US 12,189,386 B2Granted

Systems and methods of detecting intent of spatial control

AssigneeTomahawk Robotics, Inc.

InventorsMatthew D. Summer, William S. Bowman, Andrew D. Falendysz, Kevin M. Makovy, Daniel R. Hedman, Bradley D. Truesdell

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Abstract

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.

Claims20

Dependent claims

A method of detecting an intent of vehicle control, the method comprising:

receiving gesture data generated from a user interface with respect to a global reference frame, wherein the gesture data is representative of a desired motion of at least a portion of a vehicle;
computing, from the gesture data, an initial desired velocity vector representing a desired linear velocity or a desired angular velocity of at least the portion of the vehicle;
transforming the initial desired velocity vector from the global reference frame into a control reference frame;
identifying, from a set of principal axis directions that are parallel to principal axes of the control reference frame, a nearest principal axis direction based on comparing a direction of the initial desired velocity vector with the set of principal axis directions;
computing a misalignment angle that represents a deviation in the direction of the initial desired velocity vector from the nearest principal axis direction;
upon determining that the misalignment angle is less than or equal to an axis-snapping tolerance value, defining a final desired velocity vector by rotating the initial desired velocity vector such that the final desired velocity vector is parallel to the nearest principal axis direction;
and
sending information indicating the final desired velocity vector to at least the portion of the vehicle.

5 more elements

A method of detecting an intended regime of a velocity command, the method comprising:

receiving gesture data generated from movement of an operator with respect to a global reference frame, wherein the gesture data is representative of a desired motion of at least a portion of a vehicle;
compute, from the gesture data, a desired linear velocity vector and a desired angular velocity vector of at least the portion of the vehicle;
compute a linear ratio by dividing a first magnitude of the desired linear velocity vector by a linear magnitude threshold and an angular ratio by dividing a second magnitude of the desired angular velocity vector by an angular magnitude threshold;
upon determining that the linear ratio or the angular ratio satisfies one or more rules associated with the desired linear velocity vector, ignoring the desired linear velocity vector;
upon determining that the linear ratio or the angular ratio satisfies the one or more rules associated with the desired angular velocity vector, ignoring the desired angular velocity vector;
and
sending data indicating the desired linear velocity vector and the desired angular velocity vector to at least the portion of the vehicle.

4 more elements

One or more non-transitory computer-readable media storing instructions that when executed by one or more processors perform operations comprising:

receiving gesture data generated from movement of an operator with respect to a global reference frame, wherein the gesture data is representative of a desired motion of at least a portion of a vehicle;
compute, from the gesture data, a desired linear velocity vector and a desired angular velocity vector of at least the portion of the vehicle;
compute a linear ratio by dividing a first magnitude of the desired linear velocity vector by a linear magnitude threshold and an angular ratio by dividing a second magnitude of the desired angular velocity vector by an angular magnitude threshold;
upon determining that the linear ratio or the angular ratio satisfies one or more rules associated with the desired linear velocity vector, ignoring the desired linear velocity vector;
upon determining that the linear ratio or the angular ratio satisfies the one or more rules associated with the desired angular velocity vector, ignoring the desired angular velocity vector;
and
sending data indicating the desired linear velocity vector and the desired angular velocity vector to at least the portion of the vehicle.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/540,632Filed 14 Dec 2023 · continuation
Priority: 31 Dec 2018
Published: US 2024/0111303 A14 Apr 2024
Granted: 7 Jan 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification22 codes

G05D 1/0016
Associated with a remote control arrangement: characterised by the operator's input device
B62D 57/02
Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels…
F41H 7/005
Armoured or armed vehicles: unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for…
F41H 11/28
Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles: using brushing or sweeping means or dozers to push mines…

Family

Application62/786,888Us provisional application · filed 31 Dec 2018
PCT/US2019/069141Parent of this continuation · filed 31 Dec 2019
US 2024/0111303 A1Pre-grant publication · published 4 Apr 2024
Application17/417,176Parent of this continuation
US 11,886,182 B2Parent of this continuation
US 2022/0083069 A1Published application
US 12,189,386 B2This patent

From the US filing history. Foreign family members aren’t listed.