Control system for a remote vehicle

• US 9,195,256 B2
• Filed: 05/15/2014
• Issued: 11/24/2015
• Est. Priority Date: 04/24/2007
• Status: Active Grant

• 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:
  US14/278,515
• Publication Number:
  US 20140247119A1
• Time in Patent Office: 558 Days
• Field of Search: 345/169, 345/163
• US Class Current: 1/1
• 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 includes a controller body having right and left grips. The controller body defines a left control zone adjacent the left grip and a right control zone adjacent the right grip. A first set of input devices disposed in the left control zone includes 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 the right control zone includes 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 hand-held controller also includes a display disposed on the controller body adjacent the left and right control zones.

Claims

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

a controller body having right and left grips, the controller body defining a left control zone adjacent the left grip and a right control zone adjacent the right grip, the controller body comprising;

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

a first analog joystick disposed on a first surface of the controller body;

a first array of buttons adjacent the first analog joystick; and

a left rocker control disposed on a second surface of the controller body that is different than the first surface;

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

a second analog joystick disposed on the first surface of the controller body;

a second array of buttons adjacent the second analog joystick; and

a right rocker control disposed on the second surface of the controller body; and

a processor in communication with the controller body and the remote vehicle;

wherein at least one of the left rocker control and the right rocker control is configured to receive an input to control a position of a rotatable flipper of the remote vehicle; and

wherein the controller body is formed by one or more materials and/or includes a coating configured to ruggedize and waterproof the controller body.

2. The hand-held controller of claim 1, wherein each rocker control moves from a neutral position to one of a first toggled position or a second toggled position, the first and second toggled positions being mutually exclusive.

3. The hand-held controller of claim 1, wherein the left rocker control has 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.

4. The hand-held controller of claim 1, wherein the right rocker control has 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.

5. The hand-held controller of claim 1, wherein the buttons of at least one of the first button array or the second button array allow selection of one or more autonomous assist behaviors of the remote vehicle.

6. The hand-held controller of claim 5, wherein one or more of the buttons of at least one of the first button array or the second button array allow switching between two or more function modes that include a drive mode to drive the remote vehicle and a manipulate mode to manipulate one or more components of the remote vehicle, each button function mode assigns different functions to the one or more of the buttons of the hand-held controller.

7. 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, the one or more poses includes a drive pose or at least one position of at least one component of the remote vehicle.

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

9. 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.

10. The hand-held controller of claim 9, wherein the tether is detachable from the controller body during wireless communication with the remote vehicle.

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

a controller body defining forward, rearward, right, and left portions and having right and left grips disposed on the corresponding right and left portions of the controller body, the controller body defining a left control zone adjacent the left grip and a right control zone adjacent the right grip, the controller body comprising;

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

a first analog joystick disposed on a first surface of the controller body; and

a left rocker control disposed on a second surface of the controller body that is different than the first surface;

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

a second analog joystick disposed on the first surface of the controller body; and

a right rocker control disposed on the second surface of the controller body; and

a processor in communication with the controller body and the remote vehicle;

wherein at least one of the left rocker control and the right rocker control is configured to receive an input to control a position of a rotatable flipper of the remote vehicle; and

wherein the controller body is formed by one or more materials and/or includes a coating configured to ruggedize and waterproof the controller body.

12. The hand-held controller of claim 11, wherein the left rocker control has 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.

13. The hand-held controller of claim 11, wherein the right rocker control has 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.

14. The hand-held controller of claim 11, wherein the controller body comprises pressable buttons to allow selection of one or more autonomous assist behaviors of the remote vehicle.

15. The hand-held controller of claim 14, wherein the pressable buttons allow switching between two or more function modes that include a drive mode to drive the remote vehicle and a manipulate mode to manipulate one or more components of the remote vehicle, each button function mode assigns different functions to one or more of the soft buttons and one or more of the pressable buttons of the hand-held controller.

16. The hand-held controller of claim 11, further comprising a pose control configured to receive input to execute one or more poses of the remote vehicle, the one or more poses includes a drive pose or at least one position of at least one component of the remote vehicle.

17. The hand-held controller of claim 16, wherein the at least one component comprises the rotatable flipper, an articulated head, an articulated neck, or a camera.

18. The hand-held controller of claim 11, 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.

19. The hand-held controller of claim 18, wherein the tether is detachable from the controller body during wireless communication with the remote vehicle.