Virtual display of the real-time position of a robotic device to a human operator positioned on an opposing side of an object
First Claim
1. A system comprising:
- a robotic device having a tool configured to perform work on an object, wherein a first fiducial marker is attached to the tool, and wherein the robotic device is positioned at a first side of the object;
an augmented reality headset for use by a human operator positioned at a second side of the object that opposes the first side such that the object obstructs a line of sight between the human operator and the robotic device, wherein a second fiducial marker is attached to the augmented reality headset;
a first imaging device having a field of view of the first side of the object, and configured to track coordinate data for the first fiducial marker as the first fiducial marker moves with the tool of the robotic device;
a second imaging device having a field of view of the second side of the object, and configured to track coordinate data for the second fiducial marker as the second fiducial marker moves with the augmented reality headset used by the human operator; and
a controller configured to generate a virtual image of the tool of the robotic device in a coordinate system based on the coordinate data for the first fiducial marker and the coordinate data for the second fiducial marker, and to provide the virtual image of the tool of the robotic device to the augmented reality headset for display to the human operator.
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Abstract
Systems and methods for virtually displaying a robotic device to a human operator. An exemplary system includes an augmented reality headset for use by the human operator. The system includes a first imaging device having a field of view of a first side of an object, and tracks coordinate data for a first marker on the robotic device positioned on the first side. The system includes a second imaging device having a field of view of a second side of the object, and tracks coordinate data for a second marker on the augmented reality headset positioned on the second side. The system includes a controller that generates a virtual image of the robotic device in a coordinate system based on the coordinate data for the first and second markers, and provides the virtual image of the robotic device to the augmented reality headset for display to the human operator.
29 Citations
16 Claims
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1. A system comprising:
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a robotic device having a tool configured to perform work on an object, wherein a first fiducial marker is attached to the tool, and wherein the robotic device is positioned at a first side of the object; an augmented reality headset for use by a human operator positioned at a second side of the object that opposes the first side such that the object obstructs a line of sight between the human operator and the robotic device, wherein a second fiducial marker is attached to the augmented reality headset; a first imaging device having a field of view of the first side of the object, and configured to track coordinate data for the first fiducial marker as the first fiducial marker moves with the tool of the robotic device; a second imaging device having a field of view of the second side of the object, and configured to track coordinate data for the second fiducial marker as the second fiducial marker moves with the augmented reality headset used by the human operator; and a controller configured to generate a virtual image of the tool of the robotic device in a coordinate system based on the coordinate data for the first fiducial marker and the coordinate data for the second fiducial marker, and to provide the virtual image of the tool of the robotic device to the augmented reality headset for display to the human operator. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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tracking, with a first imaging device, coordinate data for a first fiducial marker attached to a tool of a robotic device as the first fiducial marker moves with the tool, wherein the robotic device is positioned at a first side of an object, and wherein the first imaging device is positioned with a field of view of the first side of the object; tracking, with a second imaging device, coordinate data for a second fiducial marker attached to an augmented reality headset worn by a human operator, wherein the augmented reality headset is positioned at a second side of the object such that the object obstructs a line of sight between the human operator and the robotic device, and wherein the second imaging device is positioned with a field of view of the second side of the object; generating a virtual image of the tool of the robotic device in a coordinate system based on the coordinate data for the first fiducial marker and the coordinate data for the second fiducial marker; and providing the virtual image of the tool of the robotic device to an augmented reality headset for display to the human operator. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A positioning system for virtually displaying a robotic device to a human operator, the positioning system comprising:
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an augmented reality headset for use by the human operator; a first imaging device having a field of view of a first side of an object, and configured to track coordinate data for a first fiducial marker attached to an end effector of the robotic device, wherein the robotic device is positioned on the first side of the object, and wherein the augmented reality headset is positioned at a second side of the object such that the object obstructs a line of sight between the human operator and the robotic device; a second imaging device having a field of view of the second side of the object that opposes the first side, and configured to track coordinate data for a second fiducial marker attached to the augmented reality headset, wherein the augmented reality headset is positioned on the second side of the object; and a controller configured to generate a virtual image of the end effector of the robotic device in a coordinate system based on the coordinate data for the first fiducial marker and the coordinate data for the second fiducial marker, and to provide the virtual image of the end effector to the augmented reality headset for display to the human operator. - View Dependent Claims (15, 16)
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Specification