Control system for a remote vehicle

• US 8,760,397 B2
• Filed: 12/05/2012
• Issued: 06/24/2014
• Est. Priority Date: 04/24/2007
• Status: Expired due to Fees

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Robbins, Michael Anthony, Kenyon, Samuel H., Gerson, Roger, Woodbury, Travis, Ledoux, Melissa N.
• Primary Examiner(s): Nguyen, Kevin M
• Application Number:
  US13/705,417
• Publication Number:
  US 20130166107A1
• Time in Patent Office: 566 Days
• Field of Search: 345/156, 345/169, 436/36, 463/40
• US Class Current: 345/156
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05G 1/01 Arrangements of two or more controlling members with respect to one another double foot control, e.g. for instruction vehicles G05G1/34; mounting units comprising an assembly with two or more pedals G05G1/36
• CPC Class Codes: G05G 1/02 Controlling members for hand actuation by linear movement, e.g. push buttons
• CPC Class Codes: G05G 1/04 Controlling members for hand actuation by pivoting movement, e.g. levers
• CPC Class Codes: G08B 5/36 using visible light sources
• CPC Class Codes: G08C 19/16 in which transmission is by pulses

Abstract

A hand-held controller for operating a remote vehicle includes a controller body having right and left grips, a first set of input devices are disposed in a left control zone adjacent the left grip, and a second set of input devices are disposed in a right control zone adjacent the right grip. The first set of input devices includes a first analog joystick, a 4-way directional control, and a left rocker control. The second set of input devices includes a second analog joystick, an array of at least four buttons, and a right rocker control. The hand-held controller also includes a mode changer disposed on the controller body and configured to receive an input to change between two or more function modes. Each function mode assigns different functions to one or more of the input devices.

Claims

1. A hand-held controller for operating a remote vehicle, the hand-held controller comprising:

a controller body having right and left grips;

a first set of input devices disposed in a left control zone adjacent the left grip, the first set of input devices including;

a first analog joystick;

a 4-way directional control adjacent the first analog joystick; and

a left rocker control located adjacent the 4-way directional control;

a second set of input devices disposed in a right control zone adjacent the right grip, the second set of input devices including;

a second analog joystick;

an array of at least four buttons adjacent the second analog joystick; and

a right rocker control adjacent the button array;

a mode changer disposed on the controller body and configured to receive an input to change between two or more function modes, each function mode assigning different functions to one or more of the input devices; and

a speed toggle disposed on the controller body and configured to receive an input to change between two or more speed modes.

2. The hand-held controller of claim 1, wherein the speed modes include a first speed mode for ascending stairs and a second speed mode for descending stairs.

3. The hand-held controller of claim 1, wherein the speed modes includes a cruise control mode for driving the vehicle at a constant speed and heading.

4. The hand-held controller of claim 1, wherein the two or more function modes include a drive mode to drive the remote vehicle and a manipulate mode to manipulate one or more components of the remote vehicle.

5. The hand-held controller of claim 1, further comprising a pose control configured to receive input to execute one or more poses of the remote vehicle.

6. The hand-held controller of claim 5, wherein the one or more poses includes a drive pose or at least one position of at least one component of the remote vehicle.

7. The hand-held controller of claim 6, wherein the at least one component comprises a rotatable flipper, an articulated head, an articulated neck, or a camera.

8. The hand-held controller of claim 1, wherein the first joystick controls forward, backward, left and right drive directions of the remote vehicle and the second joystick controls a pose of a camera on the remote vehicle.

9. The hand-held controller of claim 1, wherein one of the rocker controls is rotatable to control a rotational position of a flipper of the remote vehicle.

10. The hand-held controller of claim 1, further comprising a button disposed on the controller body and pressible to stop a motor of the remote vehicle.

11. The hand-held controller of claim 1, wherein the left grip defines a geometry that permits a user to operate the first set of input devices with a left index finger, a left middle finger, and a left thumb.

12. The hand-held controller of claim 1, wherein the right grip defines a geometry that permits a user to operate the second set of input devices with a right index finger, a right middle finger, and a right thumb.

13. The hand-held controller of claim 1, further comprising a button disposed on the controller body and pressible to control one or more payloads of the remote vehicle with the at least one of the input devices.

14. The hand-held controller of claim 1, wherein the payload comprises a controllable camera or manipulable arm.

15. The hand-held controller of claim 1, further comprising a tether disposed on the controller body outside of the left and right control zones, the tether providing wired communication with the remote vehicle.

16. The hand-held controller of claim 15, wherein the tether comprises a fiber optic cable.

17. The hand-held controller of claim 15, further comprising a tether zone between the left control zone and the right control zone, the tether zone including a tether anchor configured to tether the controller body between the left grip and the right grip and to permit the hand-held controller to hang with the left grip and right grip pointing upward.

18. The hand-held controller of claim 17, further comprising a tether extending from the tether anchor, the tether including a strain relief section.

19. A hand-held controller for operating a remote vehicle, the hand-held controller comprising:

a controller body having right and left grips;

a first set of input devices disposed in a left control zone adjacent the left grip, the first set of input devices including;

a first analog joystick;

a 4-way directional control adjacent the first analog joystick; and

a left rocker control located adjacent the 4-way directional control, the left rocker control having a first left rocker button and a second left rocker button, the left rocker control pivoting from a neutral position to one of the first left rocker button and the second left rocker button;

a second set of input devices disposed in a right control zone adjacent the right grip, the second set of input devices including;

a second analog joystick;

an array of at least four buttons adjacent the second analog joystick; and

a right rocker control adjacent the button array, the right rocker control having a first right rocker button and a second right rocker button, the right rocker control pivoting from a neutral position to one of the first right rocker button and the second right rocker button;

a mode changer disposed on the controller body and configured to receive an input to change between two or more function modes, each function mode assigning different functions to one or more of the input devices; and

a speed toggle disposed on the controller body and configured to receive an input to change between two or more speed modes.

20. The hand-held controller of claim 19, wherein the two or more function modes include a drive mode to drive the remote vehicle and a manipulate mode to manipulate one or more components of the remote vehicle.