Remote control interface

• US 8,694,134 B2
• Filed: 05/05/2011
• Issued: 04/08/2014
• Est. Priority Date: 05/05/2011
• Status: Active Grant

• Current Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Original Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Inventors: Bosscher, Paul M., Summer, Matthew D., Rust, John B., Wilkinson, Loran J., Bowman, William S.
• Primary Examiner(s): SHECHTMAN, SEAN P
• Assistant Examiner(s): Cummins, Patrick
• Application Number:
  US13/101,618
• Publication Number:
  US 20120283877A1
• Time in Patent Office: 1,069 Days
• Field of Search: None
• US Class Current: 700/85
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence

Abstract

Interface (101) for converting human control input gestures to telematic control signals. The interface includes a plurality of articulating arms (107a, 107b, 108a, 108b, and 109a, 109b) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing.

Claims

1. An interface for converting human control input gestures to telematic control signals, comprising:

a plurality of arms comprising

first articulating arms having base ends spaced apart horizontally on and mounted to an interface base, and

second articulating arms each having a proximal end coupled to a housing so as to suspend the housing above the interface base and a distal end coupled to a non-base end of a respective one of the first articulating arms in a serial fashion by a joint,

said first articulating arms and second articulating arms configured to allow linear translational movement of said housing in three orthogonal directions, and to prevent pitch, roll and yaw movement of said housing relative to the interface base;

at least one first sensor configured for measuring said linear translational movement of the housing in all three orthogonal directions;

a pivot member disposed in said housing so as to have at least a portion of an outer surface thereof exposed to a surrounding environment, said pivot member arranged to pitch, roll and yaw about a single pivot point;

a hand grip directly attached to the outer surface of said pivot member which is exposed so that movement of the hand grip by a user of the interface is directly communicated to the pivot member;

at least one second sensor disposed within said housing for detecting pitch, roll and yaw motion of said pivot member about said pivot point produced by motion of said hand grip.

2. The interface according to claim 1, further comprising a control unit responsive to a plurality of sensor signals produced by said first and second sensors for generating output control signals configured to remotely control linear translational movement in three orthogonal directions, and roll, pitch and yaw movement of a remotely controlled object.

3. The interface according to claim 2, further comprising a trigger switch for selectively transitioning said control unit between an active state and an inactive state, wherein said control unit exclusively provides said output control signals for the linear translational movement and roll, pitch and yaw movement when in an active state.

4. The interface according to claim 3, wherein said trigger switch is disposed on said hand grip.

5. The interface according to claim 2, wherein said interface and said control unit in combination are configured to control a motion of said object with six degrees of freedom including said three orthogonal linear directions, and three different axes of rotation.

6. The interface according to claim 1, wherein said first sensor is an angle sensor which detects a rotation of at least one of said first and second articulating arms relative to said interface base.

7. The interface according to claim 2, wherein said interface base further comprises at least one motive device for applying a force to at least one of said first and second articulating arms.

8. The interface according to claim 7, wherein said object is a remotely controlled robotic device and said control unit is responsive to one or more force sensors of said robotic device for controlling said force applied by said at least one motive device.

9. The interface according to claim 1, wherein said pivot member comprises a ball including a ball surface which is at least partially spherical, and said housing comprises a socket member for receiving said ball, said socket member including a socket surface which is substantially conjugate to said ball surface.

10. The interface according to claim 9, wherein said at least one second sensor is configured to detect roll, pitch and yaw motion of said pivot member about said pivot point by detecting rotation of said ball.

11. The interface according to claim 10, wherein said at least one second sensor is an optical sensor.

12. The interface according to claim 11, wherein said at least one second sensor includes a plurality of said optical sensors, each configured for detecting motion of said ball in at least two orthogonal directions.

13. The interface according to claim 12, wherein said plurality of optical sensors are spaced apart at locations around said ball, and separated by an angle of about 90 degrees.

14. A method for converting human control input gestures to telematic control signals, comprising:

suspending a housing above an interface base using a plurality of arms comprising first articulating arms having base ends spaced apart horizontally on and mounted to the interface base, second articulating arms each having a proximal end coupled to the housing and a distal end coupled to a non-base end of a respective one of the first articulating arms in a serial fashion by a joint;

limiting with said first and second articulating arms movement of said housing so that housing cannot roll, pitch or yaw relative to said interface base;

determining a linear translational movement of a housing in three orthogonal directions by sensing with at least a first sensor a change of position of a plurality of articulating arms mounted at a base end to an interface base and coupled at an opposing end to said housing;

sensing with at least a second sensor a roll, pitch and yaw motion of a pivot member at least partially disposed in said housing about a single pivot point when acted upon by a hand grip directly attached to an exposed surface thereof.

15. The method according to claim 14, further comprising generating with a control unit a plurality of output control signals responsive to a plurality of sensor signals produced by said first and second sensors for remotely controlling linear translational movement in three orthogonal directions, and roll, pitch and yaw movement, of a remotely controlled object.

16. The method according to claim 15, further comprising selectively transitioning said control unit between an active state and an inactive state by operating a trigger switch, said control unit exclusively providing said output control signals for linear translational movement and roll, pitch and yaw movement when in an active state.

17. The method according to claim 15, wherein said control unit controls a motion of said object with six degrees of freedom including said three orthogonal linear directions, and three different axes of rotation.

18. The method according to claim 14, wherein said first sensor is an angle sensor, and said position of said articulating arms is determined by sensing a rotation of at least one of said articulating arms relative to said interface base.

19. The method according to claim 15, further comprising applying a force to at least one of said first and second articulating arms using a motive device disposed in said interface base.

20. The method according to claim 19, wherein said object is a remotely controlled robotic device and said method further includes controlling said force applied by said at least one motive device responsive to one or more force sensors of said robotic device.

21. The method according to claim 14, further comprising detecting with said at least one second sensor roll, pitch and yaw motion of said pivot member about said pivot point by detecting rotation of a ball having a ball surface which is at least partially spherical.

22. The method according to claim 21, wherein said detecting of rotation comprises optically detecting with an optical sensor.

23. The method according to claim 22, further comprising detecting motion of said ball using a plurality of said optical sensors.

24. The method according to claim 23, further comprising spacing said plurality of optical sensors apart at locations around said ball, and separated by an angle of about 90 degrees.