Methods and systems for providing feedback on an interface controlling a robotic device

• US 8,875,041 B1
• Filed: 08/19/2011
• Issued: 10/28/2014
• Est. Priority Date: 08/19/2011
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Desai, Munjal, Hickman, Ryan, Lewis, Thor, Kohler, Damon
• Primary Examiner(s): Ng, Amy
• Assistant Examiner(s): CASILLAS, ROLAND J
• Application Number:
  US13/213,731
• Time in Patent Office: 1,166 Days
• Field of Search: 715/771, 715/834, 463 36- 37
• US Class Current: 715/771
• CPC Class Codes: G05B 2219/40414 Man robot interface, exchange of information between operator and robot
• CPC Class Codes: G06F 3/0481 based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
• CPC Class Codes: G06F 3/04812 Interaction techniques based on cursor appearance or behaviour, e.g. being affected by the presence of displayed objects
• CPC Class Codes: G06F 3/04847 Interaction techniques to control parameter settings, e.g. interaction with sliders or dials

Abstract

Methods and systems for providing feedback on an interface for controlling a robotic device are provided. An example method includes receiving an input on an interface of a device within an area on a display of the interface. The input may indicate an orientation command and a velocity command for a robotic device. The method may further include providing a display of direction indicators on the interface representing a location of the input based on the location of the input. A location of the direction indicators may represent a direction associated with the orientation command. The method may also include providing a display of a geometric shape within the area on the display representing the location of the input, such that a size of the geometric shape corresponds to a magnitude of velocity associated with the velocity command. In this manner, visual feedback may be provided while receiving the input.

Claims

1. A method comprising:

providing a display of an interface including;

a first geometric shape having a first size at a center point that represents a frame of reference of a robotic device; and

an indication of a direction in which the robotic device is orientated;

receiving, at a point within an area of the first geometric shape, an input indicating an orientation command and a velocity command for the robotic device, wherein the point is located at a particular distance from the center point of the first geometric shape and at a particular angle from the indication of the direction in which the robotic device is oriented;

in response to the input;

providing a display of one or more direction indicators on the interface, wherein at least one direction indicator is located at a point that is at the particular angle from the indication of the direction in which the robotic device is oriented, and wherein the at least one direction indicator indicates the orientation command; and

providing a display of a second geometric shape on the interface within the area of the first geometric shape, wherein the second geometric shape has a second size that is proportional to the particular distance; and

wherein a ratio of the second size to the first size indicates the velocity command.

2. The method of claim 1, further comprising:

based on the point of the input, providing a display of one or more direction indicators on the interface representing the point of the input.

3. The method of claim 2, wherein a location of the one or more direction indicators representing the point of the input is adjacent a perimeter of the area of the first geometric shape.

4. The method of claim 2, wherein the display of the one or more direction indicators comprises a fixed number of direction indicators provided at fixed positions adjacent to a perimeter of the area of the first geometric shape, wherein transparency values associated with the fixed number of direction indicators vary based on distances from the location of the input to locations of the fixed number of direction indicators.

5. The method of claim 1, wherein an orientation of the point of the input with respect to a coordinate system of the interface on the display represents information associated with the orientation command.

6. The method of claim 1, wherein receiving the input at the point within the area of the first geometric shape comprises receiving a contact on a touchscreen of a computing device, wherein the touchscreen is configured to display the interface.

7. The method of claim 6, wherein the display of the second geometric shape is provided such that the second geometric shape is visible while receiving the input.

8. The method of claim 6, wherein the display of the one or more direction indicators is provided such that the one or more direction indicators are visible while receiving the input.

9. The method of claim 1, wherein the second geometric shape is concentric with the first geometric shape.

10. The method of claim 9, wherein a perimeter of the second geometric shape is adjacent the point of the input.

11. The method of claim 1, further comprising:

providing a display of an indicator on the interface at the point within the area of the first geometric shape representing the point of the input.

12. The method of claim 11, wherein the display of the indicator is adjacent a perimeter of the second geometric shape.

13. The method of claim 1, further comprising providing a modified portion of the second geometric shape opposite the point of the at least one direction indicator, wherein the modified portion provides a display representing the particular angle in an inverse manner.

14. The method of claim 13, wherein the second geometric shape is a circle, and wherein the modified portion of the second geometric shape is a circular sector.

15. The method of claim 13, wherein the modified portion of the second geometric shape is transparent.

16. The method of claim 1, further comprising:

providing a display of a numerical value associated with a magnitude of the velocity command on the interface.

17. The method of claim 16, further comprising providing a modified portion of the geometric shape opposite the point of the at least one direction indicator, wherein the modified portion provides a display representing the particular angle in an inverse manner, and wherein the display of the numerical value is provided within the modified portion of the geometric shape.

18. The method of claim 1,

wherein a perimeter of the first geometric shape represents locations on the interface configured to receive an input indicating a maximum magnitude of velocity for the robotic device.

19. A non-transitory computer readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions of:

providing a display of an interface including;

a first geometric shape having a first size at a center point that represents a frame of reference of a robotic device; and

an indication of a direction in which the robotic device is orientated;

receiving, at a point within an area of the first geometric shape, an input indicating an orientation command and a velocity command for the robotic device, wherein the point is located at a particular distance from the center point of the first geometric shape and at a particular angle from the indication of the direction in which the robotic device is oriented;

in response to the input;

providing a display of one or more direction indicators on the interface, wherein at least one direction indicator is located at a point that is at the particular angle from the indication of the direction in which the robotic device is oriented, and wherein the at least one direction indicator indicates the orientation command; and

providing a display of a second geometric shape on the interface within the area of the first geometric shape, wherein the second geometric shape has a second size that is proportional to the particular distance; and

wherein a ratio of the second size to the first size indicates the velocity command.

20. The non-transitory computer readable medium of claim 19, wherein the second geometric shape is a circle concentric with an area of a display of a device that is configured to provide the interface.

21. A device comprising:

a processor; and

memory including instructions stored therein executable by the processor to perform functions comprising;

providing a display of an interface including;

a first geometric shape having a first size at a center point that represents a frame of reference of a robotic device; and

an indication of a direction in which the robotic device is orientated;

receiving, at a point within an area of the first geometric shape, an input indicating an orientation command and a velocity command for the robotic device, wherein the point is located at a particular distance from the center point of the first geometric shape and at a particular angle from the indication of the direction in which the robotic device is oriented;

in response to the input;

providing a display of one or more direction indicators on the interface, wherein at least one direction indicator is located at a point that is at the particular angle from the indication of the direction in which the robotic device is oriented, and wherein the at least one direction indicator indicates the orientation command; and

providing a display of a second geometric shape on the interface within the area of the first geometric shape, wherein the second geometric shape has a second size that is proportional to the particular distance; and

wherein a ratio of the second size to the first size indicates the velocity command.

22. The device of claim 21, further comprising instructions executable by the processor to perform a function comprising providing a modified portion of the second geometric shape opposite the point of the at least one direction indicator representing the particular angle in an inverse manner.