Teleoperation of machines having at least one actuated mechanism

Patent metadata

Field	Value
Publication number	US-9643318-B2
Application number	US-201314648995-A
Country	US
Kind code	B2
Filing date	Dec 3, 2013
Priority date	Dec 3, 2012
Publication date	May 9, 2017
Grant date	May 9, 2017

Abstract

A machine that has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. An interface at the control station allows an operator to select one or more virtual constraints on operation of the machine when the machine is performing a predetermined function. The virtual constraints are transmitted over the two way real-time communication link to the machine location. The machine has predetermined safety limits that are stored in a controlling device at the machine location. The stored predetermined safety limits are extracted and automatically mapped to the control station using the two way real-time communication link. The controlling device maps the predetermined safety limits to the virtual constraints.

First claim

What is claimed is:

1. A system for teleoperation of a machine having at least one actuated mechanism and a predetermined number of degrees of freedom, said system comprising:
a control station remotely located from a location of said machine, said machine controlled from said control station to perform a predetermined function;
a two way real-time communication link between said machine and said remotely located control station;
an interface at said control station allowing an operator of said machine located at said control station to select one or more virtual constraints on operation of said machine to reduce said predetermined number of degrees of freedom when said machine is performing said predetermined function; and
a controlling device associated with said machine at said machine location, said machine having predetermined safety limits which are stored in said controlling device, said stored predetermined safety limits are extracted and transmitted to said control station over said two way real-time communication link and automatically mapped to said virtual constraints.

2. The system of claim 1 wherein said two way real-time communication link is a wired link or a wireless link.

3. The system of claim 1 wherein said one or more virtual constraints can be modified by selecting virtual constraints from a library of virtual constraints.

4. The system of claim 3 wherein operator defined constraints can be added into said library.

5. The system of claim 4 wherein said operator defined constraints are a combination of two or more of said one or more constraints in said library.

6. The system of claim 4 wherein said system has a predetermined capability and said operator defined constraints are evaluated at said control station to determine if said operator defined constraints are within said machine predetermined capability.

7. The system of claim 4 wherein said machine has predetermined safety limits which are stored in a controlling device at said machine location and said stored predetermined safety limits are extracted and automatically mapped to said control station and a consistency check is performed at said control station between said operator defined virtual constraints and said mapped predetermined safety limits.

8. The system of claim 7 wherein an error message is displayed at said control station with a suggested solution when said consistency check performed at said control station between said operator defined virtual constraints and said mapped predetermined safety limits is not within said machine predetermined safety limits.

9. The system of claim 1 wherein said mapping of said predetermined safety limits to said virtual constraints is transmitted to said control station for use by an operator of said machine located at said control station to provide commands to said machine location to thereby control said machine to perform said predetermined function.

10. The system of claim 9 wherein said control station has a haptic device configured for generating forces in response to operator interactions with said transmitted virtual constraints.

11. A system for teleoperation of a machine having at least one actuated mechanism and a predetermined number of degrees of freedom, said system comprising:
a control station remotely located from a location of said machine, said machine controlled from said control station to perform a predetermined function;
a two way real-time communication link between said machine and said remotely located control station;
an interface at said control station allowing an operator of said machine located at said control station to select one or more of virtual constraints on operation of said machine to reduce said predetermined number of degrees of freedom when said machine is performing said predetermined function; and
a controlling device associated with said machine at said machine location, said machine having predetermined safety limits which are stored in said controlling device, and said stored predetermined safety limits are extracted and transmitted via the two-way real time communication link to the control station, wherein a consistency check is performed between said predetermined safety limits and said selected one or more virtual constraints and said predetermined safety limits are automatically mapped to said control station.

12. The system of claim 11 wherein a data processing device in said control station generates virtual constraints on operation of said machine from said predetermined safety limits automatically mapped to said control station.

13. The system of claim 12 wherein said control station has a haptic device configured for generating forces in response to operator interactions with said generated virtual constraints.

Assignees

• Abb Technology Ag
• Abb Schweiz Ag

Inventors

• Wang Jianjun
• Zhang Biao
• Zhang George Q
• Staab Harald
• Choi Sangeun
• Boca Remus
• Fuhlbrigge Thomas A
• Groth Tomas

Classifications

• B25J9/1689 Primary

  Teleoperation · CPC title

• G05B2219/40131

  Virtual reality control, programming of manipulator · CPC title

• G05B2219/40168

  Simulated display of remote site, driven by operator interaction · CPC title

• G05B2219/40117

  Virtual mecanism, like slider to constraint movement in task space · CPC title

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title