Remote Vehicle End Effector Ray Alignment for Door Access
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Solution Overview
Problem
Current remote vehicle control methods require significant manual effort and precision from operators to manipulate end effectors and traverse spaces, especially when accessing doors, which is time-consuming and inefficient.
Innovation Solution
A method using a two-dimensional image sensing device to display an object image and an alignment symbol, allowing the remote vehicle's end effector to be positioned and moved along a determined ray to approach the object, reducing the need for manual control and enhancing door-opening capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual control is used to position and move the end effector to approach objects, then the operator can precisely control the remote vehicle, but the time and effort required to perform tasks such as opening doors increases significantly
Solution Approach 1:
The system enables the remote vehicle to automatically position and move its end effector toward objects by utilizing sensor data and computational algorithms. The vehicle performs tasks such as door opening autonomously by calculating trajectories and executing movements without continuous manual intervention, allowing the system to serve itself in navigation and manipulation tasks
Solution Approach 2:
The patent replaces manual mechanical control with an automated computational system that uses sensor inputs, processing units, and algorithms to determine end effector positioning and movement. The mechanical action of manually controlling the vehicle is substituted with an automated image-processing and trajectory-calculation system that computes the ray from sensor through object and automatically positions the end effector along this path
2Ease of operation
If manual control is used to manipulate the end effector, then the operator can perform precise tasks, but the complexity of the control process increases
Solution Approach 1:
The remote vehicle system automatically performs control functions by using its own sensor data to calculate and execute positioning maneuvers. The vehicle's processing unit independently determines the ray trajectory and controls the end effector movement without requiring the operator to manually compute or coordinate these parameters, reducing control complexity
Solution Approach 2:
The automated control system integrates multiple functions into a single unified process: the same processing unit that captures and processes sensor images also calculates trajectories and controls end effector positioning. This multi-functional approach consolidates what would otherwise require separate manual control operations into one integrated automated system
3Productivity
If automated positioning is implemented, then the time and effort required to open doors is reduced, but the device complexity increases
Solution Approach 1:
The patent replaces complex manual control mechanisms with an automated computational system that uses sensor processing and mathematical algorithms to determine end effector positioning. The processing unit calculates the ray from the sensor through the object and automatically generates control signals for the end effector, substituting mechanical manual operation with computational automation
Solution Approach 2:
The processing unit acts as an intermediary between the sensor and the end effector controller. It receives sensor data, computes the trajectory by determining the ray path, and translates this information into control commands for the end effector. This intermediary computational layer automates the positioning process while managing the complexity through structured data processing
Data Source
AI summary
The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.