Real time approximation for robotic space exploration

• US 9,623,561 B2
• Filed: 08/20/2013
• Issued: 04/18/2017
• Est. Priority Date: 10/10/2012
• Status: Active Grant

• Current Assignee: Jr., Kenneth Dean Stephens
• Original Assignee: Jr., Kenneth Dean Stephens
• Inventors: Stephens, Jr., Kenneth Dean
• Primary Examiner(s): TRAN, KHOI H
• Assistant Examiner(s): Rink, Ryan
• Application Number:
  US13/970,910
• Publication Number:
  US 20150057801A1
• Time in Patent Office: 1,337 Days
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/40116 Learn by operator observation, symbiosis, show, watch
• CPC Class Codes: G05B 2219/40191 Autonomous manipulation, computer assists operator during manipulation
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A system and method for guidance of a moving robotic device through an approximated real time (ART) virtual video stream is presented. The system and method includes at least one camera for collecting images of a terrain in a remote location, at least one terrain data collecting device for collecting data from a remote location, a memory for storing images from the plurality of cameras, a communication device for transmitting the images and data over a path and a computer configured to calculate a delay between the cameras and the receiver. The calculated delay causes the computer to retrieve images and data from the receiver and memory and consequently generate an approximate real-time video and data stream for displaying the terrain-just-ahead of a moving robotic device at a distance proportional to the calculated delay and the ART video and data stream is used to guide the moving robotic device.

Claims

1. A system at a terrestrial location of a human handler for guidance of a proxy robot surrogate robotic device at a remote extraterrestrial location utilizing a computer-generated approximated real time (ART) video landscape, the system comprising:

a local positioning means at the remote extraterrestrial location to continuously determine the position of the proxy robot surrogate in the remote extraterrestrial location,

wherein the local positioning means is configured to cause the proxy robot surrogate to correct its position to conform with location data accompanying a follow-me data stream originating from the position of the human handler;

at least one receiver for receiving far-field video images from at least one camera at the remote extraterrestrial location and data from at least one data collecting device at the remote extraterrestrial location;

at least one terrain analysis computer configured to calculate a delay between the at least one camera and the at least one receiver,

wherein the calculated delay causes the at least one terrain analysis computer to render the far-field video images and the data acquired from the remote extraterrestrial location to produce the computer-generated ART video and data displaying terrain-just ahead of a moving proxy robot surrogate at a distance proportional to the calculated delay, and

wherein each movement of the human handler in the computer-generated ART video landscape is emulated by the proxy robot surrogate.

2. The system of claim 1, wherein the data includes terrain data, image data and positioning data.

3. The system of claim 1, wherein the ART video landscape and data is viewable by the human handler remote from the proxy robot surrogate.

4. The system of claim 3, wherein the proxy robot surrogate is configured to receive control signals for guidance based on the coordinates and movements of the human handler in a computer-generated landscape of the ART video and data stream.

5. The system of claim 4, wherein the control signals further comprise follow-me commands emulating the human handler'"'"'s movements based on the ART video and data stream.

6. The system of claim 4, wherein the control signals further comprise precise positional data on coordinates of the proxy robot surrogate in the remote extraterrestrial location from the local positioning means.

7. The system of claim 5, wherein the follow-me commands are based on movements of the human handler and transmitted to the proxy robot surrogate, wherein the movements of the proxy robot surrogate mimic the movements of the human handler.

8. The system of claim 1, wherein the at least one camera further comprises at least one high resolution 360-degree far field camera mounted on the proxy robot surrogate.

9. The system of claim 8, wherein the at least one high resolution 360-degree far field camera includes a spherical mirror that captures an entire panorama around the proxy robot surrogate.

10. The system of claim 8, wherein the at least one high resolution 360-degree far field camera comprises a plurality of cameras, each focused on a segment of the panorama around the proxy robot.

11. The system of claim 2, wherein the positioning data comprises data from at least one satellite.

12. The system of claim 2, wherein the positioning data comprises triangulation data.

13. The system of claim 2, wherein the terrain data comprises topographical data.

14. The system of claim 1, wherein the local positioning means comprises cameras mounted on a pole, mounted on a tethered balloon, and mounted on a satellite.

17. The system of claim 1, wherein the local positioning means comprises a plurality of radio frequency (RF) triangulation means including radio beacons and RF transponders.

18. The system of claim 1, wherein the local positioning means comprises a plurality of video cameras including pole cameras and buoy cameras on the ground and balloon cameras overhead.

19. The system of claims 4 and 6, wherein the proxy robot surrogate is configured to continuously compare the incoming follow-me coordinates of the human handler with its own coordinates from the local positioning means and modify its movements as necessary to conform to the coordinates of the human handler.

20. The system of claim 19, wherein the proxy robot surrogate corrects its position by varying the distance and direction of at least one step.

21. The system of claim 1, wherein the terrain analysis computer dynamically modifies the ART video stream in accordance with feedback from the follow-me data stream to instantaneously correct for position and heading changes by the user in the computer-generated landscape.

15. A method for guiding from a terrestrial location of a human handler (terrestrial location) a moving proxy robot surrogate at a remote extraterrestrial location through the utilization of a computer-generated approximated real time (ART) video landscape comprising:

inserting timestamps into far-field video images streaming from at least one camera on the moving proxy robot surrogate at the remote extraterrestrial location;

sending the streaming far-field video images and timestamps to the terrestrial location;

causing a terrain analysis computer at the terrestrial location to retrieve the timestamped streaming far-field video images;

calculating a delay between the at least one camera streaming video from the remote extraterrestrial location of the moving proxy robot surrogate and the arrival of the streaming video at the terrestrial location based on the inserted timestamps;

producing by the terrain analysis computer from the retrieved far-field video images a computer-generated ART video landscape displaying a perspective from a precise location to which the proxy robot surrogate is being guided, the proxy robot surrogate to arrive at that location at a time in the future proportional to the calculated delay;

sending a follow-me data stream representative of the movements and coordinates of a human handler moving through the computer-generated ART video landscape to the moving proxy robot surrogate at the extraterrestrial location;

enabling the moving proxy robot surrogate to continuously receive local coordinates of its position from a local positioning means at the extraterrestrial location and coordinates of the position of the human handler from the follow-me data stream; and

enabling the moving proxy robot surrogate to continuously correct its position to conform with the coordinates of the human handler received from the follow-me data stream.

16. The method of claim 15, wherein the ART video is sent to at least one display viewable by the human handler in the computer-generated landscape, and wherein the moving proxy robot surrogate is configured to be guided by the follow-me data representing the movements of the human handler based on the ART video stream.