System for controlling light and for tracking tools in a three-dimensional space
First Claim
1. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:
- a cable robot module having a plurality of cables, winches and motors, said cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object;
a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module; and
an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system.
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Abstract
A system adapted for supporting workflow in a three-dimensional space which provides, among other things, hands-free control and adjustment of lighting within the three-dimensional space. The system of the present invention is also adapted for delivering, tracking, and retrieving tools in the three-dimensional space. The system of the present invention includes various subsystems, which are referred to herein as modules, that both act independently and co-dependently, as will be described in greater detail below, in conjunction with a central control computer module. The modules consist, in an exemplary embodiment, of the cable robot module, the central computer module, the imaging module, the illumination module, and the object manipulator module.
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Citations
46 Claims
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1. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:
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a cable robot module having a plurality of cables, winches and motors, said cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object; a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module; and an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:
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a robot module having a plurality of cables, winches and motors, said cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object; a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module; an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system; and an illumination module carried by said cable robot module, said illumination module being in electronic communication with said central computer module, wherein said illumination module includes a lamp having a luminous output controlled by said central computer module. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:
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a cable robot module having a plurality of cables, winches and motors, said cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object; a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module; an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system; and an object manipulator module in electronic communication with said central computer module, said object manipulator being adapted to deliver a selected tool to a user, track relative position and orientation of said selected tool, and retrieve said selected tool from said user based upon data generated by said vector camera. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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24. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:
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a cable robot module having a plurality of cables, winches and motors, said cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object; a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module; an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system; an object manipulator module in electronic communication with said central computer module, said object manipulator being adapted to grasp and release a selected object and is further adapted to deliver said selected object to a user, track relative position and orientation of said selected object, and retrieve said selected object from said user based upon data generated by said vector camera; and an illumination module carried by said cable robot module, said illumination module being in electronic communication with said central computer module, wherein said illumination module includes a lamp having a luminous output controlled by said central computer module. - View Dependent Claims (25, 26, 27, 28)
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29. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:
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at least a first cable robot module having a plurality of cables, winches and motors, said first cable robot module adapted to move an object through X, Y, and Z coordinates of three-dimensional space, said first cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object; a central computer module in electronic communication with said first cable robot module and adapted for receiving inputs and providing command and control signals to said first cable robot module; and an imaging module carried by said first cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36)
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37. A system adapted for controlling light, for moving and tracking tools in three dimensional space through at least six degrees of freedom, said system comprising:
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a cable robot module having a plurality of cables, winches and motors, wherein said cables and winches move an object through two coordinates of three-dimensional space, said cable robot module further including an articulation cage adapted for attachment to said object and further adapted to control roll, pitch, and yaw of said object said cable robot further including a telescoping pole adapted to move said object through a third coordinate of three-dimensional space; a central computer module in electronic communication with said cable robot module and adapted for receiving inputs and providing command and control signals to said cable robot module; and an imaging module carried by said cable robot module, said imaging module including a vector camera in electronic communication with said central computer module, said vector camera being adapted to identify at least two markers located within a field of view of said vector camera, and further wherein said vector camera is adapted to measure data, including an angle and a distance from one selected marker to a further selected marker, and communicating said data to said the central computer module for direction of said system. - View Dependent Claims (38, 39, 40, 41, 42, 43, 44, 45, 46)
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Specification