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Auto-Reach Method and System for a Remote Vehicle

  • US 20150273684A1
  • Filed: 04/09/2015
  • Published: 10/01/2015
  • Est. Priority Date: 04/15/2011
  • Status: Active Grant
First Claim
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1. A method of controlling a remote vehicle having an end effector and an image sensing device disposed thereon to move the remote vehicle to approach an object, the method comprising:

  • moving the remote vehicle and the imaging sensing device from an initial pose to a targeting pose at which a focal point of the image sensing device is aligned with the object;

    obtaining an image of the object with the image sensing device;

    determining a ray from a focal point of the image to the object based on the obtained image;

    positioning the end effector of the remote vehicle to align with the determined ray; and

    moving the end effector along the determined ray to approach the object, wherein the end effector is mounted on the remote vehicle;

    grasping the object with the end effector;

    rotating and/or moving the object by moving the remote vehicle and/or end effector.

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