Auto-reach method for a remote vehicle

• US 9,031,697 B2
• Filed: 04/16/2012
• Issued: 05/12/2015
• Est. Priority Date: 04/15/2011
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Huang, Wesley Hanan, Phillips, Emilie A.
• Primary Examiner(s): Rodriguez, Saul
• Assistant Examiner(s): TIGHE, BRENDAN P
• Application Number:
  US13/448,043
• Publication Number:
  US 20130054029A1
• Time in Patent Office: 1,121 Days
• Field of Search: 414/729, 414/730, 414/815, 700/259, 701/49, 901/9, 901/47
• US Class Current: 700/259
• CPC Class Codes: B25J 11/002 Manipulators for defensive or military tasks
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/39391 Visual servoing, track end effector with camera image feedback
• CPC Class Codes: G05B 2219/40003 Move end effector so that image center is shifted to desired position
• CPC Class Codes: G05B 2219/40062 Door opening
• 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: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/47 Optical

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.

Claims

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 a door knob of a door, 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 door knob;

obtaining an image of the door knob with the image sensing device;

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

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

moving the remote vehicle to approach the door knob;

moving the end effector along the determined ray to approach the door knob, wherein the end effector is mounted on the remote vehicle with a movable structure;

grasping the door knob with the end effector;

turning the door knob; and

driving the remote vehicle backwards to open the door.

2. The method according to claim 1, further comprising providing at least one user input selection option, and receiving a first user input selection from the at least one user input selection option to determine the ray.

3. The method according to claim 2, further comprising receiving a second user input selection from the at least one user input selection option, and controlling the end effector to grip the door knob after receiving the second user input selection.

4. The method according to claim 3, further comprising receiving a third user input selection from the at least one user input selection option, and moving the image sensor to a targeting pose to view the door knob within a field of view of the image sensor before displaying the image of the door knob on the display.

5. The method according to claim 1, further comprising detecting when the end effector reaches the door knob, and stopping moving the end effector along the ray when the end effector is detected to reach the door knob.

6. The method according to claim 1, further comprising detecting whether torque of a motor of the remote vehicle increases after moving the end effector to approach the door knob, and determining that the end effector reaches the door knob when the torque of the motor is detected to increase.

7. The method according to claim 1, wherein the remote vehicle comprises a chassis and moving the remote vehicle to approach the door knob comprises moving the chassis across a planar surface, and the remote vehicle is controlled by an operator that is remote from the vehicle.

8. A method of controlling a remote vehicle having an end effector and an image sensing device to move the remote vehicle to approach a door knob of a door, the method comprising:

displaying an image of a door knob obtained from the image sensing device and a door knob alignment symbol on a display, the door knob 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 door knob;

receiving an input to align the door knob alignment symbol with the displayed object;

determining a ray from the focal point of the image to the door knob based on the received input;

aligning the end effector of the remote vehicle with the determined ray;

moving the remote vehicle to approach the door knob;

moving the end effector along the determined ray to approach the door knob, wherein the end effector is mounted on the remote vehicle with a movable structure;

grasping the door knob with the end effector;

turning the door knob; and

driving the remote vehicle backwards to open the door.

9. The method according to claim 8, further comprising providing at least one user input selection option, and receiving a first user input selection from the at least one user input selection option to determine the ray.

10. The method according to claim 9, further comprising receiving a second user input selection from the at least one user input selection option, and controlling the end effector to grip the door knob after receiving the second user input selection.

11. The method according to claim 10, further comprising receiving a third user input selection from the at least one user input selection option, and moving the image sensor to a targeting pose to view the door knob within a field of view of the image sensor before displaying the image of the door knob on the display.

12. The method according to claim 8, further comprising detecting when the end effector reaches the door knob, and stopping moving the end effector along the ray when the end effector is detected to reach the door knob.

13. The method according to claim 8, further comprising detecting whether torque of a motor of the remote vehicle increases after moving the end effector to approach the door knob, and determining that the end effector reaches the door knob when the torque of the motor is detected to increase.

14. The method according to claim 8, wherein the remote vehicle comprises a chassis and moving the remote vehicle to approach the door knob comprises moving the chassis across a planar surface, and the remote vehicle is controlled by an operator that is remote from the vehicle.

15. A method of controlling a remote vehicle having an end effector and an image sensing device to move the remote vehicle to approach a door knob of a door, the method comprising:

receiving a first input to move the image sensing device from an initial pose to a targeting pose to view a door knob within a field of view of the image sensing device, wherein a focal point of the image sensing device is aligned with the door knob in the targeting pose;

displaying an image of the door knob 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;

determining a ray from the focal point of the image to the door knob 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 door knob;

controlling the end effector to move along the determined ray to approach the door knob, wherein the end effector is mounted on the remote vehicle with a movable structure;

grasping the door knob with the end effector;

turning the door knob; and

driving the remote vehicle backwards to open the door.

16. The method according to claim 15, further comprising providing at least one user input selection option, and receiving a first user input selection from the at least one user input selection option to determine the ray.

17. The method according to claim 16, further comprising receiving a second user input selection from the at least one user input selection option, and controlling the end effector to grip the door knob after receiving the second user input selection.

18. The method according to claim 17, further comprising receiving a third user input selection from the at least one user input selection option, and moving the image sensor to a targeting pose to view the door knob within a field of view of the image sensor before displaying the image of the door knob on the display.

19. The method according to claim 15, further comprising detecting when the end effector reaches the door knob, and stopping moving the end effector along the ray when the end effector is detected to reach the door knob.

20. The method according to claim 15, further comprising detecting whether torque of a motor of the remote vehicle increases after moving the, end effector to approach the door knob, and determining that the end effector reaches the door knob when the torque of the motor is detected to increase.

21. The method according to claim 15, wherein the remote vehicle comprises a chassis and moving the remote vehicle to approach the door knob comprises moving the chassis across a planar surface, and the remote vehicle is controlled by an operator that is remote from the vehicle.