Altec Industries, Inc.

Altech Industries, Inc.

Timothy J Mourlam

Jonathan Westin Sykes

William Naber

David Lindquist

Robert Nichols

Aaron B Beck

Westin Sykes

Michael A Fleming

David Barnard

Riley Gossling

Timothy L McHugh

Stephen J Driscoll

Ryan M Pachta

Douglas E Frazier

Sebastian Orellana

Jd Casias

Systems and methods for cooperative aerial robotics for working in an aerial work environment. In some embodiments, a robot system may comprise a robot unit comprising high-dexterity manipulators for performing high-dexterity work. The robot system may further comprise a high-capacity manipulator for performing high-capacity work. The robot system may comprise a plurality of sensors for detecting the work environment and providing a representative work environment to an operator and/or a controller for operation of the robot system to complete the aerial work. The robot system may be remotely operated by an operator, automatically, and/or autonomously. The robot system may be disposed at the top of a boom of an aerial device for performing work in high-voltage areas.

Cooperative high-capacity and high-dexterity manipulators

A system and method for providing real-time, sensory information associated with a remote location using a remote capture device and a head-mounted display. In some embodiments, the system comprises a fiber-optic cable to transmit a signal comprising sensory information collected by the remote capture device to the head-mounted display. Further, the remote capture device may be secured onto a boom of an aerial device.

Head mounted display for remote operation of machinery

Systems, methods, and computer-readable media for establishing and utilizing virtual barriers for remotely operated equipment. Remotely operated equipment may be used to perform operations within a remote operating environment based on control inputs from an operator at a distinct location from the remote operating environment. The virtual barriers are established within a control system of the remotely operated equipment to alert the operator or modify operation based on proximity of the remotely operated equipment to the virtual barriers.

Virtual barriers for remotely operated equipment

Systems and methods for performing a task in an aerial work environment by a robot system are described herein. An aerial robot system may be provided at a boom tip of an aerial device for performing work on aerial power/telecommunication systems. The aerial robot system may comprise manipulators including one or more robot unit manipulators and one or more auxiliary arms provided in a side-by-side configuration. The side-by-side configuration reduces a vertical profile of the aerial robot system over standard systems providing methods for accessing all points on standard aerial work environments. Furthermore, the aerial robot system may be configured to provide all necessary tools and replacements parts as well as storage for removal of parts in the aerial work environment. Aerial tasks may be performed by an operator, autonomously, or a combination of manual and autonomous.

Aerial robotic systems

Systems, methods, and computer-readable media for improved control of articulating boom assemblies are disclosed herein. Automated functions, such as auto ground and auto stow functions, may be provided to automatically move an articulating boom assembly to the desired position. When an automated function is requested, a series of waypoints may be generated, and the boom assembly may move a boom tip thereof through each of the series of waypoints. Using the machine geometry of the boom assembly and the pose of the boom assembly when the automated function is requested may enable the waypoints to be determined. The automated functions may enable the boom assembly to be moved faster than when manually operated and also eliminates the need for the operator to provide a series of complex inputs required to move each joint of the articulating boom assembly to reach the desired position.

Operations of articulating boom assemblies

Systems and methods for cutting aerial objects by a remotely operated cutting system disposed on a boom tip of an aerial device are disclosed. In some embodiments, a remotely operated cutting system may be operable to translate and rotate in three dimensions to obtain an optimal cutting position. The cutting device may be configured to cut tree limbs, power lines, metal bars, or the like. A sensor may detect electrical energy in proximity to a cutting location associated with the cutting device. The cutting device may be controlled by an operator at a remote location communicatively connected to control the cutting device and view the cutting device by a camera mounted on the boom tip or the cutting system. The cutting device may further be automatically operated based on stored computer-executable instructions.

Remotely operated cutting device

Disclosed embodiments provide a cross-arm phase-lifter for lifting and maneuvering a utility pole cross-arm without the need to remove the energized power lines from the cross-arm. A first embodiment of the cross-arm phase-lifter may comprise a set of clamps, clamping members, and actuators. When the actuators are driven, the clamping members may secure the clamps onto the cross-arm. Once the clamps are secured, the cross-arm may be lifted and suspended in air. A second embodiment may comprise a lifting plate comprising a plurality of pegs configured to interface with brackets on the cross-arm. When the pegs are engaged with the brackets, the cross-arm may be lifted and suspended in air.

Cross-arm phase-lifter

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.

Autonomous and semi-autonomous control of aerial robotic systems

A system, method, and device for a remotely controlled robot unit affixed to a boom assembly. The robot unit comprises at least one arm for performing an action, a remotely controlled movable six-degree-of freedom camera mount, at least one camera disposed on the camera mount to capture visual information, and at least one depth camera disposed on the camera mount to capture three-dimensional depth information. Captured sensory information may be transmitted to an operator using a head mount and motion controls for controlling movement of the robot unit. Operator movement captured by the head mount and motion controls may be compared to a digital representation generated from the three-dimensional depth information to aid in positioning and moving the robot unit.

Manual operation of a remote robot assembly

Automatic bond on techniques for remote operations on energized power lines are disclosed. A remote assembly may comprise a robot unit and a jib. The jib may have an end effector at a distal end, a proximal end coupled to the robot unit, and an insulating section between the distal end and the proximal end. The end effector may couple to the energized power line, and the insulating section may electrically isolate the robot unit from the energized power line. An actuator at the proximal end may be selectively actuatable to electrically connect to the end effector, thereby electrically bonding the robot unit to the energized power lines to enable operations on energized power line components. The jib may toggle the robot unit between the electrically bonded and grounded or floating states to allow the robot unit to operate on both grounded and energized components.

Automatic bond on to energized power line for remote operations

An aerial device for operating on energized powerlines is disclosed. Embodiments of the current disclosure relate to a slew drive system for an aerial device. In some embodiments, the slew drive system provides leveling and jerk mitigation to an aerial platform of the aerial device. Various sensors may be disposed on an aerial device boom, on the slew drive, and on the aerial platform, for obtaining data indicative of a state of the aerial device. The data indicative of the state of the aerial device may be used to control the slew drive with various hydraulic valves and motors to level the aerial platform and mitigate/eliminate jerk. The systems and methods described herein provide a comfortable riding experience for aerial line workers in the aerial platform and maintain a level state of the aerial platform across a wide range of boom angles including at extreme ends of the boom assembly.

Slew drive system for aerial platform leveling

Media, systems, and methods for reducing latency in a head-mounted display for the remote operation of machinery. A remote camera sends raw video to a graphics processing unit which processes the video and transmits the updated video to a head-mounted display with limited latency such that the control of remote devices may be improved. The image may be spherically rendered and projected onto the head-mounted display with a rectangular view. The graphics processing unit may determine a rotation matrix based on a pose of the remote camera and a pose of the head-mounted display, and the image may be projected based on the rotation matrix.

Growing community of inventors

Kansas City, KS, United States of America

Timothy J Mourlam