Auto-reach method and system for a remote vehicle
First Claim
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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 an object, 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 object, wherein the end effector and the image sensing device are both mounted on a multi-unit manipulator arm of the remote vehicle, and wherein moving the remote vehicle and the image sensing device to the targeting pose comprises moving the multi-unit manipulator arm;
obtaining an image of the 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, by moving the multi-unit manipulator arm, the end effector of the remote vehicle to align with the determined ray;
moving, by moving the multi-unit manipulator arm, the end effector along the determined ray to approach the object;
grasping the object with the end effector; and
rotating and/or moving the object by moving the remote vehicle and/or end effector.
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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.
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Citations
15 Claims
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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 an object, the method comprising:
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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 object, wherein the end effector and the image sensing device are both mounted on a multi-unit manipulator arm of the remote vehicle, and wherein moving the remote vehicle and the image sensing device to the targeting pose comprises moving the multi-unit manipulator arm; obtaining an image of the 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, by moving the multi-unit manipulator arm, the end effector of the remote vehicle to align with the determined ray; moving, by moving the multi-unit manipulator arm, the end effector along the determined ray to approach the object; grasping the object with the end effector; and rotating and/or moving the object by moving the remote vehicle and/or end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of controlling a remote vehicle having an end effector and an image sensing device to move the remote vehicle to approach an object, the method comprising:
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receiving a first input to move the image sensing device from an initial pose to a targeting pose to view an object within a field of view of the image sensing device, wherein a focal point of the image sensing device is aligned with the object in the targeting pose, wherein the end effector and the image sensing device are both mounted on a multi-unit manipulator arm of the remote vehicle, and wherein moving the remote vehicle and the image sensing device to the targeting pose comprises moving the multi-unit manipulator arm; displaying an image of the object 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, object; determining a ray from the focal point of the image to the object based on the displayed image; controlling, by moving the multi-unit manipulator arm, the end effector of the remote vehicle to be positioned to align with the determined ray; moving the remote vehicle to approach the object; controlling, by moving the multi-unit manipulator arm, the end effector to move along the determined ray to approach the object, grasping the object with the end effector; and rotating and/or moving the object by moving the remote vehicle and/or end effector. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification