Mobile robot with a head-based movement mapping scheme
View Patent ↗A robotic system that includes a mobile robot and a remote input device. The input device may be a joystick that is used to move a camera and a mobile platform of the robot. The system may operate in a mode where the mobile platform moves in a camera reference coordinate system. The camera reference coordinate system is fixed to a viewing image provided by the camera so that movement of the robot corresponds to a direction viewed on a screen. This prevents disorientation during movement of the robot if the camera is panned across a viewing area.
1. A mobile robot system that is controlled through an input device, comprising:
a robot that has a camera and a mobile platform with a drive vector that is mapped to one of a plurality of different coordinate systems; and,
a remote station coupled to the robot via a network, the remote station including a mode selector for selecting one of the plurality of different coordinate systems and an input device that causes movement of the mobile platform within the selected coordinate system.
2. The system of claim 1 , wherein said input device is a mouse.
3. The system of claim 1 , wherein the plurality of different coordinate systems includes a camera reference coordinate system and a platform reference coordinate system.
4. The system of claim 3 , wherein said mobile platform rotates to align an axis of the platform reference coordinate system with an axis of the camera reference coordinate reference coordinate system.
5. The system of claim 3 , wherein movement of said mobile platform is accompanied by a movement of said camera.
6. The system of claim 1 , wherein the input device is a joystick and twisting said joystick causes rotation of said camera and pivoting said joystick causes said mobile platform to move.
7. The system of claim 1 , wherein the remote station includes a camera and a monitor.
8. The system of claim 1 , further comprising a wireless base station coupled to said robot and said remote station.
9. The system of claim 1 , wherein the plurality of different coordinate systems includes a world platform system.
10. The system of claim 1 , wherein said robot includes a monitor.
11. A method for controlling a robot, comprising:
selecting, via an interface of a remote station, one a plurality of different coordinate systems in which a robot can move;
mapping a drive vector of a mobile platform of the robot to the selected coordinate system;
moving the robot in the selected coordinate system in response to input received via an input device of the remote station.
12. The method of claim 11 , wherein the plurality of different coordinate systems includes a camera reference coordinate system and a platform reference coordinate system.
13. The method of claim 12 , wherein the mobile platform is rotated so that an axis of the platform reference coordinate system is aligned with an axis of the camera reference coordinate system.
14. The method of claim 11 , wherein the robot receives commands from a wireless base station.
15. The method of claim 14 , wherein the command is transmitted through a broadband network.
16. The method of claim 11 , wherein the input device is a mouse.