Autonomous and semi-autonomous control of aerial robotic systems
AssigneeAltec Industries, Inc.
InventorsJonathan Westin Sykes, Timothy J. Mourlam, David Lindquist, William Naber, Robert Nichols
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Abstract
Systems and methods for performing a task in an operation environment of an aerial device with an autonomous or semi-autonomous robot are described. In some embodiments, a robot is disposed at an end of a boom of an aerial device. The robot may comprise cameras, actuators, sensors, processors, and manipulators that work together to perform tasks fully autonomously or semi-autonomously. Furthermore, the robot may comprise tools for performing the tasks and computer-executable instructions for performing the tasks may be based on the various sensory inputs, the tools, and the tasks to be performed.
Claims20
A robot system for performing cooperative tasks in an operational environment of an aerial device, the robot system comprising:
- at least one processor;
- a robot unit disposed at a boom tip comprising at least one manipulator configured to perform a task in the operational environment;
- a tool configured to attach to the at least one manipulator and perform the task;
- a camera for obtaining images of the operational environment;
- a sensor associated with the robot unit;
- a head-up display configured to display a user interface;
- an input device associated with a user and communicatively coupled to the robot unit;
- and
- one or more non-transitory computer-readable media storing computer-readable instructions that, when executed by the at least one processor, perform a method comprising:
- obtaining, by the camera, data indicative of a location of an object in the operational environment;
- obtaining sensor data from the sensor,
- autonomously performing the task using the tool and based at least in part on the sensor data and the data indicative of the location of the object;
- displaying, by the head-up display, an indicia at a task location for performing the task and further displaying option labels for an identification of a component;
- receiving input from the user by the input device,
- wherein the input is either one of a designation of the task location for performing the task or the identification of the component in the operational environment;
- updating the task based on the input from the user;
- and
- performing the updated task based at least in part on the sensor data and the input from the user.
A robot system for performing cooperative tasks in an operational environment of an aerial device, the robot system comprising:
- at least one processor;
- a robot unit disposed at a boom tip comprising at least one manipulator configured to perform a task in the operational environment;
- a tool configured to attach to the at least one manipulator and perform the task;
- a camera for obtaining images of the operational environment;
- a sensor associated with the robot unit;
- an input device associated with a user and communicatively coupled to the robot unit;
- a head-mounted display communicatively coupled to the camera and configured to display the images of the operational environment to the user;
- and
- one or more non-transitory computer-readable media storing computer-readable instructions that, when executed by the at least one processor, perform a method comprising:
- obtaining sensor data from the sensor,
- autonomously performing the task using the tool and based at least in part on the sensor data;
- displaying, by the head-mounted display, the images of the operational environment, the sensor data overlaid on the images of the operational environment, and input options for commanding the robot unit;
- receiving input from the user by the input device selecting at least one of the input options;
- updating the task based on the input from the user;
- performing the updated task based at least in part on the sensor data and the input from the user.
One or more non-transitory computer-readable media storing computer-readable instructions that, when executed by at least one processor, perform a method of performing cooperative tasks in an operational environment of an aerial device, the method comprising:
- obtaining sensor data from a sensor associated with the aerial device;
- obtaining images of the operational environment by a camera disposed on the aerial device;
- providing a robot unit comprising a tool for performing a task;
- automatically detecting an object location of an object;
- automatically classifying the object;
- selecting the tool based on the classifying of the object;
- autonomously performing the task using the tool based at least in part on the sensor data and the images of the operational environment;
- displaying, by a display, the images of the operational environment;
- receiving input from a user by an input device;
- updating the task based on the input from the user;
- and
- performing the updated task based at least in part on the sensor data, the images, and the input from the user.
Dependencies are inferred from the claim text.