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1. 发明申请

US20210181722A1 ROBOTIC INSPECTION SYSTEM WITH DATA TRANSMISSION 有权
公开(公告)号：US20210181722A1
公开(公告)日：2021-06-17
申请号：US17186215
申请日：2021-02-26
申请人： General Electric Company
发明人： Huan Tan , Li Zhang , Romano Patrick , Viktor Holovashchenko , Charles Burton Theurer , John Michael Lizzi, JR. , Arpit Jain , Shiraj Sen , Todd William Danko , Kori U. MacDonald
IPC分类号： G05B19/418 , B25J9/16 , G08G5/00 , H04L29/06 , H04L29/08
摘要： The present approach relates to streaming data derived from inspection data acquired using one or more robots performing inspections of an asset or assets. Such inspections may be fully or partially automated, such as being controlled by one or more computer-based routines, and may be planned or dynamically altered in response to inputs or requirements associated with an end-user of the inspection data, such as a subscriber to the data in a publication/subscription distribution scheme. Thus, an inspection may be planned or altered based on the data needs or subscription levels of the user or customers.

2. 发明授权

US11034026B2 Utilizing optical data to dynamically control operation of a snake-arm robot 有权
公开(公告)号：US11034026B2
公开(公告)日：2021-06-15
申请号：US16245017
申请日：2019-01-10
申请人： General Electric Company
发明人： Huan Tan , Xiao Bian , Todd Danko
IPC分类号： B25J9/16 , B25J13/00 , B25J5/00 , B25J17/02
摘要： Methods and systems for controlling a snake-arm robot. In an embodiment, a server computer receives real-time image data associated with at least one of an operating environment and a location of a workpiece from an optical sensor mounted on a robot head of a snake-arm robot, and receives, input data describing a desired pose of the robot head from a user device. The server computer then computes a desired velocity of the robot head using an image Jacobian, translates the desired velocity of the robot head into incremental displacement data and rotation data within a control cycle, computes a position of each of a plurality of links comprising a snake-arm of the snake-arm robot to follow motion of the robot head, computes a current position of each of the plurality of links utilizing a forward dynamics model, and computes force and torque data required to move at least one of a plurality of joints connecting the links to move the snake-arm robot to the desired pose. The method also includes generating movement instructions based on the force and torque data, and transmitting the movement instructions to at least one of a drive motor associated with an introduction device and a plurality of controllers associated with servo-motors operably connected to joints connecting the links of the snake arm causing the robot head to move to the desired pose.

3. 发明授权

US10775314B2 Systems and method for human-assisted robotic industrial inspection 有权
公开(公告)号：US10775314B2
公开(公告)日：2020-09-15
申请号：US15809531
申请日：2017-11-10
申请人： General Electric Company
发明人： Huan Tan , Li Zhang , Romano Patrick , Arpit Jain , Guangliang Zhao , Jilin Tu
IPC分类号： G01N21/88 , G06N20/00 , G01N21/95 , G06N3/00 , G06N3/08 , G06F3/0354 , G06F16/20 , H04L29/08 , H04W4/80 , G01S17/86
摘要： An asset inspection system includes a robot and a server. The robot collects inspection data corresponding to an asset. The server, includes a user interface, a processor, and a memory. The memory includes instructions that, when executed by the processor, cause the processor to receive the inspection data from the robot, display the inspection data via the user-interface, receive feedback on the inspection data via the user interface, generate a human-assisted inspection based on the received feedback, analyze the inspection data via a trained model, generate an automated inspection based on the analysis by the trained model, combine the automated inspection and the human-assisted inspection to generate an inspection report, and transmit the inspection report for review.

4. 发明申请

US20200225674A1 SYSTEMS AND METHODS INCLUDING MOTORIZED APPARATUS FOR CALIBRATING SENSORS 审中-公开
公开(公告)号：US20200225674A1
公开(公告)日：2020-07-16
申请号：US16244873
申请日：2019-01-10
申请人： General Electric Company
发明人： Huan Tan , Todd William Danko , Brandon Stephen Good , Charles Burton Theurer
IPC分类号： G05D1/02
摘要： A sensor calibration system includes a plurality of sensors and a user interface configured to receive user-provided locations of at least two sensors of the plurality of sensors. The sensor calibration system further includes a motorized apparatus including a drive system, at least one detector, and a localization system. The sensor calibration system further includes a controller communicatively coupled to the user interface and the motorized apparatus. The controller is configured to determine a whether each of at least two sensors is a key sensor based on the user-provided locations. The controller is configured to determine a path for the motorized apparatus based on the user-provided locations. The controller is further configured to determine a position of each sensor based on the location of the motorized apparatus when each sensor is detected by the at least one detector. The controller is further configured to relate the location of the motorized apparatus and the position of each sensor to a common origin.

5. 发明授权

US10690525B2 Systems and methods associated with unmanned aerial vehicle targeting accuracy 有权
公开(公告)号：US10690525B2
公开(公告)日：2020-06-23
申请号：US15861054
申请日：2018-01-03
申请人： General Electric Company
发明人： Yang Zhao , Huan Tan , Steven Gray , Ghulam Baloch , Mauricio Castillo-Effen , Judith Guzzo , Shiraj Sen , Douglas Forman
IPC分类号： 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
摘要： 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.

6. 发明授权

US10452078B2 Self-localized mobile sensor network for autonomous robotic inspection 有权
公开(公告)号：US10452078B2
公开(公告)日：2019-10-22
申请号：US15591400
申请日：2017-05-10
申请人： General Electric Company
发明人： Yang Zhao , Mauricio Castillo-Effen , Ghulam Ali Baloch , Huan Tan , Douglas Forman
IPC分类号： G01C23/00 , G05D1/02
摘要： 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.

7. 发明申请

US20190202059A1 DYNAMICALLY REPRESENTING A CHANGING ENVIRONMENT OVER A COMMUNICATIONS CHANNEL 审中-公开
公开(公告)号：US20190202059A1
公开(公告)日：2019-07-04
申请号：US15860367
申请日：2018-01-02
申请人： General Electric Company
发明人： Romano Patrick , John Hoare , Justin Foehner , Steven Gray , Shiraj Sen , Huan Tan
IPC分类号： B25J9/16 , G05D1/00
CPC分类号： B25J9/1679 , G05D1/0044 , G06F3/011 , Y10S901/44
摘要： In accordance with certain implementations of the present approach, a reduced, element-by-element, data set is transmitted between a robot having a sensor suite and a control system remote from the robot that is configured to display a representation of the environment local to the robot. Such a scheme may be useful in allowing a human operator remote from the robot to perform an inspection using the robot while the robot is on-site with an asset and the operator is off-site. In accordance with the present approach, an accurate representation of the environment in which the robot is situated is provided for the operator to interact with.

8. 发明授权

US10300601B2 Vehicle control system with task manager 有权
公开(公告)号：US10300601B2
公开(公告)日：2019-05-28
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
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.

9. 发明申请

US20170341231A1 SYSTEMS AND METHODS FOR CONTROL OF ROBOTIC MANIPULATION 审中-公开
公开(公告)号：US20170341231A1
公开(公告)日：2017-11-30
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
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.

10. 发明申请

US20170178485A1 SYSTEM AND METHOD FOR COMMUNICATING WITH AN OPERATOR OF THE SYSTEM 有权
公开(公告)号：US20170178485A1
公开(公告)日：2017-06-22
申请号：US15058368
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 , 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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