Systems and methods for triaging a plurality of targets with a robotic vehicle

• US 8,682,522 B2
• Filed: 07/14/2009
• Issued: 03/25/2014
• Est. Priority Date: 08/18/2008
• Status: Active Grant

• Current Assignee: Planetary Science Institute, Raytheon Company (Rtx Corporation)
• Original Assignee: Planetary Science Institute, Raytheon Company (Rtx Corporation)
• Inventors: Palmer, Eric M., Head, James N., Yingst, Robin Aileen, Sayed, Aladin A.
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US12/502,738
• Publication Number:
  US 20110077800A1
• Time in Patent Office: 1,715 Days
• Field of Search: None
• US Class Current: 701/28
• CPC Class Codes: G06T 1/0014 Image feed-back for automatic industrial control, e.g. robot with camera robots B25J19/023

Abstract

Methods and systems are provided for triaging a plurality of targets with robotic vehicle while the robotic vehicle remains at a first location. The robotic vehicle is in operable communication with a remote command station and includes a processor that is coupled to a first imager. The first imager generates separate images of each one of the plurality of targets while the robotic vehicle remains at the first location. The processor receives target data identifying the plurality of targets from the remote command station, acquires an image of each one of the plurality of targets with the first imager while the robotic vehicle remains at the first location, and transmits each generated image to the remote command station.

Claims

1. A robotic vehicle for triaging a plurality of targets while positioned at a first location, the robotic vehicle in operable communication with a remote command station and comprising:

a first imager for generating separate images of each one of the plurality of targets while the robotic vehicle remains at the first location; and

a processor coupled to the first imager and configured to;

receive target data from the remote command station, the target data identifying the plurality of targets to be imaged by the first imager;

acquire an image of each one of the plurality of targets from the first imager while the robotic vehicle remains at the first location, wherein the separate images of the plurality of targets comprise high-resolution microscopic scale images of about 0.04 to about 0.2 mm/pixels from a distance ranging from about 1 to 10 meters;

transmit each generated image to the remote command station;

receive screened target data from the remote command station identifying at least one screened target selected from the plurality of targets;

relocate the robotic vehicle to the position of the at least one screened target;

obtain a sample of the at least one screened target;

analyze the sample of the at least one screened target; and

transmit results of the analyzed sample to the remote command station.

2. The robotic vehicle of claim 1, wherein the first imager is configured to generate separate high-resolution images of each one of the plurality of targets while the robotic vehicle remains at the first location.

3. The robotic vehicle of claim 2, wherein the field of view of each high-resolution image substantially corresponds to the dimensions of the corresponding one of the plurality of targets.

4. The robotic vehicle of claim 1, further comprising a second imager coupled to the processor and operable to generate panoramic images of at least a portion of the landscape surrounding the robotic vehicle, wherein the processor is further configured to:

acquire a panoramic image of at least a portion of the landscape surrounding the robotic vehicle while the robotic vehicle is positioned at the first location, the panoramic image comprising the plurality of targets; and

transmit the panoramic image to the remote command station before receiving the target data.

5. The robotic vehicle of claim 4, further comprising a camera mast and wherein the first imager and the second imager are coupled to the camera mast.

6. The robotic vehicle of claim 5, wherein the first imager is bore-sighted with the second imager.

7. The robotic vehicle of claim 1, wherein the robotic vehicle is configured for performing exploratory missions of remote planetary surfaces.

8. The robotic vehicle of claim 7, wherein the first imager further comprises a lens assembly, a focus drive, and an image sensor.

9. The robotic vehicle of claim 8, wherein the first imager further comprises at least one telescopic lens assembly.

10. The robotic vehicle of claim 8, wherein the first imager further comprises at least one telephoto lens group.

11. The robotic vehicle of claim 6, wherein:

the plurality of targets further comprises a plurality of geologic targets positioned on a first portion of the landscape surrounding the first location; and

the first imager is further configured to generate images with sufficient resolution to show geologic characteristics of the plurality of geologic targets.

18. The robotic vehicle according to claim 1, wherein the robotic vehicle further comprises a robotic arm and the processor is further configured to control the robotic arm to obtain the sample of the at least one screened target.

19. The robotic vehicle according to claim 1, further comprising a camera mast, wherein the first imager is coupled to the camera mast and is not coupled to a robotic arm.

12. A method for triaging a plurality of geologic targets disposed on a landscape that surrounds the current location of a robotic vehicle, wherein the robotic vehicle is in operable communication with a remote command device and comprises a first imager for generating separate high-resolution images of each one of the plurality of geologic targets while the robotic vehicle remains at its current location, the method comprising:

receiving target data from the remote command device at the robotic vehicle, the target data identifying the plurality of geologic targets to be imaged by the first imager;

acquiring a separate high-resolution image of each one of the plurality of geologic targets from the first imager while the robotic vehicle remains at its current position, wherein the separate images of the plurality of targets comprise high-resolution microscopic scale images of about 0.04 to about 0.2 mm/pixels from a distance ranging from about 1 to 10 meters;

transmitting each generated high-resolution image from the robotic vehicle to the remote command device;

receiving screened target data from the remote command station identifying at least one screened target selected from the plurality of targets;

relocating the robotic vehicle to the position of the at least one screened target;

obtaining a sample of the at least one screened target using a robotic arm of the robotic vehicle;

analyzing the sample of the at least one screened target; and

transmitting results of the analyzed sample to the remote command station.

13. The method of claim 12, wherein the step of transmitting further comprises:

storing each generated high-resolution image on the robotic vehicle;

receiving a request from the remote command device at the robotic vehicle; and

transmitting each stored high-resolution image from the robotic vehicle to the remote command device in response to the request.

14. The method of claim 13, wherein the robotic vehicle further comprises a panoramic imager for generating panoramic images and the method further comprises:

acquiring a panoramic image of the landscape surrounding the current location of the robotic vehicle with the panoramic imager, the panoramic image comprising the plurality of geologic targets;

transmitting the panoramic image from the robotic vehicle to the remote command device before the target data is received at the robotic vehicle.

15. A method for triaging a plurality of geologic targets on a remote planetary landscape with a robotic roving vehicle (RRV), wherein the plurality of geologic targets are disposed on a portion of the remote planetary landscape that surrounds the current location of the RRV and the RRV comprises a high-resolution imager for generating separate high resolution images of the plurality of geologic targets while the RRV remains at its current location, the method comprising:

transmitting target data from a remote command device to the RRV, the target data identifying the plurality of geologic targets;

receiving a separate high-resolution image of each one of the plurality of geologic targets at the remote command device, wherein the high-resolution image of the plurality of geologic targets comprise microscopic scale images of about 0.04 to about 0.2 mm/pixels from a distance ranging from about 1 to 10 meters, wherein each high-resolution image is generated by the high-resolution imager while the RRV remains at is current location; and

transmitting screened target data from the remote command device to the RRV, the screened target data identifying at least one screened geologic target selected from the plurality of geologic targets, wherein after receiving the screened target data the RRV relocates to the position of the at least one screened geologic target and analyzes a sample of the at least one screened geologic target.

16. The method of claim 15, wherein the step of transmitting further comprises:

presenting each received high-resolution image to a user for evaluation; and

generating the screened target data based on input from the user.

17. The method of claim 15, wherein the RRV further comprising a panoramic imager for generating panoramic images of at least a portion of the remote planetary landscape surrounding the current location of the RRV and the method further comprises:

receiving a panoramic image from the RRV at the remote command device;

presenting the panoramic image to a user for analysis, the panoramic image comprising the plurality of geologic targets;

generating target data identifying the plurality of geologic targets based on input from the user; and

transmitting the target data from the remote command device to the RRV.