公开(公告)号：US11886182B2

公开(公告)日：2024-01-30

申请号：US17417176

申请日：2019-12-31

Applicant: TOMAHAWK ROBOTICS, INC.

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

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

CPC classification number: G05D1/0016 ,  B62D57/02 ,  G05D1/0033 ,  G05D1/0038 ,  G05D1/0223 ,  G06F3/0346

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：US12223124B2

公开(公告)日：2025-02-11

申请号：US18311370

申请日：2023-05-03

Applicant: Tomahawk Robotics, Inc.

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

IPC: G06F3/0488 ,  G05D1/00 ,  G06F3/0346

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：US12198377B1

公开(公告)日：2025-01-14

申请号：US18350722

申请日：2023-07-11

Applicant: Tomahawk Robotics, Inc.

Inventor： Daniel R. Hedman ,  Matthew D. Summer ,  William S. Bowman ,  Michael E. Bowman ,  Brad Truesdell ,  Andrew D. Falendysz

IPC: H04N7/18 ,  G06T7/60 ,  G06T7/73 ,  G06V10/774 ,  G06V20/17 ,  G06V40/20 ,  H04N23/661

Abstract: Methods and systems are described herein for determining three-dimensional locations of objects within identified portions of images. An image processing system may receive an image and an identification of location within an image. The image may be input into a machine learning model to detect one or more objects within the identified location. Multiple images may then be used to generate location estimations of those objects. Based on the location estimations, an accurate three-dimensional location may be calculated.

公开(公告)号：US12266164B2

公开(公告)日：2025-04-01

申请号：US18772099

申请日：2024-07-12

Applicant: Tomahawk Robotics, Inc.

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

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

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：US12189386B2

公开(公告)日：2025-01-07

申请号：US18540632

申请日：2023-12-14

Applicant: Tomahawk Robotics, Inc.

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

IPC: G05D1/00 ,  B62D57/02 ,  G05D1/222 ,  G05D1/223 ,  G05D1/224 ,  G05D1/24 ,  G05D1/65 ,  G06F3/0346

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：US12067768B2

公开(公告)日：2024-08-20

申请号：US18454055

申请日：2023-08-22

Applicant: Tomahawk Robotics, Inc.

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

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

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

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：US12124256B2

公开(公告)日：2024-10-22

申请号：US17417194

申请日：2019-12-31

Applicant: Tomahawk Robotics, Inc.

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

IPC: G05D1/00 ,  B62D57/02 ,  G05D1/222 ,  G05D1/223 ,  G05D1/224 ,  G05D1/24 ,  G05D1/65 ,  G06F3/0346

CPC classification number: G05D1/0016 ,  B62D57/02 ,  G05D1/0033 ,  G05D1/0038 ,  G05D1/0223 ,  G05D1/222 ,  G05D1/223 ,  G05D1/224 ,  G05D1/2247 ,  G05D1/2248 ,  G05D1/24 ,  G05D1/65 ,  G06F3/0346

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.