Avatar View Perspective Direction for Teleoperated Robot Control
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Solution Overview
Problem
Current remote control systems for tele-operated robots and vehicles, such as UGVs, provide sub-optimal perspective views that require users to periodically stop controlling the vehicle to adjust the rendering, disrupting continuous operation.
Innovation Solution
Implementing systems and methods to dynamically adjust the perspective view of a multi-dimensional model of a system with mechanical joints by computing an Avatar View Perspective Direction (AVPD) based on current joint configurations and preferred viewing directions, allowing for continuous optimal viewing without user intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed perspective view is used to render the UGV, then the rendering complexity is reduced, but the user must periodically stop controlling the UGV to adjust the perspective view
Solution Approach 1:
The patent implements dynamic perspective view adjustment by automatically computing and updating the optimal viewing angle based on the UGV's current orientation and joint configurations. The perspective view transitions from a static fixed angle to a dynamic angle that adapts in real-time to the vehicle's movements, eliminating the need for manual user intervention while maintaining rendering efficiency
Solution Approach 2:
The system performs self-adjustment of the perspective view by automatically calculating the optimal viewing angle based on the UGV's state. The control unit autonomously determines when and how to adjust the perspective without requiring user input, enabling continuous control operation while maintaining an optimal visual representation of the vehicle
2Ease of operation
If the perspective view is dynamically adjusted based on joint configurations, then the optimal viewing experience is achieved, but the computational complexity increases
Solution Approach 1:
The patent computes the Avatar View Perspective Direction (AVPD) by determining optimal viewing angles based on the current configurations of mechanical joints and the UGV's orientation. The system calculates viewing directions along rotational axes and adjusts rendering parameters dynamically, achieving optimal viewing experience through parameter-based adaptation rather than complex geometric transformations
Solution Approach 2:
The system pre-establishes the relationship between joint configurations and optimal viewing angles through the AVPD computation framework. By determining viewing directions in advance based on joint states and storing these relationships, the system reduces real-time computational burden while maintaining optimal viewing experience during operation
Data Source
AI summary
Systems (100) and methods (800) for visually rendering a multi-dimensional model of a portion of a system (100) having mechanical joints (228-238). The methods comprise: determining a first current physical joint configuration of a first mechanical joint and a second current physical joint configuration of a second mechanical joint; determining at least one first viewing direction (d234) along a rotational axis or perpendicular to a linear extension axis (a234) of the first mechanical joint (234) having the first current physical joint configuration and at least one second viewing direction (d236) along a rotational axis or perpendicular to a linear extension axis (a236) of the second mechanical joint (236) having the second current physical joint configuration; computing an avatar view perspective direction (σ234-236) based on the first and second viewing directions; and dynamically adjusting a perspective view of a visually rendered multi-dimensional model of the system using the avatar view perspective direction.