System and method for mobile robot teleoperation
First Claim
1. A first apparatus configured to remotely control a movable second apparatus, the first apparatus comprising:
- a display; and
a processor, configured to;
receive a proposed navigation path for the movable second apparatus;
identify one or more obstacles from sensor data provided by the movable second apparatus;
determine that the proposed navigation path has at least one portion intersecting the identified one or more obstacles; and
provide to the display an alternate navigation path comprising one or more highlighted portions that differ from the proposed navigation path;
wherein the processor is configured to transmit instructions to the movable second apparatus, the instructions comprising navigating the proposed navigation path at a velocity based on a mapping function relating velocity to distance from the identified one or more obstacles.
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Accused Products
Abstract
Example implementations include a system and method for remotely controlling the motion of a robot. In example implementations, the user is presented with a display having video from a camera on the robot augmented with abstract sensor data, and facilitates the user to draw motion path commands directly on the camera view. Analysis of the scene for obstacles is performed, so that the drawing of commands is interactive, preventing the user from drawing impossible paths. The path sketch is then transformed into the coordinate system of the robot and used to generate commands that will move the robot to the desired location. Sensor data is also used to augment the camera view, in particular for highlighting dangers and obstacles.
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Citations
18 Claims
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1. A first apparatus configured to remotely control a movable second apparatus, the first apparatus comprising:
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a display; and a processor, configured to; receive a proposed navigation path for the movable second apparatus; identify one or more obstacles from sensor data provided by the movable second apparatus; determine that the proposed navigation path has at least one portion intersecting the identified one or more obstacles; and provide to the display an alternate navigation path comprising one or more highlighted portions that differ from the proposed navigation path; wherein the processor is configured to transmit instructions to the movable second apparatus, the instructions comprising navigating the proposed navigation path at a velocity based on a mapping function relating velocity to distance from the identified one or more obstacles. - View Dependent Claims (2, 3, 4, 5)
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6. A method, comprising:
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receiving a proposed navigation path for a movable apparatus; identifying one or more obstacles from sensor data provided by the movable apparatus; determining that the proposed navigation path has at least one portion intersecting the identified one or more obstacles; providing, on a display, an alternate navigation path comprising one or more highlighted portions that differ from the proposed navigation path; and transmitting instructions to the movable apparatus, the instructions comprising navigating the proposed navigation path at a velocity based on a mapping function relating velocity to distance from the identified one or more obstacles. - View Dependent Claims (7, 8, 9, 10)
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11. A non-transitory computer readable medium, storing instructions for executing a process, the instructions comprising:
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receiving a proposed navigation path for a movable apparatus; identifying an obstacle from sensor data provided by the movable apparatus; determining that the proposed navigation path has at least one portion intersecting the identified one or more obstacles; providing, on a display, an alternate navigation path comprising one or more highlighted portions that differ from the proposed navigation path; and transmitting instructions to the movable apparatus, the instructions comprising navigating the proposed navigation path at a velocity based on distance from the identified one or more obstacles. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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Specification