Auto-Reach Method and System for a Remote Vehicle
First Claim
Patent Images
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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Abstract
The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an 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.
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Citations
23 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of controlling a remote vehicle having an end effector and an image sensing device to move the remote vehicle to approach an object, the method comprising:
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displaying an image of an object obtained from the image sensing device and an object alignment symbol on a display, the object alignment symbol representing a focal point of the image sensed by the image sensing device; moving the remote vehicle and the image sensing device from an initial pose to a targeting pose at which the focal point of the image sensing device is aligned with the object; receiving an input to align the object alignment symbol with the displayed object; determining a ray from the focal point of the image to the object based on the received input; aligning the end effector of the remote vehicle with the determined ray; moving the remote vehicle to approach the object; 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. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method of controlling a remote vehicle having an end effector and an image sensing device to move the remote vehicle to approach an object, the method comprising:
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receiving a first input to move the image sensing device from an initial pose to a targeting pose to view an object within a field of view of the image sensing device, wherein a focal point of the image sensing device is aligned with the object in the targeting pose; displaying an image of the object obtained from the image sensing device; receiving a second input to move the image sensing device to an object alignment position at which a focal point of the image is aligned with the displayed, object; determining a ray from the focal point of the image to the object based on the displayed image; controlling the end effector of the remote vehicle to be positioned to align with the determined ray; moving the remote vehicle to approach the object; and controlling the end effector to move 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. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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Specification