Apparatuses, systems, and methods for apparatus operation and remote sensing
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G08B-017/00
G05B-023/02
출원번호
US-0812800
(2009-01-22)
등록번호
US-8774950
(2014-07-08)
국제출원번호
PCT/US2009/000398
(2009-01-22)
§371/§102 date
20101206
(20101206)
국제공개번호
WO2009/136969
(2009-11-12)
발명자
/ 주소
Kelly, Alonzo James
Herman, Herman
Rander, Peter William
Warner, Randon
출원인 / 주소
Carnegie Mellon University
대리인 / 주소
Fox Rothschild LLP
인용정보
피인용 횟수 :
9인용 특허 :
21
초록▼
A method and system for controlling an apparatus including receiving data indicative of an actual state of the apparatus, defining a first viewpoint relative to at least one of the environment and the apparatus, determining a first predicted state of the apparatus at time T, determining a first pred
A method and system for controlling an apparatus including receiving data indicative of an actual state of the apparatus, defining a first viewpoint relative to at least one of the environment and the apparatus, determining a first predicted state of the apparatus at time T, determining a first predicted state of the environment at time T, producing a first virtualized view from the first viewpoint, sending a first control signal to the apparatus after producing the first virtualized view, defining a second viewpoint relative to at least one of the apparatus and the environment, determining a second predicted state of the apparatus at time T+delta T, determining a second predicted state of the environment at time T+delta T, producing the second virtualized view from the second viewpoint, sending a second control signal to the apparatus after producing the second virtualized view, and changing the actual state of the apparatus based on the first control signal.
대표청구항▼
1. A method for controlling an apparatus in an environment from a remote location, comprising: receiving, from an apparatus located at said remote location, data indicative of one or more actual states of said apparatus, with a non-zero latency;estimating a time T, wherein T represents the current t
1. A method for controlling an apparatus in an environment from a remote location, comprising: receiving, from an apparatus located at said remote location, data indicative of one or more actual states of said apparatus, with a non-zero latency;estimating a time T, wherein T represents the current time plus an estimated latency representing the time for a control signal to be received and acted upon by said apparatus;sending a control signal to said apparatus at said remote location;predicting a state of said apparatus at time T, based on one or more previous actual or predicted states of said apparatus and said control signal; andcreating and displaying a plurality of virtualized views from a viewpoint, said virtualized views showing a series of interim predicted states representing a real-time transition of said apparatus from said one or more previous actual or predicted states to said predicted state. 2. The method of claim 1 further comprising the steps of: receiving, from said apparatus, data indicative of the actual state of the environment;predicting a state of the environment at time T;including, in said plurality of virtualized views, a transition of said environment from said actual state of said environment to said predicted state; andupdating said virtualized view to include said actual state of said environment, when data indicative of said actual state of said environment is received form said apparatus. 3. The method of claim 2, wherein said predicted state of said apparatus is estimated from said predicted state of the environment. 4. The method of claim 3, wherein said predicted state of said apparatus is estimated from geometry of said predicted state of the environment. 5. The method of claim 1, wherein said virtualized view uses encoded data, said encoded data including: data indicative of a plurality of different representations of a portion of the environment. 6. The method of claim 5, wherein said data indicative of a plurality of different representations of a portion of the environment includes data received from one or more sensors on said apparatus. 7. The method of claim 5, wherein the step of creating and displaying said plurality of virtualized views includes retrieving said encoded data from a database. 8. The method of claim 5, wherein said encoded data includes data regarding the appearance and geometry of a portion of the environment. 9. The method of claim 8, wherein said data regarding the appearance of a portion of the environment is non-photorealistic. 10. The method of claim 8, wherein said data regarding the appearance of a portion of the environment causes said virtualize view to display the portion of the environment in a false color to represent additional information about the portion of the environment. 11. The method of claim 10, wherein said data regarding the appearance of a portion of the environment includes a portion of the environment that is not visible to an unaided human eye. 12. The method of claim 5, wherein said encoded data is produced with data from sensors on the apparatus. 13. The method of claim 5, wherein said encoded data is produced with data from a sensor that is not on the apparatus. 14. The method of claim 1, wherein said control signal includes encoded data. 15. The method of claim 1, wherein said control signal specifies movement and direction commands to be implemented by said apparatus. 16. The method of claim 1, wherein said control signal specifies a position and orientation to be achieved by said apparatus at a time in the future. 17. The method of claim 1 further comprising the steps of: receiving, from said apparatus, data indicative of the actual state of said apparatus after acting upon said control signal; andupdating said virtualized view, wherein the updated virtualized view is indicative of the actual, received state of the apparatus. 18. The method of claim 1 wherein said plurality of virtualized views are rendered by modeling objects within said virtualized views using correct perspective and 3D information. 19. A system for operation in an environment, comprising: an apparatus including a sensor;a control agent;a processor connected to at least one of the apparatus and control agent;a memory device connected to the processor, wherein the memory includes computer-readable instructions which, when executed by the processor, cause the processor to perform the steps of: receiving data indicative of one or more actual states of said apparatus, with a non-zero latency;estimating a time T, wherein T represents the current time plus an estimated latency representing the time for a control signal to be received and acted upon by said apparatus;sending a control signal to said apparatus;predicting a state of said apparatus at time T, based on one or more previous states of said apparatus and said control signal;creating and displaying a plurality of virtualized views from a viewpoint, said virtualized views showing a series of interim predicted states representing the transition of said apparatus from said one or more previous states to said predicted state;receiving, from said apparatus, data indicative of the actual state of said apparatus after acting upon said control signal; andupdating said virtualized view, wherein said updated virtualized view is indicative of said actual state of said apparatus after acting upon said control signal. 20. The system of claim 19, wherein the control agent is part of the apparatus. 21. The system of claim 20, wherein the control agent and the apparatus share a common processor and share common memory. 22. The system of claim 19, wherein: the apparatus includes a processor, memory, a sensor, and a transmitter/receiver;the control agent includes a processor, memory, and a transmitter/receiver; andthe apparatus and the control agent are separate from each other and connected by a communications link between the transmitter/receiver in the apparatus and the transmitter/receiver in the control agent. 23. The system of claim 22, further comprising: a vehicle controller connected to the processor in the apparatus;an input device connected to the processor in the control agent; andan output device connected to the processor in the control agent.
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