Auto-reach method for a remote vehicle

摘要

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.

主权项

1. A method of controlling a remote vehicle having an end effector and an image sensing device disposed thereon to move the remote vehicle to approach a door knob of a door, the method comprising:
moving the remote vehicle and the imaging sensing device from an initial pose to a targeting pose at which a focal point of the image sensing device is aligned with the door knob; obtaining an image of the door knob with the image sensing device; determining a ray from a focal point of the image to the door knob based on the obtained image; positioning the end effector of the remote vehicle to align with the determined ray; moving the remote vehicle to approach the door knob; moving the end effector along the determined ray to approach the door knob, wherein the end effector is mounted on the remote vehicle with a movable structure; grasping the door knob with the end effector; turning the door knob; and driving the remote vehicle backwards to open the door.