Method for Teleoperating an Unmanned Ground Vehicle With a Pan Camera and Such a Ground Vehicle
First Claim
1. A method of teleoperating an unmanned ground vehicle (10) comprising a first drive unit (1), a second drive unit (2) and a pan camera (4), arranged in front of or behind the nominal centre of rotation (z) of the vehicle, characterised in that the operator (8) controls the rotation of the camera decoupled from the vehicle rotation and controls the motion of the vehicle in each time instant based upon the orientation of the camera, meaning that what is seen in the centre of the camera image is reached by a command to move the vehicle forward etc., and that the vehicle comprises a control unit (5) which based upon the command signal (20) for the movement of the vehicle calculates a first and a second control signal (21, 22) to the respective drive units (1, 2) that will move the vehicle in the desired way and a third control signal (24) to the camera (4) that counter-acts the movement of the vehicle so that the orientation of the camera is not affected by the movement of the vehicle.
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Accused Products
Abstract
The invention relates to a method of teleoperating an unmanned ground vehicle (10) comprising a first drive unit (1), a second drive unit (2) and a pan camera (4), arranged in front of or behind the nominal centre of rotation (z) of the vehicle. In the method, the operator (8) controls the translation and rotation of the camera, and thus his field of vision, relative to a camera-fixed coordinate system, and the movement of the vehicle is calculated to perform this camera movement. Consequently, the operator can in most cases ignore the vehicle dynamics and experience the feeling of controlling a floating camera. The invention also concerns an unmanned ground vehicle with a control unit which performs the method.
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Citations
13 Claims
- 1. A method of teleoperating an unmanned ground vehicle (10) comprising a first drive unit (1), a second drive unit (2) and a pan camera (4), arranged in front of or behind the nominal centre of rotation (z) of the vehicle, characterised in that the operator (8) controls the rotation of the camera decoupled from the vehicle rotation and controls the motion of the vehicle in each time instant based upon the orientation of the camera, meaning that what is seen in the centre of the camera image is reached by a command to move the vehicle forward etc., and that the vehicle comprises a control unit (5) which based upon the command signal (20) for the movement of the vehicle calculates a first and a second control signal (21, 22) to the respective drive units (1, 2) that will move the vehicle in the desired way and a third control signal (24) to the camera (4) that counter-acts the movement of the vehicle so that the orientation of the camera is not affected by the movement of the vehicle.
Specification