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Publication Number
US-9658615-B2
Publication Date
2017-05-23
Expiration Date
Abstract
A system includes an operator control unit having a point-and-click interface configured to allow the operator to control the remote vehicle by inputting one or more commands via the point-and-click interface. The operator control unit displays a 3D local perceptual space comprising an egocentric coordinate system encompassing a predetermined distance centered on the remote vehicle, a remote vehicle representation having selectable portions, and an icon at a point selected in the 3D local perceptual space and at a corresponding location in an alternative view of a map having an identified current location of the remote vehicle. The system also includes a payload attached to the remote vehicle. The payload includes a computational module and an integrated sensor suite including a global positioning system, an inertial measurement unit, and a stereo vision camera.
Core Innovation
The invention relates to a remote vehicle control system and method in which an operator interacts with a display to control a remote vehicle. The display includes an interface configured to allow the operator to view an environment surrounding the remote vehicle and to control the remote vehicle. The interface presents a 3D local perceptual space that includes a coordinate system encompassing the remote vehicle and a remote vehicle representation.
Within the 3D local perceptual space, the operator selects a location, and the system displays an icon at the selected point within the 3D local perceptual space. The same icon is displayed at a corresponding location in an alternative view of a map that has an identified current location of the remote vehicle. The operator control interaction uses the 3D local perceptual space together with the map view to support situational awareness while controlling the remote vehicle.
The system further includes a payload attached to the remote vehicle that is in communication with the operator control unit. The payload comprises an integrated sensor suite and a computational module that receives data from the integrated sensor suite and determines the 3D local perceptual space based on the received data. Data fusion based on localization and ranging data generates the 3D perceptual space for operator display and supports autonomous or semi-autonomous behaviors that execute based on operator commands.
In addition to the operator view, the system architecture includes communications and integration components that link the operator interface to onboard computation. A JAUS gateway interfaces with the behavior engine, and the behavior engine provides kinodynamic real-time motion planning accounting for vehicle dynamics and kinematics. Commands generated from the operator-selected icon and selections are transmitted to the remote vehicle to control behaviors such as driving and manipulating objects, including camera-related commands such as zoom and pan.
Claims Coverage
The provided independent claims are clm-00001 (method) and clm-00014 (system). Across these claims, the core coverage includes a display-based operator interaction that links a 3D local perceptual space and a map icon to transmitted control commands, and a payload sensor/computation arrangement that determines the 3D local perceptual space from received sensor data. The inventive features are constrained by specific display elements and specific system components.
Display interface with 3D local perceptual space and remote vehicle representation
Displaying on the display an interface configured to allow an operator to view an environment surrounding the remote vehicle and control the remote vehicle; displaying on the display a 3D local perceptual space comprising a coordinate system encompassing the remote vehicle; and displaying on the display a remote vehicle representation.
Icon mapped between 3D selection and alternative map view with identified current location
Selecting a location in the 3D local perceptual space; displaying an icon at the point selected in the 3D local perceptual space and at a corresponding location in an alternative view of a map having an identified current location of the remote vehicle.
Select-and-transmit command control
Controlling the remote vehicle by selecting and transmitting one or more commands to the remote vehicle.
Payload integrated sensor suite with computational module determining 3D local perceptual space
A payload attached to the remote vehicle and in communication with the operator control unit, the payload comprising an integrated sensor suite, and a computational module receiving data from the integrated sensor suite and determining the 3D local perceptual space based on the received data.
The independent claims cover controlling a remote vehicle through a display that combines a 3D local perceptual space with an alternative map view where an icon is mapped to a corresponding current vehicle location. They also cover a payload that uses an integrated sensor suite and a computational module to determine the 3D local perceptual space from received sensor data.
Stated Advantages
Increasing an operator’s situational awareness while the operator controls a remote vehicle.
Documented Applications
No documented applications found
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