公开(公告)号：US10365363B2

公开(公告)日：2019-07-30

申请号：US15170665

申请日：2016-06-01

Applicant: Humatics Corporation

Inventor： David Rohr ,  Josh Senna ,  Akshay Kumar Jain ,  J. Alan Atherton ,  David J. Bruemmer

IPC: G01S19/31 ,  G01S13/86 ,  G01C21/12 ,  G01S5/02 ,  G01C21/28 ,  G01S17/06 ,  G01S13/06 ,  G01S13/02 ,  G01S19/26 ,  G01S17/02 ,  G01S17/42

Abstract: Mobile localization of an object having an object positional frame of reference using sparse time-of-flight data and dead reckoning can be accomplished by creating a dead reckoning local frame of reference, including an estimation of object position with respect to known locations from one or more Ultra Wide Band transceivers. As the object moves along its path, a determination is made using the dead-reckoning local frame of reference. When the object is within a predetermine range of one or more of the Ultra Wide Band transceivers, a “conversation” is initiated, and range data between the object and the UWB transceiver(s) is collected. Using multiple conversations to establish accurate range and bearing information, the system updates the object's position based on the collected data.

公开(公告)号：US10226864B2

公开(公告)日：2019-03-12

申请号：US14918059

申请日：2015-10-20

Applicant: Humatics Corporation

Inventor： David J. Bruemmer

IPC: B25J9/16 ,  G06K9/00 ,  G06K9/62 ,  B25J9/08 ,  G06F3/01 ,  G06T11/20 ,  G01C21/34 ,  G08G1/00

Abstract: A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each other a contact sensor detects when physical contact between the surface and the device occurs. Thereafter, a proprioception module measures normal force disparities between the surface and device motion actuators and finally, an exteroception module to measure translational resistance disparities between relative motion of the surface and the device. The system uses these disparity measurements and actuator positions to modify the manipulation of the device.

公开(公告)号：US10220510B2

公开(公告)日：2019-03-05

申请号：US15170685

申请日：2016-06-01

Applicant: Humatics Corporation

Inventor： David J. Bruemmer ,  Akshay Kumar Jain ,  Josh Senna

IPC: G06F15/16 ,  B25J9/16 ,  H04L7/00 ,  H04L29/06 ,  H04L29/08

Abstract: A unified collaboration environment is formed by establishing a local workspace positional frame of reference using a plurality of UWB transceivers. With a frame of reference established a communication link is established between each of the workspaces, and a collaboration module to establish a peer-to-peer network. Data is received from each of the workspaces including the local workspace frame of reference, the set of available assets and workspace behavior (tasks). The collaboration module crafts a unified collaboration environment by transforming the local workspace into a collaborative positional frame of reference. A user, through a user interface, can offer real-time input to a virtualized version of the workspace to augment actions within the workspace environment.