公开(公告)号：US20230237802A1

公开(公告)日：2023-07-27

申请号：US17702669

申请日：2022-03-23

Applicant: Tomahawk Robotics

Inventor： Andrew D. Falendysz ,  William S. Bowman ,  Matthew D. Summer ,  Daniel R. Hedman ,  Sean Wagoner

IPC: G06V20/40 ,  G06V10/70 ,  G06N20/20 ,  B64C39/02

CPC classification number: G06V20/46 ,  G06V10/70 ,  G06N20/20 ,  B64C39/024 ,  B64C2201/127 ,  G06V2201/07

Abstract: Methods and systems are described herein for generating composite data streams. A data stream processing system may receive multiple data streams from, for example, multiple unmanned vehicles and determine, based on the type of data within each data stream, a machine learning model for each data stream for processing the type of data. Each machine learning model may receive the frames of a corresponding data stream and output indications and locations of objects within those data streams. The data stream processing system may then generate a composite data stream with indications of the detected objects.

公开(公告)号：US20230222783A1

公开(公告)日：2023-07-13

申请号：US17571081

申请日：2022-01-07

Applicant: Tomahawk Robotics

Inventor： William S. Bowman ,  Sean Wagoner ,  Andrew D. Falendysz ,  Matthew D. Summer ,  Kevin Makovy ,  Jeffrey S. Cooper ,  Brad Truesdell

IPC: G06V10/96 ,  G05B13/02 ,  G06V10/764 ,  G06V10/70 ,  G06V20/56 ,  G06V10/94

CPC classification number: G06V10/96 ,  G05B13/0265 ,  G06V10/764 ,  G06V10/87 ,  G06V20/56 ,  G06V10/955

Abstract: Methods and systems are described herein for hosting and arbitrating algorithms for the generation of structured frames of data from one or more sources of unstructured input frames. A plurality of frames may be received from a recording device and a plurality of object types to be recognized in the plurality of frames may be determined. A determination may be made of multiple machine learning models for recognizing the object types. The frames may be sequentially input into the machine learning models to obtain a plurality of sets of objects from the plurality of machine learning models and object indicators may be received from those machine learning models. A set of composite frames with the plurality of indicators corresponding to the plurality of objects may be generated, and an output stream may be generated including the set of composite frames to be played back in chronological order.

公开(公告)号：US20220083069A1

公开(公告)日：2022-03-17

申请号：US17417176

申请日：2019-12-31

Applicant: TOMAHAWK ROBOTICS

Inventor： Matthew D. Summer ,  William S. Bowman ,  Andrew D. Falendysz ,  Kevin M. Makovy ,  Daniel R. Hedman ,  Bradley D. Truesdell

IPC: G05D1/02 ,  G05D1/00

Abstract: Systems and methods of manipulating/controlling robots. In many scenarios, data collected by a sensor (connected to a robot) may not have very high precision (e.g., a regular commercial/inexpensive sensor) or may be subjected to dynamic environmental changes. Thus, the data collected by the sensor may not indicate the parameter captured by the sensor with high accuracy. The present robotic control system is directed at such scenarios. In some embodiments, the disclosed embodiments can be used for computing a sliding velocity limit boundary for a spatial controller. In some embodiments, the disclosed embodiments can be used for teleoperation of a vehicle located in the field of view of a camera.

公开(公告)号：US12293538B2

公开(公告)日：2025-05-06

申请号：US18446450

申请日：2023-08-08

Applicant: Tomahawk Robotics, Inc.

Inventor： William S. Bowman ,  Mark B. Moffett ,  Andrew D. Falendysz ,  Michael E. Bowman ,  Michael W. Holt ,  Timothy M. Williams ,  Matthew R. Danko ,  Matthew D. Summer

IPC: G06T7/70 ,  G06T7/50 ,  G06T7/90

Abstract: Methods and systems are described herein for enabling aerial vehicle navigation in GPS-denied areas. The system may use a camera to record images of terrain as the aerial vehicle is flying to a target location. The system may then detect (e.g., using a machine learning model) objects within those images and compare those objects with objects within an electronic map that was loaded onto the aerial vehicle. When the system finds one or more objects within the electronic map that match the objects detected within the recorded images, the system may retrieve locations (e.g., GPS coordinates) of the objects within the electronic map and calculate, based on the coordinates, the location of the aerial vehicle. Once the location of the aerial vehicle is determined, the system may navigate to a target location or otherwise adjust a flight path of the aerial vehicle.

公开(公告)号：US11675445B1

公开(公告)日：2023-06-13

申请号：US17720130

申请日：2022-04-13

Applicant: Tomahawk Robotics

Inventor： Michael E. Bowman ,  William S. Bowman ,  Daniel R. Hedman ,  Matthew D. Summer ,  Andrew D. Falendysz ,  Kevin Makovy ,  Michael W. Holt

IPC: G06F3/01 ,  G06F3/0346 ,  G05D1/00

CPC classification number: G06F3/0346 ,  G05D1/0016 ,  G05D1/0038

Abstract: Methods and systems are described herein for detecting motion-induced errors received from inertial-type input devices and for generating accurate vehicle control commands that account for operator movement. These methods and systems may determine, using motion data from inertial sensors, whether the hand/arm of the operator is moving in the same motion as the body of the operator, and if both are moving in the same way, these systems and methods may determine that the motion is not intended to be a motion-induced command. However, if the hand/arm of the operator is moving in a different motion from the body of the operator, these methods and systems may determine that the operator intended the motion to be a motion-induced command to a vehicle.

公开(公告)号：US20220415184A1

公开(公告)日：2022-12-29

申请号：US17571217

申请日：2022-01-07

Applicant: Tomahawk Robotics

Inventor： Matthew D. Summer ,  William S. Bowman ,  Andrew D. Falendysz ,  Daniel R. Hedman ,  Brad Truesdell ,  Jeffrey S. Cooper ,  Michael E. Bowman ,  Sean Wagoner ,  Kevin Makovy

IPC: G08G5/00 ,  B64C39/02

Abstract: A common command and control architecture (alternatively termed herein as a “universal control architecture”) is disclosed that allows different unmanned systems, including different types of unmanned systems (e.g., air, ground, and/or maritime unmanned systems), to be controlled simultaneously through a common control device (e.g., a controller that can be an input and/or output device). The universal control architecture brings significant efficiency gains in engineering, deployment, training, maintenance, and future upgrades of unmanned systems. In addition, the disclosed common command and control architecture breaks the traditional stovepipe development involving deployment models and thus reducing hardware and software maintenance, creating a streamlined training/proficiency initiative, reducing physical space requirements for transport, and creating a scalable, more connected interoperable approach to control of unmanned systems over existing unmanned systems technology.

公开(公告)号：US20220413490A1

公开(公告)日：2022-12-29

申请号：US17571305

申请日：2022-01-07

Applicant: Tomahawk Robotics

Inventor： Matthew D. Summer ,  William S. Bowman ,  Andrew D. Falendysz ,  Daniel R. Hedman ,  Brad Truesdell ,  Jeffrey S. Cooper ,  Michael E. Bowman ,  Sean Wagoner ,  Kevin Makovy

IPC: G05D1/00

Abstract: A common command and control architecture (alternatively termed herein as a “universal control architecture”) is disclosed that allows different unmanned systems, including different types of unmanned systems (e.g., air, ground, and/or maritime unmanned systems), to be controlled simultaneously through a common control device (e.g., a controller that can be an input and/or output device). The universal control architecture brings significant efficiency gains in engineering, deployment, training, maintenance, and future upgrades of unmanned systems. In addition, the disclosed common command and control architecture breaks the traditional stovepipe development involving deployment models and thus reducing hardware and software maintenance, creating a streamlined training/proficiency initiative, reducing physical space requirements for transport, and creating a scalable, more connected interoperable approach to control of unmanned systems over existing unmanned systems technology.

公开(公告)号：US20220075364A1

公开(公告)日：2022-03-10

申请号：US17417206

申请日：2019-12-31

Applicant: TOMAHAWK ROBOTICS

Inventor： Matthew D. Summer ,  William S. Bowrnan ,  Andrew D. Falendysz ,  Kevin M. Makovy ,  Daniel R. Hedman ,  Bradley D. Truesdell

IPC: G05D1/00 ,  G05D1/02 ,  G06F3/0346 ,  B62D57/02

Abstract: Systems and methods of manipulating/controlling robots. In many scenarios, data collected by a sensor (connected to a robot) may not have very high precision (e.g., a regular commercial/inexpensive sensor) or may be subjected to dynamic environmental changes. Thus, the data collected by the sensor may not indicate the parameter captured by the sensor with high accuracy. The present robotic control system is directed at such scenarios. In some embodiments, the disclosed embodiments can be used for computing a sliding velocity limit boundary for a spatial controller. In some embodiments, the disclosed embodiments can be used for teleoperation of a vehicle located in the field of view of a camera.