehicle system. The environmental sensor includes a sensing element that includes a sensing material to detect and quantify at least one analyte gas by measuring impedance of the sensing element at one or more frequencies of the different frequencies during exposure of the sensing material to the at least one analyte gas. A control unit includes one or more processors coupled with the environmental sensor and configured to receive a detector signal from the detector circuit of the environmental sensor indicative of the one or more environmental conditions, and control the movement of the unmanned vehicle system based on an operation signal of a remote device, instructions received at a vehicle controller, the detector signal, or in response to detected route conditions.