System and method for manipulation platform

• US 10,065,314 B2
• Filed: 07/21/2016
• Issued: 09/04/2018
• Est. Priority Date: 08/29/2014
• Status: Active Grant

• Current Assignee: GE Global Sourcing LLC (Westinghouse Air Brake Technologies Corporation)
• Original Assignee: General Electric Company
• Inventors: Tian, Tai-Peng, Theurer, Charles, Kannan, Balajee, Tan, Huan, Jain, Arpit, Song, Guiju
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US15/216,192
• Publication Number:
  US 20160325432A1
• Time in Patent Office: 775 Days
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/39091 Avoid collision with moving obstacles
• CPC Class Codes: G05B 2219/40201 Detect contact, collision with human
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/40424 Online motion planning, in real time, use vision to detect workspace changes
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

A manipulation platform includes a navigation system, manipulation arm, and one or more area sensors. The navigation unit locates a position of the manipulation platform, and a manipulation arm has a device or a collection sensor. The area sensors acquire data representative of at least a portion of an area in which the manipulation platform is located. Processors determine or predict a presence of an external object within a manipulation range of the manipulation arm using the data acquired by the one or more area sensors. The processors respond to a determination of the external body being, or being predicted to be, within the manipulation range by controlling one or more of the manipulation arm or the manipulation platform.

Claims

1. A manipulation platform, comprising:

a navigation system configured to locate a position of the manipulation platform and to propel the manipulation platform;

a manipulation arm extending or extendable from the manipulation platform, and that comprises one or both of;

a device that is configured to interact with an item, or a collection sensor that is configured to collect information from a plurality of viewpoints or angles;

one or more area sensors configured to acquire data representative of at least a portion of an area in which the manipulation platform is located; and

one or more processors operably coupled with the navigation system, the manipulation arm, and the one or more area sensors, the processing unit configured to;

determine or predict a presence of an external object within a manipulation range of the manipulation arm using the data acquired by the one or more area sensors, and

respond to a determination of the external body being, or being predicted to be, within the manipulation range by controlling one or more of the manipulation arm or the manipulation platform, wherein one or both of;

the manipulation arm movement is stopped, or is controlled so that movement of the manipulation arm is maintained within a first modified, smaller manipulation range such that the external object is not present, or predicted to be present, within the modified, smaller manipulation range, and

the navigation system restricts movement of the manipulation platform so that such movement of the manipulation platform, and the manipulation arm coupled thereto, is maintained such that the external object is not present, or predicted to be present, within a second modified, smaller manipulation range created by restricted movement of the manipulation platform.

2. The manipulation platform of claim 1, wherein the processing unit is configured to determine the presence of a living being as the external object.

3. The manipulation platform of claim 1, wherein the processing unit is configured to determine if the external object is moving, and if determined to be moving:

to predict a movement path of the external object, and

to determine if the predicted movement path intersects with the manipulation range of the manipulation arm.

4. The manipulation platform of claim 1, wherein the one or more area sensors include at least a first detector and a second detector, wherein the processing unit is configured to determine a navigation control action using information from the first detector and to determine a manipulation control action using information from the second detector.

5. The manipulation platform of claim 1, wherein the processing unit is configured to determine whether the manipulation platform is in a narrow portion of an area or an open portion of the area, and to control the manipulation platform according to a first action responsive to determining that the manipulation platform is in the narrow portion and to control the manipulation platform according to a different, second action responsive to determining that the manipulation platform is in the open portion.

6. The manipulation platform of claim 5, wherein the processing unit is configured to control the navigation system to maintain the manipulation platform in a stationary position responsive to determining that the manipulation platform is in the narrow portion and the external object is detected within a buffer zone.

7. A manipulation platform, comprising:

a navigation system configured to move a manipulation platform;

a visual recognition unit comprising at least one detector configured to acquire presence information within at least a portion of an area in which the manipulation platform is located; and

a processing unit operably coupled to the navigation system and the visual recognition unit, the processing unit configured to;

determine or predict a presence of an external object within at least one determined range of a manipulation arm coupled to the manipulation platform using the presence information from the visual recognition unit; and

control the navigation system to implement at least one control action responsive to determining or predicting the presence of the external object within the determined range.

8. The manipulation platform of claim 7, wherein the processing unit is configured to determine the presence of a living being as the external object.

9. The manipulation platform of claim 7, wherein the visual recognition unit comprises an area sensor mounted on an adjustment unit configured to at least one of pan or tilt the area sensor.

10. The manipulation platform of claim 7, wherein the visual recognition unit comprises at least a first detector and a second detector, wherein the processing unit is configured to determine a navigation control action using information from the first detector and to determine a manipulation control action using information from the second detector.

11. The manipulation platform of claim 7, wherein the processing unit is configured to determine whether the manipulation platform is in a narrow portion of an area or an open portion of the area, and to control the manipulation platform according to a first action responsive to determining that the manipulation platform is in the narrow portion and to control the manipulation platform according to a different, second action responsive to determining that the manipulation platform is in the open portion.

12. The manipulation platform of claim 11, wherein the processing unit is configured to control the navigation system to maintain the manipulation platform in a stationary position responsive to determining that the manipulation platform is in the narrow portion and the external object is detected within a buffer zone.

13. The manipulation platform of claim 11, wherein the processing unit is configured to control the navigation system to avoid the external object responsive to determining that the manipulation platform is in the open portion and the external object is detected within a buffer zone.

14. The manipulation platform of claim 7, further comprising a manipulation arm configured to at least one of grasp items or provide an adjustable view for collection of information, wherein the processing unit is configured to maintain the manipulation arm in a stationary position when the external object is detected within a manipulation zone.

15. A method for a manipulation platform having one or more extended or extendable manipulation arms, comprising:

determining or predicting a presence of an external object within at least one determined range of the manipulation platform using presence information obtained using a recognition unit;

determining at least one control action for the manipulation platform responsive to the determination or prediction of the presence in the range of the manipulation platform; and

controlling at least one of a navigation system, or the manipulation arm of the manipulation platform, using the at least one control action.

16. The method of claim 15, wherein determining the presence of the external object includes determining a presence of a living being as the external object.

17. The method of claim 15, further comprising determining whether the manipulation platform is within a narrow portion or an open portion of an area, wherein determining the at least one control action comprises using a first strategy to determine the at least one control action responsive to determining that the manipulation platform is in the narrow portion and using a second strategy to determine the at least one control action responsive to determining that the manipulation platform is in the open portion.

18. The method of claim 17, further comprising controlling the navigation system to achieve a speed to zero, or to maintain the manipulation platform in a stationary position, responsive to determining that the manipulation platform is in the narrow portion and the external object is detected within a buffer zone.

19. The method of claim 17, further comprising controlling the navigation system to avoid the external object responsive to the manipulation platform being in the open portion and the external object being detected within a buffer zone.

20. The method of claim 15, further comprising generating a two-dimensional model or a three-dimensional model of the external object.