公开(公告)号：US10019612B2

公开(公告)日：2018-07-10

申请号：US15295093

申请日：2016-10-17

Applicant: General Electric Company

Inventor： Charles Theurer ,  Douglas Forman ,  Brandon Good ,  Shaopeng Liu ,  David Smith ,  Todd Scarola ,  Robert Wallace ,  Judith Guzzo

IPC: G06K7/10 ,  G16H40/20 ,  G06Q50/22 ,  A61B90/90 ,  A61B90/98 ,  G16H10/65 ,  G06F19/00

CPC classification number: G06K7/10366 ,  A61B90/90 ,  A61B90/98 ,  G06K7/10316 ,  G06Q50/22 ,  G16H10/65 ,  G16H40/20

Abstract: A system and method to detect an event associated with a first object relative to a second object and a support is provided. The system can include an antenna at a support to receive the first object, a tag reader in communication with the antenna and a tag located on the second object. In response to detecting a change in impedance of the antenna associated with the presence of the first object, the tag reader communicates a presence signal. In response to detecting the tag within a threshold proximity of the tag reader, the tag reader generates a tag signal. A remoter server is operable to detect an association of the first and second objects based on a comparison a time associated with each of the tag signal and the presence signal, and in response then creates an output indicative of a detected event based on the association for illustration.

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

IPC: B60T15/54 ,  B25J9/16 ,  B25J13/08

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.

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

IPC: B25J9/16 ,  B25J19/02 ,  B25J13/08

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.

公开(公告)号：US11333132B2

公开(公告)日：2022-05-17

申请号：US16851546

申请日：2020-04-17

Applicant: General Electric Company

Inventor： Judith Ann Guzzo ,  Douglas Forman ,  Todd William Danko ,  John Robert Hoare

IPC: F03D17/00 ,  F03D80/30

Abstract: A system and method for performing a task on a LPS of a wind turbine includes a robotic testing device having a plurality of clamping arms and a LPS test probe coupled to a robotic end effector. The robotic testing device can be positioned around an outer perimeter of a rotor blade of the wind turbine. A cable, coupled to an up-tower anchor point, is attached to the robotic testing device and extends between the anchor point and a support surface. A lightning receptor of the LPS is between the up-tower anchor point and the tower support surface. As the cable is displaced, the robotic testing device moves to a position at which it is clamped to the rotor blade, adjacent the lightning receptor. The end effector moves to position the test probe in contact with the lightning receptor to conduct the test on the LPS.

公开(公告)号：US11174847B2

公开(公告)日：2021-11-16

申请号：US16192810

申请日：2018-11-16

Applicant: General Electric Company

Inventor： Todd William Danko ,  Shiraj Sen ,  John Robert Hoare ,  Charles Burton Theurer ,  Douglas Forman ,  Judith Ann Guzzo

IPC: F03D80/50 ,  F03D17/00 ,  B25J9/16 ,  B25J19/02 ,  G05B19/042

Abstract: 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.

公开(公告)号：US20210324834A1

公开(公告)日：2021-10-21

申请号：US16851546

申请日：2020-04-17

Applicant: General Electric Company

Inventor： Judith Ann Guzzo ,  Douglas Forman ,  Todd William Danko ,  John Robert Hoare

IPC: F03D17/00 ,  F03D80/30

Abstract: A system and method for performing one or more tasks on a LPS of a wind turbine are disclosed. The system generally includes a robotic testing device including a plurality of clamping arms and a LPS test probe coupled to a robotic end effector. The robotic testing device is configured to be positioned around at least a portion of an outer perimeter of a rotor blade of the wind turbine. A cable, coupled to an up-tower anchor point, is attached to the robotic testing device and extends between the up-tower anchor point and a support surface. A lightning receptor of the LPS is disposed between the up-tower anchor point and the tower support surface. As the cable is displaced, the robotic testing device is moved to a position at which it is clamped to the rotor blade, adjacent the lightning receptor. The end effector is moveable to position the LPS test probe in contact with the lightning receptor to conduct the one or more tests on the LPS.

公开(公告)号：US10927818B2

公开(公告)日：2021-02-23

申请号：US16192807

申请日：2018-11-16

Applicant: General Electric Company

Inventor： Shiraj Sen ,  Todd William Danko ,  John Robert Hoare ,  Charles Burton Theurer ,  Douglas Forman ,  Judith Ann Guzzo

IPC: F03D17/00 ,  F03D80/50 ,  B25J11/00 ,  G01M11/08

Abstract: 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.

公开(公告)号：US10690525B2

公开(公告)日：2020-06-23

申请号：US15861054

申请日：2018-01-03

Applicant: General Electric Company

Inventor： Yang Zhao ,  Huan Tan ,  Steven Gray ,  Ghulam Baloch ,  Mauricio Castillo-Effen ,  Judith Guzzo ,  Shiraj Sen ,  Douglas Forman

IPC: G01D18/00 ,  B64C39/02 ,  G01C23/00 ,  G01C19/5776 ,  G01S17/06 ,  G06T7/77 ,  G06K9/62 ,  G06T7/73 ,  G01C21/20 ,  G01S17/89 ,  G05D1/00 ,  H04N5/232 ,  G01S17/86

Abstract: System and methods may evaluate and/or improve target aiming accuracy for a sensor of an Unmanned Aerial Vehicle (“UAV”). According to some embodiments, a position and orientation measuring unit may measure a position and orientation associated with the sensor. A pose estimation platform may execute a first order calculation using the measured position and orientation as the actual position and orientation to create a first order model. A geometry evaluation platform may receive planned sensor position and orientation from a targeting goal data store and calculate a standard deviation for a target aiming error utilizing: (i) location and geometry information associated with the industrial asset, (ii) a known relationship between the sensor and a center-of-gravity of the UAV, (iii) the first order model as a transfer function, and (iv) an assumption that the position and orientation of the sensor have Gaussian-distributed noises with zero mean and a pre-determined standard deviation.

公开(公告)号：US10452078B2

公开(公告)日：2019-10-22

申请号：US15591400

申请日：2017-05-10

Applicant: General Electric Company

Inventor： Yang Zhao ,  Mauricio Castillo-Effen ,  Ghulam Ali Baloch ,  Huan Tan ,  Douglas Forman

IPC: G01C23/00 ,  G05D1/02

Abstract: Provided are systems and methods for autonomous robotic localization. In one example, the method includes receiving ranging measurements from a plurality of fixed anchor nodes that each have a fixed position and height with respect to the asset, receiving another ranging measurement from an aerial anchor node attached to an unmanned robot having a dynamically adjustable position and height different than the fixed position and height of each of the plurality of anchor nodes, and determining a location of the autonomous robot with respect to the asset based on the ranging measurements received from the fixed anchor nodes and the aerial anchor node, and autonomously moving the autonomous robot about the asset based on the determined location.

公开(公告)号：US20170341231A1

公开(公告)日：2017-11-30

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

CPC classification number: B25J9/1664 ,  B25J5/007 ,  B25J9/162 ,  B25J9/1661 ,  B25J9/1697 ,  B25J19/023 ,  G05B2219/39543 ,  G05B2219/40298 ,  G05B2219/40609 ,  G05D1/0246 ,  G05D1/0251

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.