Haptic device for manipulator and vehicle control

• US 8,639,386 B2
• Filed: 05/20/2011
• Issued: 01/28/2014
• Est. Priority Date: 05/20/2011
• Status: Active Grant

• Current Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Original Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Inventors: Summer, Matthew D., Bosscher, Paul M., Wilkinson, Loran J., Bowman, William S., Rust, John B.
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Edwards, Jerrah
• Application Number:
  US13/112,366
• Publication Number:
  US 20120294696A1
• Time in Patent Office: 984 Days
• Field of Search: 180/333, 700/264
• US Class Current: 700/264
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence

Abstract

An interface (101) for converting human control input gestures to telematic control signals includes a plurality of articulating arms (107, 108, 109) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing. A button (118) is provided to switch between at least two modes, wherein when in a first mode control signals are used to control a vehicle base (502), and when in the second mode control signals are used to control a robotic arm (504) coupled to the vehicle base (502).

Claims

1. An interface for converting human control input gestures to telematic control signals for controlling a robotic system, the interface comprising:

a single input device having an elongate hand grip operable by a user to obtain gross hand movement information in a plurality of orthogonal directions;

at least one sensor configured to measure movement of the elongate hand grip in the plurality of orthogonal directions;

a control unit responsive to a plurality of sensor signals produced by the at least one sensor for generating output control signals configured to remotely control corresponding movement of the robotic system, the control unit operable to implement a plurality of states comprising;

a first state in which the output control signals are configured to control unconstrained vehicle motion of a vehicle base portion of the robotic system; and

a second state in which the output control signals are configured to control a motion of a robotic arm attached to and mechanically supported by the vehicle base portion; and

a third state in which the output control signals are configured to simultaneously control all operations of the vehicle base portion and the robotic arm; and

a user actuated sensor coupled to the control unit, wherein the control unit is configured to transition between at least the first state and the second state in response to a first user actuation of said user actuated sensor, and between the second state and the third state in response to a second user actuation of said user actuated sensor.

2. The interface according to claim 1, wherein the single input device comprises:

a plurality of articulating arms, each mounted at a base end to an interface base and coupled at an opposing end to a housing, said plurality of articulating arms operable for linear translational movement of said housing in three orthogonal directions; and

a pivot member disposed in said housing arranged to pitch, roll and yaw about a single pivot point;

wherein the hand grip is attached to said pivot member; and

wherein the sensor comprises;

at least one first sensor configured to measure said linear translational movement; and

at least one second sensor within said housing configured to detect pitch, roll and yaw motion of said pivot member about said pivot point produced by motion of said hand grip.

3. The interface according to claim 1, wherein when in the first state the output control signals are configured to exclusively control the vehicle base portion, and when in the second state the output control signals are configured to exclusively control the robotic arm.

4. The interface according to claim 1, wherein said interface further comprises at least one motive device configured to apply a force to the single input device.

5. The interface according to claim 4, wherein data received from the robotic system is used for controlling said force applied by said at least one motive device to provide haptic feedback to the user of the interface.

6. The interface according to claim 5, wherein said data received from the robotic system relates to a tilt direction and magnitude of the vehicle base portion.

7. The interface according to claim 5, wherein said data received from the robotic system relates to a distance and direction of an object sensed by the robotic system.

8. The interface according to claim 1, further comprising a video display coupled to the control unit for displaying video data received from the robotic system.

9. A method for converting human control input gestures to telematic control signals suitable for controlling a robotic system comprising a vehicle base and a robotic arm coupled to the vehicle base, the method comprising:

determining movement of an input device in a plurality of orthogonal directions to generate corresponding output control signals;

selecting one of a plurality of states of a control system in response to a user actuation of a user actuated sensor, wherein

when in a first state of the plurality of states the output control signals are generated to control unconstrained vehicle motion of the vehicle base of the robotic system,

when in the second state the output control signals are generated to control the robotic arm attached to and mechanically supported by the vehicle base of the robotic system, and

when in a third state the output control signals are generated to simultaneously control the vehicle base and robotic arm; and

sending the output control signals to the robotic system when the first, second or third state is selected.

10. The method according to claim 9, wherein determining movement of the input device comprises:

determining a linear translation movement of a housing in three orthogonal directions; and

determining roll, pitch and yaw motion of a pivot member coupled to said housing;

wherein at least a portion of the linear translation movement, the roll motion, the pitch motion and the yaw motion is used to generate corresponding output control signals.

11. The method according to claim 9, wherein when in the first state the output control signals are used to exclusively control the vehicle base, and when in the second state the output control signals are used to exclusively control the robotic arm.

12. The method according to claim 9, further comprising applying a force to the input device to provide haptic feedback related to the robotic system to a user.

13. The method according to claim 12, wherein the haptic feedback relates to a tilt direction and magnitude of the vehicle base.

14. The method according to claim 12, wherein the haptic feedback relates to a distance and direction of an object sensed by the robotic system.

15. The method according to claim 9, further comprising utilizing a point-of-view of an image presented on a video display to generate the output control signals in accordance with the point-of-view.