公开(公告)号：US09902071B2

公开(公告)日：2018-02-27

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: G06F19/00 ,  B25J9/16 ,  B60T15/54 ,  H04N7/18 ,  H04N5/225 ,  G06T7/00 ,  B25J13/08 ,  B25J19/02 ,  B25J11/00 ,  B60T7/16 ,  B60T15/04

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：US20170341237A1

公开(公告)日：2017-11-30

申请号：US15399313

申请日：2017-01-05

Applicant: General Electric Company

Inventor： Arpit Jain ,  Charles Burton Theurer ,  Balajee Kannan ,  Shiraj Sen ,  Pramod Sharma ,  Shuai Li ,  Shubao Liu

IPC: B25J9/16 ,  G06T7/521 ,  H04N13/02 ,  H04N9/04 ,  G06T7/70 ,  G06K9/00

CPC classification number: B25J9/1697 ,  B25J9/1612 ,  G06K9/00664 ,  G06K9/6293 ,  G06T7/579 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  H04N13/10 ,  H04N13/20 ,  H04N13/239 ,  H04N13/271 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robotic system includes one or more optical sensors configured to separately obtain two dimensional (2D) image data and three dimensional (3D) image data of a brake lever of a vehicle, a manipulator arm configured to grasp the brake lever of the vehicle, and a controller configured to compare the 2D image data with the 3D image data to identify one or more of a location or a pose of the brake lever of the vehicle. The controller is configured to control the manipulator arm to move toward, grasp, and actuate the brake lever of the vehicle based on the one or more of the location or the pose of the brake lever.

公开(公告)号：US20170341236A1

公开(公告)日：2017-11-30

申请号：US15292605

申请日：2016-10-13

Applicant: General Electric Company

Inventor： 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

IPC: B25J9/16 ,  B25J13/08 ,  B61G7/04 ,  G05D1/02

CPC classification number: G05D1/0251 ,  B25J5/007 ,  B25J13/081 ,  B25J19/021 ,  G05D1/0274 ,  G05D2201/0216 ,  Y10S901/01

Abstract: 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.

公开(公告)号：US09799198B2

公开(公告)日：2017-10-24

申请号：US15058368

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 ,  Viktor Holovashchenko ,  Balajee Kannan ,  Yonatan Gefen

IPC: G08B21/00 ,  G08B21/18 ,  G05B15/02 ,  G05B19/048 ,  G08B7/06

CPC classification number: G08B21/18 ,  B25J9/1602 ,  G05B15/02 ,  G05B19/048 ,  G05B2219/14006 ,  G05B2219/23227 ,  G05B2219/40099 ,  G05B2219/40414 ,  G08B7/06

Abstract: 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.

公开(公告)号：US09415513B2

公开(公告)日：2016-08-16

申请号：US14473241

申请日：2014-08-29

Applicant: General Electric Company

Inventor： Tai-Peng Tian ,  Charles Burton Theurer ,  Balajee Kannan ,  Huan Tan ,  Arpit Jain ,  Guiju Song

IPC: G06F19/00 ,  B25J9/16 ,  B25J5/02

CPC classification number: B25J9/1666 ,  B25J5/007 ,  B25J5/02 ,  B25J9/1697 ,  B25J19/023 ,  Y10S901/01 ,  Y10S901/09

Abstract: A robot in one embodiment includes a navigation system, a manipulation unit, a visual recognition unit, and a processing unit. The visual recognition unit includes at least one detector configured to acquire presence information of humans within at least a portion of the area. The processing unit is operably coupled to the navigation system, manipulation unit, and visual recognition unit, and is configured to determine a presence of a human within at least one predetermined range of the robot using the presence information from the visual recognition unit, determine at least one control action responsive to determining the presence of the human within the at least one predetermined range, and control at least one of the navigation system or manipulation unit to implement the at least one control action.

Abstract translation: 一个实施例中的机器人包括导航系统，操纵单元，视觉识别单元和处理单元。 视觉识别单元包括至少一个检测器，其被配置为获取该区域的至少一部分内的人的存在信息。 处理单元可操作地耦合到导航系统，操纵单元和视觉识别单元，并且被配置为使用来自视觉识别单元的存在信息来确定在机器人的至少一个预定范围内的人的存在， 至少一个控制动作响应于在所述至少一个预定范围内确定所述人的存在，以及控制所述导航系统或操纵单元中的至少一个以实现所述至少一个控制动作。