Robotic gripper camera

Patent metadata

Field	Value
Publication number	US-10906187-B2
Application number	US-201916692748-A
Country	US
Kind code	B2
Filing date	Nov 22, 2019
Priority date	Feb 20, 2017
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

An unmanned ground vehicle includes a main body, a drive system supported by the main body, and a manipulator arm pivotally coupled to the main body. The drive system comprising right and left driven track assemblies mounted on right and left sides of the main body. The manipulator arm includes a gripper, a wrist motor configured for rotating the gripper, and an inline camera in a palm of the gripper. The inline camera is mechanically configured to remain stationary with respect to the manipulator arm while the wrist motor rotates the gripper.

First claim

What is claimed is:

1. An unmanned vehicle comprising:
a main body;
a drive system; and
a manipulator arm pivotally coupled to the main body, the manipulator arm comprising a gripper, a wrist motor configured for rotating the gripper, and an inline camera in a palm of the gripper, wherein the inline camera is mechanically configured to remain stationary with respect to the manipulator arm while the wrist motor rotates the gripper;
wherein the gripper comprises a plurality of articulated gripper fingers and a gripping motor configured to cause the articulated gripper fingers to move from an open position to a closed position to grip an object; and
wherein the inline camera is between the articulated gripper fingers in the palm of the gripper.

2. The unmanned vehicle of claim 1 , wherein the drive system comprises right and left driven track assemblies mounted on right and left sides of the main body.

3. The unmanned vehicle of claim 1 , wherein the inline camera is centered within the palm of the gripper.

4. The unmanned vehicle of claim 1 , comprising a gripper closure rack and a plurality of pulleys coupling the articulated gripper fingers to the gripping motor.

5. The unmanned vehicle of claim 4 , comprising a camera housing tube between the pulleys housing the inline camera, wherein the camera housing tube is coupled to the manipulator arm independently of a gripper coupling to the manipulator arm by the wrist motor.

6. The unmanned vehicle of claim 5 , comprising one or more electrical cables extending though the camera housing tube to the inline camera for carrying power and communication signals for the inline camera.

7. The unmanned vehicle of claim 1 , wherein the manipulator arm comprises a first section pivotally coupled to the main body at a pivot end and a second section pivotally coupled to the first section at an end opposite the pivot end.

8. The unmanned vehicle of claim 1 , comprising a robot controller configured to control the drive system and the manipulator arm by supplying control signals to one or more drive system motors and one or more manipulator motors.

9. The unmanned vehicle of claim 1 , comprising right and left flippers extending beyond a front end of the main body, wherein each of the right and left flippers pivots about a drive axis of the drive system, and wherein each of the right and left flippers comprises a driven flipper track trained about a flipper drive wheel which is driven about the drive axis.

10. The unmanned vehicle of claim 1 , comprising a communication system configured to communicate with a remote operator control unit and to transmit a camera feed from the inline camera to the remote operator control unit.

11. The unmanned vehicle of claim 10 , wherein the communication system is configured to receive one or more manipulator commands to extend or stow the manipulator arm.

12. The unmanned vehicle of claim 10 , wherein the communication system is configured to receive one or more gripper commands to cause the gripper to contract or release.

13. The unmanned vehicle of claim 10 , wherein the communication system is configured to receive one or more gripper commands to cause the wrist motor to rotate the gripper.

14. The unmanned vehicle of claim 1 , comprising an offset gripper camera on the manipulator arm.

15. A system comprising:
a gripper;
a wrist motor configured for rotating the gripper;
an inline camera in a palm of the gripper, wherein the inline camera is mechanically configured to remain stationary with respect to the palm of the gripper while the wrist motor rotates the gripper, wherein the gripper comprises a plurality of articulated gripper fingers and a gripping motor configured to cause the articulated gripper fingers to move from an open position to a closed position to grip an object, and wherein the inline camera is between the articulated gripper fingers in the palm of the gripper; and
an operator control unit comprising a display screen and at least one processor programmed for receiving a camera feed from the inline camera and displaying the camera feed on the display screen.

16. The system of claim 15 , comprising a robot controller programmed for receiving one or more gripper commands to cause the gripper to contract or release and to cause the wrist motor to rotate the gripper.

17. The system of claim 16 , comprising a manipulator arm, wherein the gripper is coupled to the manipulator arm, and wherein the robot controller is programmed for receiving one or more manipulator commands to stow or extend the manipulator arm.

18. The system of claim 17 , comprising an offset gripper camera on the manipulator arm, and wherein the at least one processor of the operator control unit is programmed for displaying, at a same time, a first camera feed from the inline camera and a second camera feed from the offset gripper camera and for receiving operator input for controlling the gripper while displaying the first camera feed and the second camera feed at the same time and while the wrist motor rotates the gripper.

19. The system of claim 18 , comprising an unmanned vehicle that comprises a main body and a drive system supported by the main body, the drive system comprising right and left driven track assemblies mounted on right and left sides of the main body, and wherein the robot controller is programmed for receiving one or more drive commands from driving the drive system.

20. A method for controlling an unmanned vehicle, the method comprising:
providing, by a robot controller, a video feed from an inline camera in a palm of a gripper on a manipulator arm to a remote operator control unit, wherein the gripper comprises a plurality of articulated gripper fingers and a gripping motor configured to cause the articulated gripper fingers to move from an open position to a closed position to grip an object, and wherein the inline camera is between the articulated gripper fingers in the palm of the gripper;
controlling, by the robot controller, a wrist motor to cause the wrist motor to rotate the gripper about a gripper roll axis, such that inline camera remains stationary with respect to the manipulator arm while the wrist motor rotates the gripper; and
controlling, by the robot controller, a gripper motor to cause the gripper to contract from an open position to a closed position to grip an object.

Assignees

• Flir Detection Inc

Inventors

• Mozeika Annan Michael
• Ohm Timothy R
• Brown Christopher Thomas

Classifications

• B25J5/005 Primary

  mounted on endless tracks or belts · CPC title

• B25J15/0213

  actuated by gears · CPC title

• Y10S901/02

  Arm motion controller · CPC title

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title

• B25J13/065

  comprising joy-sticks · CPC title