Remote Vehicle Control with Sliding Work Window Interface
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Solution Overview
Problem
Current remote vehicle manipulator arm controls are complex and unintuitive, requiring long familiarization periods and lacking depth perception, which complicates tasks like door opening and navigation in hazardous material incidents, especially in fixed facilities.
Innovation Solution
A system and method using remote dexterous control devices with a sliding work window interface that allows quick switching between control modes and provides haptic feedback, enabling intuitive control of remote vehicles over their full range of motion without sacrificing control resolution, utilizing devices like the Mimic Mantis or Novint Falcon for precise manipulation and force feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional remote vehicle control interfaces are used, then basic control function is achieved, but the control complexity increases and intuitiveness decreases
Solution Approach 1:
The patent applies the copying principle by creating a virtual replica of the physical workspace on a display screen. The control interface visually represents the remote vehicle's manipulator arm and workspace, allowing operators to intuitively control the vehicle by manipulating virtual representations of control elements. This virtual copy enables direct mapping between operator actions and vehicle responses without requiring complex memorization of control schemes.
Solution Approach 2:
The patent introduces an intermediary control interface that mediates between the operator and the remote vehicle. This interface includes a display showing the workspace and manipulator arm position, along with control elements that translate operator inputs into appropriate vehicle commands. The intermediary layer provides visual feedback and control guidance, reducing the cognitive load on operators and improving control intuitiveness.
2Adaptability or versatility
If multiple control modes are implemented, then operational versatility is improved, but the time required for familiarization increases
Solution Approach 1:
The patent applies the dynamics principle by implementing a flexible control interface that can dynamically switch between different control modes (e.g., teleoperation mode, autonomous mode, hybrid mode). The control system adapts its behavior based on the selected mode, allowing operators to quickly transition between different operational scenarios without requiring separate control schemes for each mode. This dynamic adaptability reduces familiarization time while maintaining versatility.
Solution Approach 2:
The patent implements universality by designing a single control interface that can handle multiple control modes and operational scenarios. The control system is designed to accommodate various tasks (manipulator operation, vehicle navigation, sensing) through a unified interface paradigm, allowing operators to perform diverse functions without learning entirely new control mechanisms for each task type.
3Difficulty of detecting and measuring
If visual feedback only is provided, then system simplicity is maintained, but depth perception capability is lost
Solution Approach 1:
The patent introduces an intermediary feedback mechanism that bridges visual and tactile senses. The control interface includes sensors that detect the operator's hand movements and provide haptic feedback through a force feedback device. This intermediary system translates visual information into tactile sensations, allowing operators to perceive depth and spatial relationships through touch in addition to vision, thereby restoring depth perception capability without requiring entirely new sensing systems.
Solution Approach 2:
The patent merges visual feedback and haptic feedback into a unified control system. The display provides visual information about the workspace and manipulator position, while simultaneously a force feedback device provides tactile feedback about forces and resistance. This combination of sensory feedback channels enriches the operator's perception of the remote environment, enabling accurate depth perception and manipulation control through both sight and touch.
4Manufacturing precision
If manipulator arm control precision is improved, then task accuracy increases, but the control resolution requirement increases
Solution Approach 1:
The patent applies the copying principle by creating a one-to-one correspondence between the virtual control elements on the display and the physical manipulator arm movements. The control interface accurately replicates the spatial relationships and movement characteristics of the manipulator arm, allowing operators to achieve precise control by manipulating virtual representations. This virtual copy maintains full control resolution across the entire workspace, enabling accurate manipulation without requiring simplified or low-resolution control mechanisms.
Data Source
AI summary
A method for controlling one or more remote vehicles may comprise manipulating remote dexterous manipulators, translating movement of the remote dexterous manipulators into movement of the one or more remote vehicles, and providing a sliding work window allowing control of the one or more remote vehicles' entire range of motion without sacrificing control resolution.