Camera and sensor controls for remotely operated vehicles and virtual environments

• US 10,331,233 B2
• Filed: 10/17/2018
• Issued: 06/25/2019
• Est. Priority Date: 10/27/2016
• Status: Active Grant

• Current Assignee: Fluidity Technologies, Inc. (Safran SA)
• Original Assignee: Fluidity Technologies, Inc. (Safran SA)
• Inventors: Parazynski, Scott Edward, Tran, Brandon, Angelo, Radley, Hill, Austin
• Primary Examiner(s): Hicks, Charles V
• Application Number:
  US16/163,565
• Publication Number:
  US 20190042004A1
• Time in Patent Office: 251 Days
• CPC Class Codes: G05G 2009/04707 with ball joint
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015
• CPC Class Codes: G05G 5/065 using a spring-loaded ball
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• CPC Class Codes: G06F 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/039 Accessories therefor, e.g. mouse pads

Abstract

A hand controller that includes a control member mounted on a hand held base for commanding a remote vehicle or movement of a virtual object within a virtual environment includes an input device mounted for generating tilt commands for a sensor mounted on the remote vehicle or the virtual object, the input device being located on a front of the base and oriented to be displaced up and down to tilt the sensor or the virtual point of view when the base is held during operation.

Claims

1. A controller for remotely controlling movement of a target having a point of view (POV), the controller comprising:

a base shaped to be held by one of a user'"'"'s two hands when controlling movement of the target, the base having an intended orientation with respect to the user when being held during operation of the target;

a manually-displaceable control member mounted to the base in a position for allowing manually displacement by the user'"'"'s other hand for generating control inputs to command movement of the target; and

an input device mounted on the base and deflectable up and down on the base with respect to the intended orientation, the deflection of the input device causing the controller to generate a tilt command to tilt the POV up and down with respect to the target.

2. The controller of claim 1, wherein an input device is biased to a center position from which it can be deflected up and down and, when released, return to the centered position, the center position corresponding to a null input.

3. The controller of claim 2, wherein a tilt command is a rate command proportionate to the amount of deflection.

4. The controller of claim 2, wherein an input device further comprises a paddle that extends outwardly from the base.

5. The controller of claim 1, wherein the base is configured to be held by one hand of a user while the second hand of the user is gripping the control member, the base having an intended orientation with respect to a user when being held during operation of a remote vehicle, wherein an input device is located on a front end of the base.

6. The controller of claim 5, wherein an input device is biased to a center position from which it can be deflected up and down and, when released, return to the centered position;

the center position corresponding to a null input.

7. The controller of claim 1, wherein at least one control member comprises a first control member and a second control member mounted to a first control member, the first and second control members having at least four degrees of freedom for generating control inputs for commanding movement of a remote vehicle in at least four corresponding degrees of freedom.

8. The controller of claim 1, wherein an input device is further deflectable side-to-side to cause the controller to generate a camera pan command in response to a side-to-side deflection.

9. The controller of claim 1, wherein the controller further comprising a rotary wheel mounted on the base, the rotary wheel having with a plurality of positions, each position associated with one or more predefined parameters for setting one or more parameters associated with the point of view.

10. The controller of claim 1, wherein the target comprises one of:

a remote vehicle, on which is mounted steerable platform for a sensor, the POV comprising the orientation of the sensor;

or

a virtual object, the movement of which in a virtual environment is being controlled by control inputs generated by at least one manually-displaceable control member.

11. A controller for remotely controlling a remote vehicle, on which is mounted a sensor, the controller comprising:

a base shaped to be held by one of a user'"'"'s two hands, the base having an intended orientation with respect to the user when being held during operation of the target;

at least one manually-displaceable control member mounted on top of the base in a position allowing for manual displacement by the user'"'"'s other hand for generating control inputs to command movement of the target; and

an input device mounted on the base and causing generation of a tilt command when deflected up and down with respect to the base when the base is held in the intended orientation.

12. The controller of claim 11, wherein the at least one manually-displaceable control member comprises a first control member and a second control member that is mounted to the first control member, the first and second control members having combined at least four degrees of freedom for generating control inputs for commanding movement of the target in at least four corresponding degrees of freedom.

13. The controller of claim 11, wherein the input device is comprised of a two-axis gimbal, the two-axis gimbal comprising, for each of two axes of rotation a detent that is aligned with a surface feature when the gimbal is in a predefined null position, the detent and surface feature causing haptic feedback to a user when the input device is deflected from and returned to the predefined null position for the axis.

14. The controller of claim 11, wherein the input device is comprised of a two-axis gimbal, and wherein the two-axis gimbal is comprised of

a base for mounting the gimbal;

a post to which a control member of a controller may be coupled;

a first member connected with the base in a fixed relationship;

a second member rotatable with respect to the first member around at least one of the two, intersecting axes of rotation and being constrained by the first member from rotating around other axes, the post being coupled with the second member and constrained by the second member to pivot about each of the two, intersecting axes of rotation, the post having a null position at a predetermined angular displacement about each axis of rotation.

15. The controller of claim 14, further comprising a detent aligned with a surface feature when the angular position of the post with respect to the first member about a first one of the axes of rotation is in a predetermined null position, the detent and surface feature cooperating to cause generation of haptic feedback when the post leaves and returns to the null position, one of the detents and the surface features coupled with the post and the other of the detents and the surface features coupled with an outer surface of the first member.

16. A controller for remotely controlling movement of a target having a point of view (POV), the controller comprising:

a base shaped to be held by one hand of a user when moving the target, the base having an intended orientation with respect to a user when being held during operation of a remote object;

a first, manually-displaceable control member mounted to a base for generating control inputs to command movement of the target, and a second control member mounted to the same manually-displaceable first control member, the first and second control members having at least four degrees of freedom for generating control inputs for commanding movement of a remote vehicle in four corresponding degrees of freedom; and

an input device mounted on the base and deflectable up and down on the base with respect to the intended orientation to generate a tilt command to tilt the POV up and down with respect to the target, the input device located on a front of the base in a position that enables a finger on a hand holding the base to deflect the input device, the deflection of the input device generating of the tilt command.

17. The controller of claim 16, wherein the input device is biased to a center position and returns, when released after deflection, to the centered position.

18. The controller of claim 16, wherein input device is further deflectable from side to side to generate a pan command.

19. The controller of claim 16, wherein the tilt command is a rate command proportionate to the amount of deflection.

20. The controller of claim 16, wherein the input device further comprises a paddle that extends outwardly from the base.

21. The controller of claim 18, wherein the pan command is a rate command proportionate to the amount of deflection.

22. A controller for remotely controlling movement of a target with a sensor mounted on a steerable platform to adjust its orientation, the controller comprising:

a base;

at least one manually-displaceable control member mounted to a base for generating control inputs to command movement of a remote object;

an input device mounted on the base, the input device comprising a rotary wheel having a plurality of positions, each of the plurality of positions associated with one or more predefined parameters, at least one of the predefined parameters for each of the plurality of positions being selected from a group consisting of parameters relating to the sensor and to a responsiveness of the steerable platform to command for adjustment of the orientation of a camera.

23. The controller of claim 22, wherein the group consists of parameters relating to the sensor.

24. The controller of claim 23, wherein the sensor is an image sensor in a camera, and the parameters relating to the sensor consist of focal length, shutter speed, aperture, video frame rate, white balance, and exposure compensation.

25. The controller of claim 22, wherein the group consists of parameters relating to the steerable platform'"'"'s responsiveness to commands for adjustment of the orientation of the camera.

26. The controller of claim 22, further comprising:

at least one manually-displaceable control member mounted to the base for generating control inputs to command movement of the remote object, the base adapted to be held by one of a user'"'"'s two hands when the other hand is moving the manually-displaceable control member, the base having an intended orientation with respect to the user when the user is holding the base and controlling movement of the target; and

an input device mounted on the base and deflectable up and down on the base with respect to the intended orientation, the deflection of the input device causing the controller to generate a tilt command for the steerable platform to tilt the sensor.