Haptics-Enabled Teleoperation System for Vehicle Control
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Solution Overview
Problem
Prior art teleoperation systems fail to provide adequate controllability for remotely operated devices due to the lack of physical feedback of forces and accelerations, which is crucial for precise control, especially in vehicles like aircraft and helicopters.
Innovation Solution
A haptics-enabled teleoperation system that provides position and orientation control with haptic force feedback, using a control component configured to simulate the forces and accelerations experienced by the vehicle, and incorporating a motion capture system for six degree-of-freedom position data and a haptic I/O device for bilateral feedback control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If prior art teleoperation systems are used, then device operation is possible, but controllability is insufficient due to lack of physical feedback
Solution Approach 1:
The patent implements haptic feedback systems that provide force feedback to the operator, creating a closed-loop feedback mechanism. The haptic device receives position and orientation data from the vehicle and generates corresponding haptic forces, allowing the operator to physically sense vehicle motion and maintain improved controllability.
Solution Approach 2:
The haptic device serves as an intermediary between the operator and the vehicle. It translates vehicle motion parameters (position, orientation, acceleration) into haptic forces that the operator can physically feel, bridging the gap between remote vehicle operation and physical sensation.
2Ease of operation
If haptic force feedback is added to provide physical feedback, then controllability improves, but device complexity increases
Solution Approach 1:
The haptic device performs multiple functions: it serves as both the control interface for the operator and the feedback interface for providing haptic force feedback. This multi-functionality reduces the need for separate control and feedback systems, thereby limiting the increase in overall system complexity.
Solution Approach 2:
The haptic device acts as an intermediary that integrates control input and feedback output functions. By combining these functions in a single device, the system avoids the complexity of managing entirely separate control and feedback subsystems.
3Measurement precision
If six degree-of-freedom position data is used, then control precision improves, but measurement and processing difficulty increases
Solution Approach 1:
The motion capture system serves as an intermediary that automatically captures and processes six degree-of-freedom position data. It translates complex spatial measurements into usable feedback signals for the haptic device, reducing the difficulty of direct measurement and processing.
Solution Approach 2:
The patent replaces manual or mechanical measurement systems with a motion capture system that uses optical or electromagnetic fields to track position. This substitution automates the complex six degree-of-freedom measurement process, improving precision while reducing measurement difficulty.
Data Source
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AI summary
Systems and methods are disclosed for haptics-enabled teleoperation of vehicles and other devices, including remotely-controlled air, water, and land-based vehicles, manufacturing robots, and other suitable teleoperable devices. In one embodiment, a system for teleoperation of a vehicle comprises a control component configured to provide position and orientation control with haptic force feedback of the vehicle based on a position measurement of the vehicle and configured to function in a closed-loop feedback manner. In a particular embodiment, the position measurement may include six degree-of-freedom position data provided by a motion capture system to the control and/or haptic I/O components of the application. The system may also use differences in position and/or velocity between the vehicle and a haptic I/O device for feedback control.