Control System for a Remote Vehicle

• US 20140247119A1
• Filed: 05/15/2014
• Published: 09/04/2014
• Est. Priority Date: 04/24/2007
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Robbins, Michael Anthony, Kenyon, Samuel H., Gerson, Roger, Woodbury, Travis, Ledoux, Melissa N.
• Granted Patent: US 9,195,256 B2
• Time in Patent Office: Days
• US Class Current: 340/12.31
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05G 1/01 Arrangements of two or more controlling members with respect to one another double foot control, e.g. for instruction vehicles G05G1/34; mounting units comprising an assembly with two or more pedals G05G1/36
• CPC Class Codes: G05G 1/02 Controlling members for hand actuation by linear movement, e.g. push buttons
• CPC Class Codes: G05G 1/04 Controlling members for hand actuation by pivoting movement, e.g. levers
• CPC Class Codes: G08B 5/36 using visible light sources
• CPC Class Codes: G08C 19/16 in which transmission is by pulses

Abstract

A hand-held controller includes a controller body having right and left grips. The controller body defines a left control zone adjacent the left grip and a right control zone adjacent the right grip. A first set of input devices disposed in the left control zone includes a first analog joystick, a 4-way directional control adjacent the first analog joystick, and a left rocker control located adjacent the 4-way directional control. A second set of input devices disposed in the right control zone includes a second analog joystick, an array of at least four buttons adjacent the second analog joystick, and a right rocker control adjacent the button array. The hand-held controller also includes a display disposed on the controller body adjacent the left and right control zones.

Claims

1. A hand-held controller for operating a remote vehicle, the hand-held controller comprising:

a controller body having right and left grips, the controller body defining a left control zone adjacent the left grip and a right control zone adjacent the right grip;

a first set of input devices disposed in the left control zone, the first set of input devices including;

a first analog joystick;

a 4-way directional control adjacent the first analog joystick; and

a left rocker control located adjacent the 4-way directional control;

a second set of input devices disposed in the right control zone, the second set of input devices including;

a second analog joystick;

an array of at least four buttons adjacent the second analog joystick; and

a right rocker control adjacent the button array; and

a display disposed on the controller body adjacent the left and right control zones.

2. The hand-held controller of claim 1, wherein each rocker control moves from a neutral position to one of a first toggled position or a second toggled position, the first and second toggled positions being mutually exclusive.

3. The hand-held controller of claim 1, wherein the left rocker control has a first left rocker button and a second left rocker button, the left rocker control pivoting from a neutral position to one of the first left rocker button and the second left rocker button.

4. The hand-held controller of claim 1, wherein the right rocker control has a first right rocker button and a second right rocker button, the right rocker control pivoting from a neutral position to one of the first right rocker button and the second right rocker button.

5. The hand-held controller of claim 1, wherein the display comprises a graphical user interface having soft buttons.

6. The hand-held controller of claim 5, further comprising a processor in communication with the display, wherein the buttons are mapped to the soft buttons of the graphical user interface to allow actuation of the soft buttons of the graphical user interface, the soft buttons of the graphical user interface allow selection of one or more autonomous assist behaviors of the remote vehicle.

7. The hand-held controller of claim 6, wherein the buttons allow switching between two or more function modes that include a drive mode to drive the remote vehicle and a manipulate mode to manipulate one or more components of the remote vehicle, each button function mode assigns different functions to one or more of the soft buttons and one or more of the buttons of the hand-held controller.

8. The hand-held controller of claim 1, further comprising a pose control configured to receive input to execute one or more poses of the remote vehicle, the one or more poses includes a drive pose or at least one position of at least one component of the remote vehicle.

9. The hand-held controller of claim 8, wherein the at least one component comprises a rotatable flipper, an articulated head, an articulated neck, or a camera.

10. The hand-held controller of claim 1, further comprising a tether disposed on the controller body outside of the left and right control zones, the tether providing wired communication with the remote vehicle.

11. A hand-held controller for operating a remote vehicle, the hand-held controller comprising:

a controller body defining forward, rearward, right, and left portions and having right and left grips disposed on the corresponding right and left portions of the controller body, the controller body defining a left control zone adjacent the left grip and a right control zone adjacent the right grip;

a first set of input devices disposed in the left control zone, the first set of input devices including;

a first analog joystick; and

a left rocker control located on the forward portion of the controller body;

a second set of input devices disposed in the right control zone, the second set of input devices including;

a second analog joystick; and

a right rocker control on the forward portion of the controller body; and

a display disposed on the rearward portion of the controller body adjacent the left and right control zones.

12. The hand-held controller of claim 11, wherein the controller body has a top surface and a forward side surface, the first and second analog joysticks disposed on the top surface and the left and right rocker controls disposed on the forward side surface.

13. The hand-held controller of claim 11, wherein the left rocker control has a first left rocker button and a second left rocker button, the left rocker control pivoting from a neutral position to one of the first left rocker button and the second left rocker button.

14. The hand-held controller of claim 11, wherein the right rocker control has a first right rocker button and a second right rocker button, the right rocker control pivoting from a neutral position to one of the first right rocker button and the second right rocker button.

15. The hand-held controller of claim 11, wherein the display comprises a graphical user interface having soft buttons.

16. The hand-held controller of claim 15, further comprising a processor in communication with the display, wherein the buttons are mapped to the soft buttons of the graphical user interface to allow actuation of the soft buttons of the graphical user interface, the soft buttons of the graphical user interface allow selection of one or more autonomous assist behaviors of the remote vehicle.

17. The hand-held controller of claim 16, wherein the buttons allow switching between two or more function modes that include a drive mode to drive the remote vehicle and a manipulate mode to manipulate one or more components of the remote vehicle, each button function mode assigns different functions to one or more of the soft buttons and one or more of the buttons of the hand-held controller.

18. The hand-held controller of claim 11, further comprising a pose control configured to receive input to execute one or more poses of the remote vehicle, the one or more poses includes a drive pose or at least one position of at least one component of the remote vehicle.

19. The hand-held controller of claim 18, wherein the at least one component comprises a rotatable flipper, an articulated head, an articulated neck, or a camera.

20. The hand-held controller of claim 11, further comprising a tether disposed on the controller body outside of the left and right control zones, the tether providing wired communication with the remote vehicle.