Adjustable control station with movable monitors and cameras for viewing systems in robotics and teleoperations
First Claim
1. In a real-time video presentation system for robotics and teleoperation using a hand-controller, said system having movable television cameras for optimal viewing of a region of interest surrounding a robot and movable monitors in a control station remote from said robot for presentation of television images from said cameras, a method of rotating each of said monitors to match the orientation of its corresponding television camera by matching its corresponding camera orientation in pan, tilt and roll, thereby causing an angle between a straight ahead direction of said robot and a straight ahead line of view of said corresponding camera to equal an angle between said hand-controller straight ahead direction and a line between the center of the image on a monitor of said corresponding camera and an observer'"'"'s point of view.
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Accused Products
Abstract
Real-time video presentations are provided in the field of operator-supervised automation and teleoperation, particularly in control stations having movable cameras for optimal viewing of a region of interest in robotics and teleoperations for performing different types of tasks. Movable monitors to match the corresponding camera orientations (pan, tilt and roll) are provided in order to match the coordinate systems of all the monitors to the operator internal coordinate system. Automated control of the arrangement of cameras and monitors, and of the configuration of system parameters, is provided for optimal viewing and performance of each type of task for each operator since operators have different individual characteristics. The optimal viewing arrangement and system parameter configuration is determined and stored for each operator in performing each of many types of tasks in order to aid the automation of setting up optimal arrangements and configurations for successive tasks in real time. Factors in determining what is optimal include the operator'"'"'s ability to use hand-controllers for each type of task. Robot joint locations, forces and torques are used, as well as the operator'"'"'s identity, to identify the current type of task being performed in order to call up a stored optimal viewing arrangement and system parameter configuration.
93 Citations
9 Claims
- 1. In a real-time video presentation system for robotics and teleoperation using a hand-controller, said system having movable television cameras for optimal viewing of a region of interest surrounding a robot and movable monitors in a control station remote from said robot for presentation of television images from said cameras, a method of rotating each of said monitors to match the orientation of its corresponding television camera by matching its corresponding camera orientation in pan, tilt and roll, thereby causing an angle between a straight ahead direction of said robot and a straight ahead line of view of said corresponding camera to equal an angle between said hand-controller straight ahead direction and a line between the center of the image on a monitor of said corresponding camera and an observer'"'"'s point of view.
Specification