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1. WO2020142550 - SYSTEMS AND METHODS OF REMOTE TELEOPERATION OF ROBOTIC VEHICLES

Publication Number WO/2020/142550
Publication Date 09.07.2020
International Application No. PCT/US2019/069148
International Filing Date 31.12.2019
IPC
F41H 7/00 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
41WEAPONS
HARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
7Armoured or armed vehicles
B60K 1/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
1Arrangement or mounting of electrical propulsion units
B62D 55/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
55Endless-track vehicles
B62D 55/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
55Endless-track vehicles
06with tracks and without ground wheels
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
B62D 57/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
F41H 11/28
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
41WEAPONS
HARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
11Defence installations; Defence devices
12Means for clearing land minefields; Systems specially adapted for detection of landmines
16Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
28using brushing or sweeping means or dozers to push mines lying on a surface aside; using means for removing mines intact from a surface
F41H 7/005
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
41WEAPONS
HARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
7Armoured or armed vehicles
005Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
G05D 1/0016
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
0011associated with a remote control arrangement
0016characterised by the operator's input device
G05D 1/0033
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
0011associated with a remote control arrangement
0033by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
G06F 3/0346
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
03Arrangements for converting the position or the displacement of a member into a coded form
033Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
0346with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
Applicants
  • TOMAHAWK ROBOTICS [US]/[US]
Inventors
  • SUMMER, Matthew, D.
  • BOWMAN, William, S.
  • FALENDYSZ, Andrew, D.
  • MAKOVY, Kevin, M.
  • HEDMAN, Daniel, R.
  • TRUESDELL, Bradley, D.
Agents
  • GOSWAMI, Tathagata
  • SUMEDHA, Abuja
  • ARAIZA, Alberto, G.
  • BING, Ai
  • DANNON, Aiibee,
Priority Data
62/786,88831.12.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEMS AND METHODS OF REMOTE TELEOPERATION OF ROBOTIC VEHICLES
(FR) SYSTÈMES ET PROCÉDÉS DE SURVEILLANCE À DISTANCE D'ÉQUIPEMENT
Abstract
(EN)
Systems and methods of manipulating/controlling robots. In many scenarios, data collected by a sensor (connected to a robot) may not have very high precision (e.g., a regular commercial/inexpensive sensor) or may be subjected to dynamic environmental changes. Thus, the data collected by the sensor may not indicate the parameter captured by the sensor with high accuracy. The present robotic control system is directed at such scenarios. In some embodiments, the disclosed embodiments can be used for computing a sliding velocity limit boundary for a spatial controller. In some embodiments, the disclosed embodiments can be used for teleoperation of a vehicle located in the field of view of a camera.
(FR)
L'invention concerne des systèmes et des procédés d'utilisation. Dans de nombreux scénarios, des données collectées par un capteur (connecté à un robot) peuvent ne pas avoir une très haute précision (par exemple, un capteur commercial/bon marché régulier) ou peuvent être soumises à des changements environnementaux dynamiques. Ainsi, les données collectées par le capteur peuvent ne pas indiquer le paramètre capturé par le capteur avec une grande précision. Le présent système de commande robotique est dirigé dans de tels scénarios. Dans certains modes de réalisation, les modes de réalisation décrits peuvent être utilisés pour calculer une limite de limite de vitesse de glissement pour un contrôleur spatial. Dans certains modes de réalisation, les modes de réalisation décrits peuvent être utilisés pour le téléfonctionnement d'un véhicule situé dans le champ de vision d'une caméra.
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