GB2128842A - Method of presenting visual information - Google Patents
Method of presenting visual information Download PDFInfo
- Publication number
- GB2128842A GB2128842A GB08321208A GB8321208A GB2128842A GB 2128842 A GB2128842 A GB 2128842A GB 08321208 A GB08321208 A GB 08321208A GB 8321208 A GB8321208 A GB 8321208A GB 2128842 A GB2128842 A GB 2128842A
- Authority
- GB
- United Kingdom
- Prior art keywords
- image
- operator
- camera
- movement
- movable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 238000004088 simulation Methods 0.000 claims abstract description 11
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 206010013395 disorientation Diseases 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 238000005094 computer simulation Methods 0.000 description 1
- 208000004209 confusion Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000887 face Anatomy 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Business, Economics & Management (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Health & Medical Sciences (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
A method and apparatus are disclosed for presenting visual information to an operator. The apparatus comprises a movable camera (13,14) for producing an image or means for producing an image which simulates that produced by a movable camera. A monitor (19,20) presents the image to the operator in such a way that the location of the image in space moves in correspondence with the movement of the movable camera or simulation thereof. The operator may be provided with means for moving the monitor, such movement being sensed and caused to produce corresponding movement of the camera. The apparatus may be used, inter alia, for controlling and observing movement of a vehicle (12) which carries a manipulator (11). <IMAGE>
Description
SPECIFICATION
Method of presenting visual information
This invention relates to a method of presenting visual information, for example information supplied by a television camera or a computergenerated simulation of a scene,
There are many situations in which visual information has to be presented to an operator indirectly, i.e.
with the operator not directly observing the scene concerned. One such situation arises in the handling of dangerous substances which may be carried out remotely by a manipulator. One or more movable television cameras feed images back to the operator who controls the manipulator accordingly. Another situation where the indirect presentation af visual information is involved is in the control of unmanned submersible craft which are widely used for carrying out inspections on and around sea-based oil rigs. Here, movement of the submersible craft is controlled by an operator who is presented with visual information by cameras movably mounted on the craft. Yet another such situation arises where the operator is in a vehicle whose movement he is controlling, but where the operator is unable to view his surroundings directly but must do so via television cameras.Many other comparable situations can arise in other fields.
Typically the operator of a remote manipulator faces one or more television monitors receiving images from one or more cameras mounted near the manipulator. He is able, by means of knobs or joy-sticks, to control the direction of at least some of the cameras, the position of the manipulator and, in the case of a manipulater mounted on a remotely controlled vehicle, the motion of the vehicle itself.
Similar considerations obtain where what is involved is a remotely controlled vehicle not having a manipulator thereon.
One of the chief difficulties encountered in practical operation of such systems is that the operator becomes disorientated after prolonged operation or in an unfamiliar environment, or one poor in visual clues. The reason for this is that the television image does not contain any direct information about the position of the camera or its orientation. Such informaton can be deduced only through the interpretation of the arrangement of the objects within the image. This, of course, is possible only if either the objects and their arrangement are familiar or if an accurate record of all the motions of the camera and the vehicle has been kept.In practice this means that if the operation is taking place in an unfamiliar environment and the vision is not continually clear or the operator not continually watching the image the situation will inevitably arise when the positional information will be lost. Similar difficulties arise where what is being presented is a computergenerated simulation of a scene.
A system is known for presenting visual information to an operator, in which the image produced by a moving camera appears on a screen which is attached to a helmet worn by the operator. The screen occupies the entire field of view of one or both eyes. As the operator moves his head this is sensed and caused to produce a corresponding movement of the camera. However, this system has been found to induce very considerable fatigue in the operators, who find it unpleasant for one or both eyes to be constantly deprived of a-view of their immediate real environment.
According to the present invention, there is provided a method of presenting to an operator visual information representing a scene viewed by a moving camera or a simulation thereof, wherein the information is presented as an image whose location in space is movable, the said image and the camera or simulation thereof moving in spatial correspondence with one another.
The invention also provides an apparatus for presenting to an operator visual information derived from a movable camera or from means for producing an image which simulates that produced by a movable camera, the apparatus comprising means for presenting the image to the operator in such a way that the location of the image in space moves, the said image and the camera or simulation thereof moving in spatial correspondence with one another.
The invention further provides an apparatus for presenting visual information to an operator, comprising a movable camera for producing an image or means for producing an image which simulates that produced by a movable camera, and means for presenting the image to the operator in such a way that the location of the image in space moves, the said image and the camera or simulation thereof moving in spatial correspondence with one another.
Preferably the image is movable with respect to the head of the operator.
With correct choice of system parameters, e.g.
viewing distance, lens focal length and so forth, the image will appear to present to the operator a moving window on an otherwise stationary scene. In this way the problem of disorientation disappears or is at least alleviated.
Some embodiments of the invention are shown in the accompanying diagrammatic drawings, in which each of Figures 1 to 5 is a diagrammatic perspective view of one embodiment.
Figure 1 shows an operator 1 viewing a television monitor 2 which presents to the operator an image provided buy a movable camera (not shown) mounted to survey a scene located remotely from the operator. For example, the camera could be mounted to observe a manipulator located in a remotely located room. The operator controls the operation of the manipulator by means of a joy-stick 3 mounted on a console 4. The monitor 2 is mounted adjacent the operator 1 on arms 30 for pivotal movement about a vertical axis defined by a shaft 5 and about a horizontal axis defined by a shaft 6. The operator can move the monitor 2 manually by means of a handle 7. Movement of the monitor is sensed by sensing means (not shown) which transmit to the remotely located camera a signal to cause corresponding movement of the camera.The operator thus indirectly controls movement of the camera by means of the handle 7, Because the monitor 2 and the remote camera move in synchron ism the operator has the illusion of viewing a
moving window on an otherwise stationary scene.
Figure 2 shows a modification of Figure 1 designed to reduce the inertia of the system. Here, the monitor 2 is mounted away from the operator 1 near the shafts defining its axes of rotation and is viewed
by a lightweight mirror 8 connected to the monitor 2 by an arm 31.
Figure 3 shows a modification which uses a television image projected on a screen 9 by a projector 10. Figures 1,2 and 3 each show the use of a single camera, but to provide a wide angle view a
plurality of cameras could be used, each with its own display.
Figure 4 shows the use of the invention in controlling the movements of a manipulator 11 which is mounted on a vehicle 12. Two television cameras 13 and 14 are provided, the camera 13
being arranged to survey a workpiece 15 on which operations are to be carried out, and camera 14
being arranged to provide a close-up view of the area adjacent the manipulator, for which purpose the camera 14 is arranged to move with the manipu
lator 11. The operator 1 sits in a cab 16 which is
mounted on a base 21 and is provided with controls
17, 18 for controlling movement of the vehicle 12 and a joy-stick 3 for controlling the manipulator 11.
Two monitors 19 and 20 are mounted on the cab 16 for movement with the cab and for movement with
respect to the cab 16. Operation of the joy-stick 3
causes the manipulator 11 to move carrying the camera 14 with it, and corresponding movement of the monitor 20 is produced either directly by the movement of the joy-stick 3 or indirectly by feedback from the movement of the manipulator 11. Operation of the controls 17, 18 causes movement of the vehicle 12. Angular components of this-movement are detected by appropriate means, for example gyroscopes mounted on the vehicle 12, and a signal representing these components is transmitted to a drive which is capable of moving the cab 16 with respect to a base 21 on which it is mounted.This movement corresponds to the angular components of movement of the vehicle 12 so that the orientation of the cab 16 changes to match changes in the orientation of the vehicle. In this way the operator experiences changes of direction and orientation of the vehicle 12 which are produced by external factors, e.g. irregularities in the surface on which it is travelling, as well as by the steering controls. If the operator wishes to move the cameras 13 and 14 with respect to the vehicle 12 he does so by moving the monitors 19 and 20 manually. The sensed movement of the monitors produces a corresponding movement of the cameras.
Figure 5 shows part of a modified version of the embodiment of Figure 4. The modification of Figure 5 is to dispense with the cab 16 and substitute an overhead motor drive 24 for moving the monitor 19.
The overhead motor drive 24 is operated by a servo connection, indicated diagrammatically by numeral 22, which connects the overhead motor drive 24 to the movable platform 23 on which the operator's chair is mounted. The servo connection 22 enables the monitor 19 to move in synchronism with move
ment of the platform 23, except insofar as the
operator himself moves the monitor 19 by means of the handle provided. The provision of the overhead
motor drive 24 offers the possibility of moving the
monitor 19 with respect to platform 23 by means
otherthan the handle illustrated. For example, the
motor 24 can effect such movement in response to
movement of a joy-stick (not shown), in response to voice commands detected by a speech-recognition system, or in response to movement of a helmet worn by the operator as detected by an appropriate sensor.
Although the invention has been described above chiefly in relation to information provided by television cameras, it must be emphasised that it is also applicable to simuated visual images produced, for example, by computer simulation.
Claims (20)
1. A method of presenting to an operator visual information representing a scene viewed by a moving camera or a simulation thereof, wherein the -information is presented as an image whose location in space is movable, the said image and the camera or simulation thereof moving in spatial correspondence with one another.
2. An apparatus for presenting to an operator visual information derived from a movable camera or from means for producing an image which simulates that produced by a movable camera, the apparatus comprising means for presenting the image to the operator in such a way that the location of the image in space moves, the said image and the camera or simulation thereof moving in spatial correspondence with one another.
3. An apparatus according to Claim 2, wherein the movement of the image presenting means is about two orthogonal axes.
4. A apparatus according to Claim 3, wherein the image presenting means is mounted adjacent the location to be occupied by the operator on at least one arm connected to the means defining the said axes.
5. An apparatus according to Claim 2 or 3, wherein the image presenting means is mounted away from the location to be occupied by the operator, and a mirror for viewing the image presenting means is mounted adjacent the said location and connected to the image presenting means for movement therewith.
6. An apparatus according to Claim 2 or 3, wherein the image presenting means is arranged to project the said image onto a screen for viewing by the operator.
7. An apparatus for presenting visual information to an operator, comprising a movable camera for producing an image or means for producing an image which simulates that produced by a movable camera, and means for presenting the image to the operator in such a way that the location of the image in space moves, the said image and the camera or simulation thereof moving in spatial correspondence with one another.
8. An apparatus according to Claim 7, wherein the movement of the image presenting means is about two orthogonal axes.
9. An apparatus according to Claim 8, wherein the image presenting means is mounted adjacent the location to be occupied by the operator on at least one arm connected to means defining the said axes.
10. An apparatus according to Claim 7 or 8, wherein the image presenting means is mounted away from the location to be occupied by the operator, and a mirror for viewing the image presenting means is mounted adjacent the said location and connected to the image presenting means for
movement therewith.
11. An apparatus according to Claim 7 or 8, wherein the image presenting means is arranged to
project the said image onto a screen for viewing by the operator.
12. An apparatus according to any one of Claims 7 to 11, wherein the image presenting means comprises a monitor movable by the operator, the apparatus comprising means for sensing movement of the monitor an means, responsive to the said sensing means, for moving the camera or simulating movement of the camera.
13. An apparatus according to any one of Claims 7 to 12, further comprising means operable by the operator for controlling a movable tool positioned in the field of view of the movable camera.
14. An apparatus according to Claim 13, wherein the movable camera is mounted for movement with the tool.
15. An apparatus according to Claim 13, wherein the movable camera is so mounted that the tool is movable with respect to the camera.
16. An apparatus according to any one of Claims 7 to 12, for use where the operator is to control movement of a vehicle on which the movable camera is mounted, comprising an operator station defining the location to be occupied by the operator, operating-controlled means for controlling the movement of the vehicle, and means for effecting angular movement of the operator station to correspond with angular movement of the vehicle.
17. An apparatus according to Claim 16, wherein the means for effecting angular movement of the operator station comprises means for sensing movement of the vehicle to correspond therewith.
18. An apparatus according to Claim 16 or 17, wherein the operator station comprises a cab on which the image presenting means is mounted.
19. An apparatus according to Claim 16 or 17, wherein the image presenting means is mounted independently of the operator station and is operatively connected to the operator station for movement in synchronism therewith.
20. An apparatus according to any one of Claims 16 to 19, for use where the vehicle carries a movable tool, wherein an additional camera is mounted for movement with the tool and an additional image presenting means is provided for the operator to view the image produced by the said additional camera.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB08321208A GB2128842B (en) | 1982-08-06 | 1983-08-05 | Method of presenting visual information |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB8222700 | 1982-08-06 | ||
GB08321208A GB2128842B (en) | 1982-08-06 | 1983-08-05 | Method of presenting visual information |
Publications (3)
Publication Number | Publication Date |
---|---|
GB8321208D0 GB8321208D0 (en) | 1983-09-28 |
GB2128842A true GB2128842A (en) | 1984-05-02 |
GB2128842B GB2128842B (en) | 1986-04-16 |
Family
ID=26283532
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB08321208A Expired GB2128842B (en) | 1982-08-06 | 1983-08-05 | Method of presenting visual information |
Country Status (1)
Country | Link |
---|---|
GB (1) | GB2128842B (en) |
Cited By (55)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2162016A (en) * | 1984-07-21 | 1986-01-22 | Krauss Maffei Ag | Observation and reconnaissance system for armoured vehicles |
EP0183497A1 (en) * | 1984-11-27 | 1986-06-04 | Roger François Vila | Driving simulator |
GB2193103A (en) * | 1986-06-21 | 1988-02-03 | Kenneth David Torrens | Sporting equipment |
US4723733A (en) * | 1985-06-18 | 1988-02-09 | Mcclinchy William | Method of deicing commercial, military and private aircraft |
US4746977A (en) * | 1987-03-12 | 1988-05-24 | Remote Technology Corporation | Remotely operated steerable vehicle with improved arrangement for remote steering |
FR2614715A1 (en) * | 1987-04-29 | 1988-11-04 | France Pilotage Systeme Sarl | INSTALLATION FOR LEARNING MOTOR DRIVING |
EP0299911A1 (en) * | 1987-07-17 | 1989-01-18 | Johann Peter Beckers | Teaching device for training vehicle drivers |
EP0423934A2 (en) * | 1989-10-20 | 1991-04-24 | Doron Precision Systems, Inc. | Training apparatus |
WO1991011792A1 (en) * | 1990-01-26 | 1991-08-08 | Reiner Foerst | Process and device for simulating forward movement by means of mixed images |
US5254899A (en) * | 1991-09-17 | 1993-10-19 | Seiko Instruments Inc. | Micro-traveller with ultrasonic motor |
EP0656719A1 (en) * | 1993-12-02 | 1995-06-07 | Canon Kabushiki Kaisha | Remote-control apparatus and image input apparatus |
FR2717289A1 (en) * | 1994-03-14 | 1995-09-15 | Mediantsev Alexandre | Physical effect motion simulator seat e.g. for professional and leisure activity |
US5456604A (en) * | 1993-10-20 | 1995-10-10 | Olmsted; Robert A. | Method and system for simulating vehicle operation using scale models |
EP0696022A1 (en) * | 1993-04-20 | 1996-02-07 | Kabushiki Kaisha Ace Denken | Driving simulation system |
US5596319A (en) * | 1994-10-31 | 1997-01-21 | Spry; Willie L. | Vehicle remote control system |
EP0758469A1 (en) * | 1994-05-05 | 1997-02-19 | Sri International | Method for telemanipulation with telepresence |
US5865624A (en) * | 1995-11-09 | 1999-02-02 | Hayashigawa; Larry | Reactive ride simulator apparatus and method |
WO1999005580A2 (en) * | 1997-07-23 | 1999-02-04 | Duschek Horst Juergen | Method for controlling an unmanned transport vehicle and unmanned transport vehicle system therefor |
EP0966154A1 (en) * | 1998-06-16 | 1999-12-22 | Movie Engineering srl | Method and equipment for remote control on three axes of a telecamera or cinecamera |
US6034722A (en) * | 1997-11-03 | 2000-03-07 | Trimble Navigation Limited | Remote control and viewing for a total station |
WO2001084260A2 (en) * | 2000-05-01 | 2001-11-08 | Irobot Corporation | Method and system for remote control of mobile robot |
US6845297B2 (en) | 2000-05-01 | 2005-01-18 | Irobot Corporation | Method and system for remote control of mobile robot |
EP1536645A1 (en) * | 2003-11-26 | 2005-06-01 | Sap Ag | Video conferencing system with physical cues |
US6954695B2 (en) | 2002-01-31 | 2005-10-11 | Racing Visions, Llc | Apparatus system and method for remotely controlling a vehicle over a network |
US7050889B2 (en) | 2002-04-22 | 2006-05-23 | Racing Visions Investments Inc. | Method and system for a computer controlled racing network |
US7894951B2 (en) | 2005-10-21 | 2011-02-22 | Deere & Company | Systems and methods for switching between autonomous and manual operation of a vehicle |
US8108092B2 (en) | 2006-07-14 | 2012-01-31 | Irobot Corporation | Autonomous behaviors for a remote vehicle |
US8237389B2 (en) | 2008-11-12 | 2012-08-07 | Irobot Corporation | Multi mode safety control module |
US8255092B2 (en) | 2007-05-14 | 2012-08-28 | Irobot Corporation | Autonomous behaviors for a remote vehicle |
US8374721B2 (en) | 2005-12-02 | 2013-02-12 | Irobot Corporation | Robot system |
US8670866B2 (en) | 2005-02-18 | 2014-03-11 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US8726454B2 (en) | 2007-05-09 | 2014-05-20 | Irobot Corporation | Autonomous coverage robot |
US8739355B2 (en) | 2005-02-18 | 2014-06-03 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US8780342B2 (en) | 2004-03-29 | 2014-07-15 | Irobot Corporation | Methods and apparatus for position estimation using reflected light sources |
US8781626B2 (en) | 2002-09-13 | 2014-07-15 | Irobot Corporation | Navigational control system for a robotic device |
US8800107B2 (en) | 2010-02-16 | 2014-08-12 | Irobot Corporation | Vacuum brush |
US8843244B2 (en) | 2006-10-06 | 2014-09-23 | Irobot Corporation | Autonomous behaviors for a remove vehicle |
US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
US8972052B2 (en) | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
US8978196B2 (en) | 2005-12-02 | 2015-03-17 | Irobot Corporation | Coverage robot mobility |
US8985127B2 (en) | 2005-02-18 | 2015-03-24 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
US9104204B2 (en) | 2001-06-12 | 2015-08-11 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US9144360B2 (en) | 2005-12-02 | 2015-09-29 | Irobot Corporation | Autonomous coverage robot navigation system |
US9144361B2 (en) | 2000-04-04 | 2015-09-29 | Irobot Corporation | Debris sensor for cleaning apparatus |
US9167946B2 (en) | 2001-01-24 | 2015-10-27 | Irobot Corporation | Autonomous floor cleaning robot |
US9215957B2 (en) | 2004-01-21 | 2015-12-22 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
US9229454B1 (en) | 2004-07-07 | 2016-01-05 | Irobot Corporation | Autonomous mobile robot system |
US9317038B2 (en) | 2006-05-31 | 2016-04-19 | Irobot Corporation | Detecting robot stasis |
US9320398B2 (en) | 2005-12-02 | 2016-04-26 | Irobot Corporation | Autonomous coverage robots |
US9446521B2 (en) | 2000-01-24 | 2016-09-20 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US9486924B2 (en) | 2004-06-24 | 2016-11-08 | Irobot Corporation | Remote control scheduler and method for autonomous robotic device |
US9492048B2 (en) | 2006-05-19 | 2016-11-15 | Irobot Corporation | Removing debris from cleaning robots |
US9582005B2 (en) | 2001-01-24 | 2017-02-28 | Irobot Corporation | Robot confinement |
US10207412B2 (en) | 2015-08-10 | 2019-02-19 | Abb Schweiz Ag | Platform including an industrial robot |
JP2019507924A (en) * | 2016-02-26 | 2019-03-22 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | System and method for adjusting UAV trajectory |
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US6263989B1 (en) | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
US8788092B2 (en) | 2000-01-24 | 2014-07-22 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US8396592B2 (en) | 2001-06-12 | 2013-03-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
US8386081B2 (en) | 2002-09-13 | 2013-02-26 | Irobot Corporation | Navigational control system for a robotic device |
KR101074937B1 (en) | 2005-12-02 | 2011-10-19 | 아이로보트 코퍼레이션 | Modular robot |
US7843431B2 (en) | 2007-04-24 | 2010-11-30 | Irobot Corporation | Control system for a remote vehicle |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB833856A (en) * | 1958-05-01 | 1960-05-04 | Grundig Max | Improvements in and relating to television apparatus |
-
1983
- 1983-08-05 GB GB08321208A patent/GB2128842B/en not_active Expired
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB833856A (en) * | 1958-05-01 | 1960-05-04 | Grundig Max | Improvements in and relating to television apparatus |
Cited By (96)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2162016A (en) * | 1984-07-21 | 1986-01-22 | Krauss Maffei Ag | Observation and reconnaissance system for armoured vehicles |
EP0183497A1 (en) * | 1984-11-27 | 1986-06-04 | Roger François Vila | Driving simulator |
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