U.S. patent application number 13/593518 was filed with the patent office on 2013-08-15 for proxy robots and remote environment simulator for their human handlers.
The applicant listed for this patent is Kenneth Dean Stephens, JR.. Invention is credited to Kenneth Dean Stephens, JR..
Application Number | 20130211594 13/593518 |
Document ID | / |
Family ID | 48946289 |
Filed Date | 2013-08-15 |
United States Patent
Application |
20130211594 |
Kind Code |
A1 |
Stephens, JR.; Kenneth
Dean |
August 15, 2013 |
Proxy Robots and Remote Environment Simulator for Their Human
Handlers
Abstract
A system for controlling a human-controlled proxy robot
surrogate is presented. The system includes a plurality of motion
capture sensors for monitoring and capturing all movements of a
human handler such that each change in joint angle, body posture or
position; wherein the motion capture sensors are similar in
operation to sensors utilized in motion picture animation, suitably
modified to track critical handler movements in near real time. A
plurality of controls attached to the proxy robot surrogate is also
presented that relays the monitored and captured movements of the
human handler as "follow me" data to the proxy robot surrogate in
which the plurality of controls are configured such that the proxy
robot surrogate emulates the movements of the human handler.
Inventors: |
Stephens, JR.; Kenneth Dean;
(Sunnyvale, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Stephens, JR.; Kenneth Dean |
Sunnyvale |
CA |
US |
|
|
Family ID: |
48946289 |
Appl. No.: |
13/593518 |
Filed: |
August 24, 2012 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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61599204 |
Feb 15, 2012 |
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61613935 |
Mar 21, 2012 |
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Current U.S.
Class: |
700/259 ;
700/258; 700/264; 901/46; 901/47; 901/9 |
Current CPC
Class: |
G06N 3/004 20130101;
B64G 2004/005 20130101; G06N 3/008 20130101; B64G 2001/1064
20130101; B25J 3/04 20130101; B64G 4/00 20130101; B25J 9/1689
20130101; B25J 11/00 20130101; G05B 2219/40191 20130101; G05B
2219/40116 20130101 |
Class at
Publication: |
700/259 ;
700/264; 700/258; 901/46; 901/47; 901/9 |
International
Class: |
G05B 15/00 20060101
G05B015/00 |
Claims
1. A system for controlling a human-controlled proxy robot
surrogate comprising: a plurality of motion capture sensors for
monitoring and capturing all movements of a human handler such as
each change in joint angle, body posture or position; a plurality
of controls attached to the proxy robot surrogate that relays the
monitored and captured movements of the human handler as "follow
me" data to the proxy robot surrogate; and wherein the plurality of
controls are configured such that the proxy robot surrogate
emulates the movements of the human handler.
2. The system of claim 1, wherein said motion capture sensors are
similar in operation to sensors utilized in motion picture
animation, suitably modified to track critical handler movements in
real time.
3. The system of claim 1, further comprising strain sensors in the
handler's clothing, gloves, stockings, booties or elastic bands
worn by the handler over joints such that each change in joint
angle, body posture or position can be relayed as "follow me" data
to a proxy robot surrogate for emulation.
4. The system of claim 1, further comprising two-way data and
communication channels between proxy robot surrogates and their
human handlers, including channels from the proxy robot surrogate
to the human handler with video, sensory, positional and analytical
data, and channels from handler to proxy robot surrogate with
"follow me" positional data and mission commands.
5. The system of claim 4, further comprising a flow of data from
the human handler to the proxy robot surrogate; wherein joints in
the arms, wrists, hands, fingers, torso, legs, feet and neck of the
human handler continually send positional and joint angle data to
the robot for "follow me" replication by the proxy robot
surrogate.
6. The system of claim 5 further comprising sensors that
continuously monitor the side-to-side angle (heading), up-down
angle (pitch), and sideways tilt (roll) of the head of the human
handler, allowing all of these angles to be faithfully replicated
by the proxy robot surrogate.
7. The system of claim 4, wherein said two-way data channel
includes three-dimensional video data from each of the proxy robot
surrogate camera "eyes" transmitted to a head-mounted or other
three-dimensional video display screen means available to the human
handler.
8. The system of claim 7, wherein the display screen further
includes information from a remote location such as ambient
temperature, ambient luminosity, pitch forward, roll right-left,
heading in degrees from true north, latitude and longitude, surface
conditions, battery status, and an area of the screen for alerts
and warnings.
9. The system of claim 7, wherein doppler radar transceivers
operating via radio frequency, light, infra-red or sonar are
located in appropriate locations such as above the proxy robot
surrogate camera "eyes" and in the front of the boots of the proxy
robot surrogate.
10. The system of claim 7, wherein the video display includes
frontal and profile views of the body of the proxy robot surrogate
in simple outline or stick figure form.
11. A system for simulating the movements of a human-controlled
proxy robot surrogate at a remote location comprising: a human
handler in communication with the proxy robot surrogate; a
treadmill comprising a plurality of sensors in communication with a
plurality of sensors on the proxy robot surrogate; a circular
platform on which the treadmill is mounted that adjusts to
directional information communicated from the plurality of sensors
on the proxy robot surrogate; and a plurality of mechanisms that
vary a pitch and tilt of the treadmill corresponding to terrain
information of the remote location of the proxy robot surrogate;
wherein the terrain information includes pitch, roll and other
positional data; and wherein the terrain information is continually
adjusted by a computer-driven mechanism that analyzes video and
other signals from the proxy robot surrogate.
12. The system of claim 11, wherein the human handler is enabled to
change heading on a treadmill, causing the proxy robot surrogate in
communication with the human handler to change heading while the
human handler stays safely on the treadmill, accomplished by
placing the treadmill on a turntable which changes heading to match
an average orientation of the human handler.
13. The system of claim 12, wherein boots of the human handler
include two or more markers on each boot signaling the orientation
of said boot.
14. The system of claim 13, wherein an overhead reader scans or
otherwise receives the positions of the markers atop the boots of
the human handler, such that when the second boot has changed
heading, the reader sends a command to the turntable to rotate to a
new heading averaged between the heading readings from each
boot.
15. The system of claim 14, wherein the reader receives the marker
positions via radio transmission methods including, RFID,
Bluetooth, WiFi, Zigbee, near-field or any number of other RF
means; and wherein the reader contains transceivers that "ping"
both points on each boot to triangulate their orientation and
relative locations.
16. The system of claim 11, further comprising varying the pitch
and/or roll of a treadmill for a human proxy robot handler, wherein
attached to the treadmill frame are four legs which are extendable
via hydraulic, pneumatic or other means from a relatively short
profile to many times that height; wherein the pitch may be varied
by extending either front or back legs; roll can be varied by
extending the legs on either side; and wherein combinations of
pitch and roll can be created by varying the length of each
leg.
17. The system of claim 16, wherein the treadmill is mounted by
suitable means to a stand which rests on four or more short legs,
and each leg in turn rests on a ball joint and ball-cupped foot
which may be mounted to the floor; and wherein the pitch and roll
are controlled by four winches, each connected to a cable, wire or
rope, and various corners of the treadmill stand are lifted to
achieve the appropriate amount of pitch and/or roll.
18. The system of claim 17, wherein stability is added through the
inclusion of telescoping or coiled spring elements in each short
leg to allow all legs to continue to touch the floor under any
combination of pitch and roll; or by the inclusion of at least four
bungee cords or cables with series springs radiating outward from
each corner of the stand, with each cord connected to a suitable
hook to maintain the entire platform centered and stable under
various conditions of pitch and/or roll.
19. A system for simulating the movements of a human-controlled
proxy robot surrogate at remote location comprising: a human
handler in communication with the proxy robot surrogate; a
treadmill with variable pitch and roll and infinitely variable
heading; wherein the treadmill takes the form of a large sphere and
the environment created falls generally within the top third of the
sphere exterior; a plurality of sensors attached to the human
handler transmitting data including speed and step direction of the
human handler; a plurality of receivers on the proxy robot
surrogate receiving the transmitted data from the sensors attached
to the human handler controlling the movements of the proxy robot
surrogate including speed and step direction.
20. The system of claim 19, wherein sphere diameter is at least 3
and preferably 5 or more times average human height.
21. The system of claim 19, wherein the sphere rests upon large
bearings, and wherein roller motors rollers contact and turn the
sphere in any direction when commanded by circuitry monitoring both
the steps of a human handler and the pitch and roll of terrain
immediately ahead in the remote location.
22. The system of claim 19, wherein the sphere itself moves the
handler to a location on the surface of the sphere which exhibits
pitch and roll matching terrain conditions in the remote location
of the proxy robot surrogate that is in communication with the
human handler.
23. The system of claim 19, further comprising receiving data from
sources on the "person" of the proxy robot surrogate including 3-D
video from camera "eyes," terrain-level radar data from its boots,
and an additional radar view from a point above the camera
"eyes".
24. The system of claim 23, wherein video from the remote location
is routed to a video terrain analyzer which turns a near-real-time
video stream into data about the terrain ahead, both immediate and
a general upcoming topography.
25. The system of claim 24, wherein the video data is combined with
signals from the proxy robot's boot view and head view radar and
routed to a "terrain just ahead" circuit where they are bundled
with handler step motion data and fed to a processor which turns
all the input into meaningful signals to drive the spherical
treadmill's roller motors.
26. The system of claim 19, further comprising a gravity harness
for the handler suspended from a platform by a number of bungee
cords or cables with springs, and calibrated to render the
effective weight of the human handler the same as that of the
handler's proxy robot at its remote location, and including means
for moving the gravity harness to follow the movement of the
handler about on the sphere to maintain direct overhead lift and an
effective human handler weight equal to that of the remote proxy
robot surrogate.
27. The system of claim 19, further comprising a plurality of
motors disposed to include rollers equally spaced around the
sphere, preferably at its equator.
28. The system of claim 19, further comprising a plurality of motor
controllers, which translate data into specific polarity and
amplitude signals to move the spherical treadmill in any desired
direction.
29. The system of claim 27, further comprising a plurality of motor
mounts that include swivel and spring assemblies that pull the
rollers away from the surface of the sphere creating a gap whenever
the motor is not in use
30. The system of claim 26, wherein the means for moving the
gravity harness and maintaining the handler's effective weight is
by a winch means letting out or taking in cable as the human
handler and gravity harness are moved to new positions on the
spherical treadmill.
31. The system of claim 26, wherein the gravity harness lifting and
positioning is done by a movable, extendable boom or robotic arm
which receives data from a processor and maintains direct overhead
upward torque on the human handler in the gravity harness.
32. The system of claim 26, wherein a "Boot-down" switch or
pressure pad on a heel and a sole of each of boot of the human
handler signals the proxy robot surrogate to completely lower its
corresponding boot to the ground, heel or toe first.
Description
CLAIM OF PRIORITY
[0001] The present invention claims priority to Provisional U.S.
Patent Application No. 61,599,204 filed on Feb. 15, 2012, entitled
"Space Exploration with Human Proxy Robots;" Provisional U.S.
Patent Application No. 61,613,935 filed on Mar. 21, 2012, entitled
"Remote Environment Simulator for Human Proxy Robot Handlers;" and
co-pending non-provisional U.S. patent application Ser. No.
13/479,128 filed on May 23, 2012. The application to follow has
basis in all of the earlier filings, with special emphasis on the
creation of an environment for a human handler reflecting as
closely as possible the remote environment of the handler's proxy
robot.
FIELD OF THE INVENTION
[0002] The present claimed invention generally relates to robotics.
More specifically the present invention relates to human proxy
robot systems.
BACKGROUND OF THE INVENTION
[0003] While the content herein is applicable to robots with some
or even a great deal of autonomy as taught in the previous
application, it is particularly pertinent to cases where the robot
is largely devoid of artificial intelligence (AI), essentially
representing an extension of the human handler.
[0004] Put another way, this specification is about human
telepresence in space, and especially in such near-space locations
as the earth's moon. During his or her turn in control of a given
proxy robot, the human handler sees and feels and acts through the
"person" of that robot: guiding the proxy in exploring; mining;
doing science experiments; constructing; observing the earth,
planets or stars; launching spaceships to further destinations;
rescuing other robots or humans; or simply enjoying an earthrise
over the moon's horizon.
[0005] In the prior art are several patents dealing with
omni-directional and spherical treadmills, all involving simulated
virtual reality (VR) generated by a computer program as opposed to
the simulation of the actual environment being experienced by a
proxy robot in its remote environment as taught in the present
invention. Carmein U.S. Pat. No. 5,562,572 discloses ways to make
an omni directional treadmill for VR and other purposes, but the
methods and apparatus employed do not anticipate the specification
to follow. Nor are his treadmill designs very stable, with the
human constrained by balance cuffs, support struts, hand grips and
the like just to stay upright.
[0006] Carmein '572 also makes brief mention of how the
omni-directional treadmill of his invention may be utilized in
telepresence in a one-paragraph description of FIG. 18 (FIG. 39 in
C.I.P. '256 below), but fails to claim or adequately teach how a
human can be productively linked in practice to a robot in some
remote location. In the present specification and a companion
application pertaining to handler environment simulation, prior art
weaknesses, defects and "science fiction" will be overcome as
methods and apparatus for a complete human handler-proxy robot
system are disclosed.
[0007] Latypov U.S. Pat. No. 5,846,134 features a spherical shell
inside of which a human walks in treadmill fashion, but this
concept is quite distinct from the spherical treadmill disclosed in
the current application, where the human handler of a proxy robot
stands and moves on the top exterior of a sphere with diameter
sufficiently large (typically 30 feet in diameter) that the
handler, to all intents and purposes, is moving on a flat surface
if that is the remote terrain being simulated.
[0008] U.S. Pat. No. 5,980,256, also by Carmein, is a
continuation-in-part of '572 above and U.S. Pat. No. 5,490,784. The
latter pertains to spherical capsules within which humans can walk
(albeit uphill) in any direction, but does not apply to the present
invention. The circular form in Carmein's ('256) FIG. 23 does not
denote a turntable, but rather defines a circular track unlike the
current invention. While Carmein's FIG. 37 and description are
somewhat akin to the motion simulator in the current
specification's FIG. 7, the point is moot in any case since such
motion simulators are well-established in the prior art.
[0009] Butterfield U.S. Pat. No. 6,135,928. This patent, which
expired in 2008, discloses a spherical treadmill for VR gaming, but
it is so small at 6-7 ft. diameter as to never seem flat to its
human "rider," who requires a restraining harness and support
system just to stay upright. In the Butterfield patent, the sphere
basically represents a human-powered trackball, operating in
exactly that manner to input x- and y-axis orientation and movement
to a VR game on a computer.
[0010] Put another way, Butterfield's focus is virtual reality, for
fantasy games, while the application below is all about the
best-possible simulation of actual reality in a remote location. As
a consequence, the Stephens specification does not utilize a small,
inflatable sphere as a computer trackball or mouse as taught by
Butterfield, but rather uses a much larger and firmer motor-driven
spherical treadmill to replicate the terrain upon which a proxy
robot is walking, climbing or carrying out various tasks.
(Butterfield does depict how a "hill" can be created by moving the
user off-center, but the problem with such a small sphere is that
there is a constant "hill" created by the small-diameter sphere
itself.)
[0011] These and other distinctions over the current art will
become evident from study of the specification and drawings to
follow.
[0012] The specification to follow discloses novel systems, methods
and apparatus to simulate the environment of the proxy robot's
mission, to assure the best possible outcome of that mission.
OBJECTS OF THE INVENTION
[0013] One object of the present invention is to describe a viable
methodology for human space exploration utilizing proxy robot
surrogates in space controlled by humans on earth.
[0014] A second object of the present invention is to provide human
telepresence on the moon and other locations near earth utilizing
proxy robots capable of being controlled by one or more human
handlers in real or near-real time.
[0015] A third object of the present invention is to provide
telepresence on the moon and other locations in space utilizing
proxy robots in such manner that each proxy robot functions as a
human telepresence, a surrogate for one or more humans back on
earth or at some other remote location.
[0016] A fourth object of the present invention is to provide human
telepresence on the moon and other locations in space utilizing
human proxy robots capable of providing accurate visual, aural,
olfactory, tactile and other sensual data to a human handler such
that the handler experiences the experience of actually being there
in the body of the proxy robot.
[0017] A fifth object of the present invention is to monitor and
capture all movements of a human handler by means of motion capture
technology modified for this purpose in such manner that each
change in joint angle, body posture or position can be relayed as
"follow me" data to a proxy robot for emulation.
[0018] A sixth object of this invention is to monitor and capture
all movements of a human handler by means of strain sensors in the
handler's clothing, gloves, stockings, booties or elastic bands
worn by the handler over joints such that each change in joint
angle, body posture or position can be relayed as "follow me" data
to a proxy robot for emulation.
[0019] A seventh object of this invention is to provide human
telepresence on the earth, on the moon and at other locations near
earth utilizing human proxy robots which receive tactile data from
their human handlers and follow each and every move of each handler
in "follow me" commands.
[0020] An eighth object of this invention is to provide for teams
of human proxy robots under direct human control to carry out
missions on the earth, on the moon and at other locations in near
earth locations, where individual robotic team members are operated
by humans specialized in fields including geology; planetary
science; life science; emergency response, whether human or
robotic; human medicine; robot maintenance and repair; mining; and
sample analysis.
[0021] A ninth object of this invention is to provide for teams of
human proxy robots operating under direct human control to carry
out missions on the earth, on the moon and at other near earth
locations, where individual robotic team members are operated by
humans specialized in fields such as construction of communication
or observation platforms, assembly of telescopes and other
instruments, landing and launch areas, shelters and habitations for
human dwellers, or mines or resource processing facilities.
[0022] A tenth object of this invention is to provide a middle
course between robotic and manned space missions that goes far in
satisfying the need for human presence while avoiding the inherent
risks and enormous cost to send human astronauts to places like the
moon, with exploration undertaken by means of robot proxies
operated by specialists on earth who see what the proxy sees and
feel what it feels, while working and making judgement calls in
their particular specialty.
[0023] An eleventh object of the present invention is to describe a
viable methodology for human space exploration utilizing proxy
robot surrogates in space controlled by humans in non-earth
locations including space stations, orbiting modules, spacecraft,
and lunar or planetary bases.
[0024] A twelfth object of the present invention is the provision
of two-way data and communication channels between proxy robots and
their handlers, including channels from proxy to human with video,
sensory, positional and analytical data.
[0025] A thirteenth object of the present invention is the
provision of two-way data and communication channels between proxy
robots and their handlers, including channels from handler to proxy
with "follow me" positional data and mission commands.
[0026] A fourteenth object of the present invention is the
provision of send/receive headsets for human handlers operating
proxy robots as a team, whereby the handlers can communicate among
themselves and with other mission specialists while operating their
individual proxies.
[0027] A fifteenth object of the present invention is the provision
of replica tools for the human handler of exactly the same size and
shape as the tools available to the proxy robot, but made to match
the weight of each tool in its remote location.
[0028] A sixteenth object of the present invention is to provide a
treadmill for the human handler with provision for changing the
pitch and roll of the treadmill to match conditions in the remote
location of the proxy robot.
[0029] A seventeenth object of the present invention is to provide
a treadmill for the human handler with provision for changing the
pitch and roll of the treadmill to match conditions in the remote
location of the proxy robot, where pitch, roll and other positional
data are continually adjusted in the handler environment from
computer-driven mechanisms analyzing video and other signals from
the proxy robot.
[0030] An eighteenth object as in seventeen above, wherein doppler
radar transceivers operating via radio frequency, light, infra-red
or even sonar where applicable could be located in appropriate
locations such as above the robot's eye cameras and in the front of
the robot's boots.
[0031] A nineteenth object of the present invention is to provide a
flow of data from human handler to proxy robot, wherein joints in
the arm, wrist, hand, fingers, torso, legs, feet and neck of the
human handler continually send positional and joint angle data to
the robot for "follow me" repication by the proxy robot.
[0032] Object twenty as in object nineteen, wherein sensors would
continuously monitor the side-to-side angle (heading), up-down
angle (pitch), and sideways tilt (roll) of the human's head,
allowing all of these angles to be faithfully replicated by the
proxy robot.
[0033] A twenty-first object of the present invention is to provide
outer wear for the human handler such that, wherever the proxy
robot is stiff and inflexible, the human should feel the same
inflexibility.
[0034] A twenty-second object of the present invention is the
provision of a two-way communication headset to be worn by the
human handler to allow handler communication with human colleagues,
including mission personnel and other team members.
[0035] A twenty-third object of the present invention, where the
human handler's microphone can also be used for voice commands to
the mission computer, like saying "Freeze, Freeze" to stop the
robot in its tracks and go offline, and "Restore, Restore" to
restore the link and continue human-robot interaction.
[0036] A twenty-fourth object of the present invention is the
provision of a "gravity harness" connected to a number of bungee
cords or cables with springs, all calibrated to render the
effective weight of the human handler the same as that of the
handler's proxy robot at its remote location.
[0037] A twenty-fifth object of the present invention is the
provision of a video display for the human handler showing real- or
near-real time video from the camera "eyes" of the handler's proxy
robot.
[0038] A twenty-sixth object of the present invention, wherein the
video in the preceeding object is three-dimensional, with the human
handler's goggles or other display including provision for 3-D
rendering such as polarization, left-right switching, color
differentiation, vertical striation or some other known way to
channel video from the robot's right camera to the handler's right
eye and left camera robot video to the left eye of the handler.
[0039] A twenty-seventh object of the present invention is the
provision of a video display screen as in the two preceding
objects, wherein the display screen also includes information from
the remote location such as ambient temperature, ambient
luminosity, pitch forward, roll right-left, heading in degrees from
true north, latitude and longitude, surface conditions, proxy
battery status, and an area of the screen for alerts and
warnings.
[0040] A twenty-eighth object of the present invention is the
provision of a video display screen as in the preceding object,
including a frontal and right profile view of the proxy robot's
body in simple outline or stick figure form.
[0041] A twenty-ninth object of the present invention is the
provision of a method and apparatus whereby the handler can change
heading on a treadmill, causing the handler's proxy robot to change
heading while the human handler stays safely on the treadmill,
accomplished by placing the treadmill on a turntable which changes
heading to match the average orientation of the handler's boots,
with two or more markers on each boot signaling the orientation of
that boot.
[0042] A thirtieth object of the present invention according to
object twenty-nine, wherein an overhead reader scans or otherwise
notes the position of the markers atop the handler's boots, such
that when the second boot has changed heading, the reader sends a
command to the turntable to rotate to a new heading averaged
between the heading readings from both boots.
[0043] A thirty-first object of the present invention in accordance
with object thirty, where the operational medium between the
markers and reader is some method of radio transmission such as
RFID, Bluetooth, WiFi, Zigbee, near-field or any number of other RF
means; and wherein the reader contains transceivers that "ping"
both points on each boot to triangulate their orientation and
relative locations.
[0044] A thirty-second object of the present invention is further
to the matter disclosed in objects thirty and thirty-one, wherein
other triangulation methods can include laser transmission and
reflection, radar and sonar, and the markers on the boots might
themselves be transmitters of RF, sound or light, in which case the
reader would incorporate one or more receivers to plot the
orientation of each boot.
[0045] A thirty-third object of the present invention is a method
and apparatus for varying the pitch and/or roll of a treadmill for
a human proxy robot handler, wherein attached to the treadmill
frame are four legs which are extendable via hydraulic, pneumatic
or other means from a relatively short profile to many times that
height; such that pitch (front to back tilt) may be varied by
extending either front or back legs; roll (right-left tilt) can be
varied by extending the legs on either side; and combinations of
pitch and roll can be created by varying the length of each
leg.
[0046] A thirty-fourth object of the present invention is another
method and apparatus for varying the pitch and/or roll of a
treadmill for a human proxy robot handler, wherein the treadmill is
mounted by suitable means to a stand which rests on four or more
short legs, and each leg in turn rests on a ball joint and
ball-cupped foot which may be mounted to the floor, and wherein
pitch and roll are controlled by four winches, each connected to a
cable, wire or rope, and various corners of the treadmill stand are
lifted to achieve the appropriate amount of pitch and/or roll.
[0047] A thirty-fifth object of the present invention adds
stability to the device disclosed in object thirty-four above by
including telescoping or coiled spring elements in each short leg
to allow all legs to continue to touch the floor under any
combination of pitch and roll.
[0048] A thirty-sixth object of the present invention adds
stability to the device disclosed in object thirty-four above in
the form of four bungee cords or cables with series springs
radiating outward from each corner of the stand, with each cord
connected to a suitable hook to maintain the entire platform
centered and stable under various conditions of pitch and/or
roll.
[0049] A thirty-seventh object of the present invention is a method
and apparatus for varying the pitch and roll of a treadmill by
housing that treadmill and a human proxy robot handler in a
modified or custom made motion simulator, complete with gravity
harness and large video screen, and wherein pitch and/or roll can
be modified by varying the length of four or more large
hydraulically extending arms supporting the motion simulator.
[0050] A thirty-eighth object of the present invention is the
provision of an environment simulator including a treadmill with
variable pitch and roll and infinitely variable heading; wherein
the treadmill takes the form of a large sphere with a diameter many
times average human height.
[0051] A thirty-ninth object of the present invention is the
provision of a spherical treadmill environment simulator as in
object thirty eight above, wherein the sphere rests upon several
large bearings and is rotated by a plurality of rollers in contact
with the surface of the sphere so as to turn the sphere in any
direction when commanded by circuitry monitoring both the steps of
a human handler and the pitch and roll of terrain immediately ahead
in the remote location.
[0052] A fortieth object of the present invention is the provision
of a spherical treadmill environment simulator as in object thirty
eight above, wherein the treadmill itself moves the handler to a
location on the surface of the sphere which exhibits pitch and roll
matching terrain conditions in the remote location of the handler's
proxy robot.
[0053] A forty-first object of the present invention is the
provision of a spherical treadmill environment simulator as in
object thirty eight above, with the added feature of the simulator
receiving data from sources on the "person" of the proxy robot
including 3-D video from its camera "eyes," terrain-level radar
data from its boots, and an additional radar view from a point
above the robot's video cameras.
[0054] A forty-second object of the present invention is the
provision of a spherical treadmill environment simulator as in
object thirty eight above, wherein video from the remote location
is routed to a video terrain analyzer which turns the
near-real-time video stream into data about the terrain ahead, both
immediate and the general lay of the land upcoming.
[0055] A forty-third object of the present invention is the
provision of a spherical treadmill environment simulator as in
object forty-two above, where the mentioned video data is combined
with signals from the proxy robot's boot view and head view radar
and routed to a "terrain just ahead" circuit where they are bundled
with handler step motion data and fed to a processor which turns
all the input into meaningful signals to drive the spherical
treadmill's roller motors.
[0056] A forty-fourth object of the present invention is the
provision of a spherical treadmill environment simulator as in
object thirty-eight above, including a gravity harness suspended
from a platform by a number of bungee cords or cables with springs,
and with the additional provision for moving the gravity harness to
follow the movement of the handler about on the sphere to maintain
direct overhead lift and an effective human handler weight equal to
that of the remote proxy robot.
[0057] A forty-fifth object of the present invention includes the
movable gravity harness lift described in object forty-four above,
but with the lifting and positioning done by a movable, extendable
boom or robotic arm which receives data from a processor and
maintains direct overhead upward torque on the human handler in her
gravity harness.
SUMMARY OF THE INVENTION
[0058] A system for controlling a human-controlled proxy robot
surrogate is presented. The system includes a plurality of motion
capture sensors for monitoring and capturing all movements of a
human handler such that each change in joint angle, body posture or
position; wherein the motion capture sensors are similar in
operation to sensors utilized in motion picture animation, suitably
modified to track critical handler movements in near real time. A
plurality of controls attached to the proxy robot surrogate is also
presented that relays the monitored and captured movements of the
human handler as "follow me" data to the proxy robot surrogate in
which the plurality of controls are configured such that the proxy
robot surrogate emulates the movements of the handler.
[0059] The objects and advantages of the invention will be realized
and attained by means of the elements and combinations particularly
pointed out in the claims. It is to be understood that both the
foregoing general description and the following detailed
description are exemplary and explanatory and are not restrictive
of the invention, as claimed.
DESCRIPTION OF THE DRAWINGS
[0060] FIG. 1 illustrates an exemplary embodiment of a proxy robot
and its human handler.
[0061] FIG. 1A illustrates an exemplary embodiment of a headset's
electronic circuit.
[0062] FIG. 2 illustrates an exemplary embodiment of a
representation of a heads-up display.
[0063] FIG. 3 illustrates an exemplary embodiment of a method and
apparatus whereby the handler can change heading on the
treadmill.
[0064] FIG. 3A illustrates an exemplary embodiment of the handler
position.
[0065] FIG. 3B illustrates an exemplary embodiment of the handler
position.
[0066] FIG. 3C illustrates an exemplary embodiment of the treadmill
of FIG. 3 in a new heading.
[0067] FIG. 4 illustrates an exemplary embodiment of the
orientation of a turntable.
[0068] FIG. 4A illustrates an exemplary embodiment of the handler's
foot movement.
[0069] FIG. 4B illustrates an exemplary embodiment of a magnified
and more detailed top-down view of the right boot.
[0070] FIG. 4C illustrates an exemplary embodiment of an overhead
reader noting the position of these markers atop the handler's
boots.
[0071] FIG. 5 illustrates an exemplary embodiment of a treadmill
mounted to a stand with appropriate mounting hardware.
[0072] FIG. 6 illustrates an exemplary embodiment of a method and
apparatus for adding pitch and roll.
[0073] FIG. 7. illustrates an exemplary embodiment of another
method and apparatus for the addition of pitch and roll to a
treadmill simulator
[0074] FIG. 8 illustrates an exemplary embodiment of a spherical
treadmill with variable pitch, roll and infinitely variable
heading.
[0075] FIG. 8A illustrates another exemplary embodiment of a
spherical treadmill with variable pitch, roll and infinitely
variable heading.
[0076] FIG. 9 illustrates an exemplary embodiment of a method and
apparatus for harvesting solar energy to maintain batteries and
electrical systems.
[0077] FIG. 9A illustrates an exemplary embodiment of a rear view
of the dome.
[0078] FIG. 9B illustrates an exemplary embodiment of a block
diagram showing solar panels.
[0079] FIG. 10 illustrates an exemplary embodiment of methods and
apparatus for the adjustment of key proxy robot dimensions.
[0080] FIG. 10A illustrates a manually-adjusting turnbuckle-like
element, magnified for clarity
[0081] FIG. 10B illustrates an exemplary embodiment in block
diagram form, of how the proxy robot dimension motors might work in
a circuit.
[0082] FIG. 11 illustrates an exemplary embodiment of a proxy robot
with hydraulic size adjustment means.
[0083] FIG. 11A illustrates an exemplary embodiment of a size
adjusting circuit utilizing hydraulic pump motors.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0084] A description of the preferred embodiments with reference to
the figures is here presented.
[0085] Referring to FIG. 1, a proxy robot surrogate 1 is depicted
and its human handler 2. Note that the body position of both
handler and proxy robot is the same, with the proxy following all
the handler's moves. For example, in the handler's right hand 5 is
a bar tool 6 for breaking and prying rocks; but more correctly the
handler is holding a replica bar tool, probably made from plastic,
composite or wood to simulate the weight of such a tool on the moon
or at some other location in space. This and other replica mission
tools would be stored in an area of easy access.
[0086] Proxy robot 1 is also holding a bar tool 4 in its right hand
3, but in this case the tool is real, made from steel or a similar
substance capable of performing real work. Note as well that the
robot is being made to walk up a slight hill 7, the incline of
which is duplicated by mechanisms controlling a treadmill 8, which
in this figure and those to come may, in an exemplary embodiment,
be a manual treadmill controlled by the human handler's feet.
Alternatively, the controlling mechanism is a motorized treadmill
that automatically re-centers the handler after each step. Such
control of handler pitch, roll and heading will be covered in the
discussion under the figures to come.
[0087] Pitch and other positional aspects of handler's treadmill 8
are continually adjusted in the handler environment from
computer-driven mechanisms analyzing video and other signals from
the proxy robot. For example, satellite triangulation might have
sufficient resolution to indicate an average terrain rise of so
many centimeters per meter; moreover, Doppler radar transceivers
operating via radio frequency, light, infra-red or even sonar where
applicable could be located in appropriate locations 26, 27 such as
above the robot's eye cameras and in the front of the robot's
boots, respectively.
[0088] Some data, such as that just discussed, flows from proxy
robot location to human base. Just as vital is data flowing from
handler to proxy robot. For example, joints 10 in the arm and wrist
of human handler 2 continually send positional and joint angle data
to the robot for "follow me" replication by the proxy. Similar data
is sent from hand and finger joints 12 in the human handler for
replication in the same joints or hinges 11 in the robot. Torso and
leg angles in the human 14 are also sent as data to the proxy for
replication 13, and joint angles in the feet of the handler 16 are
translated into data for replication in the proxy 15.
[0089] There are a number of means by which joint angle and similar
data can be monitored and sent. One possibility is via clothing
with built-in strain gauges at critical joints; another is from
similar strain gauges in special elastic bands fitted for wear on
the knees, ankles, elbows and so forth. Gloves, stockings and
"booties" can also contain strain gauges. Another approach involves
gyroscopic position marking, especially of the head's various
angles. While only one side of human and proxy are depicted, is to
be appreciated that similar data emanates from the right arm and
leg of the human to control those sections of the proxy as
well.
[0090] Depending on the need of the mission and complexity of the
proxy robot, data may be sent from many more points on the human
for replication by the proxy. Vital sensors would continuously
monitor the side-to-side angle (yaw or heading), up-down angle
(pitch), and sideways tilt (roll) of the human's head, represented
by point 18 in the drawing. All of these angles would be faithfully
replicated by the proxy robot, as represented by point 17. This
latter interchange of data is extremely important, since it
duplicates the human function of scanning, analyzing and just
"looking around."
[0091] Another method of sending "follow me" movement and
positional data from handler to proxy was discussed in U.S. Patent
Application 61/613,935; namely, the use of motion capture
technology to monitor the same critical joint and movement areas by
camera or other means. Depicted in the drawings are three
appropriately modified motion capture cameras 37-39 spaced at
120-degree angles around the handler to capture the handler's every
move. Data from these cameras is sent to a computer for analysis
which is translated to near-real time movement commands to the
proxy robot.
[0092] There are approximately 230 joints in the human body, but a
number far fewer than this can suffice for robots and their human
handlers. Wherever the robot is stiff and inflexible, the human
will feel the same inflexibility in this exemplary embodiment, as
noted by rigid areas 19 on the arm and torso of the proxy and the
same areas 20 on the handler. Area 21 on the human handler
comprises a display of video from the camera "eyes" 28 of the proxy
robot. Other important data may be displayed on the handler's
goggles as well, the subject of the figure to follow.
[0093] A two-way communication headset worn by the handler includes
headphones 22 and microphone 29, and provides a means of handler
communication with human colleagues, including mission personnel
and other team members. The handler's microphone 29 can also be
used for voice commands not directly intended for the proxy robot.
A prime example of the latter is a command to take the handler
off-line: for a change of handlers, a coffee or bathroom break, a
quick meal or other purposes. So the handler might say "Freeze,
Freeze" to stop the robot in its tracks and go offline, and
"Restore, Restore" to restore the link and continue human-robot
interaction.
[0094] FIG. 1A depicts the headset's electronic circuit. Headphones
22a connect to a buss line 36 accessible to other handler team
members and mission personnel. Microphone 29a feeds two buffer
amplifiers 34. The amplifier to the right connects handler voice
communication to the mission buss 36, while the left amplifier
connects to processing circuitry that translates voice commands
like "Freeze, Freeze" into meaningful guidance signals for the
proxy robot. Note that a proxy robot can only receive signals from
her/his handler; other communication on the mission buss is not
received. Alternatively, two microphones at position 29a could be
employed; one to direct handler voice messages to the mission buss,
and another to direct voice commands to the proxy robot.
[0095] A "gravity harness" 23 complete with protruding portions 24
to allow maximum handler flexibility is connected to a number of
bungee cords 25 (or cables with springs) calculated to render the
weight of the human handler the same as that of the handler's proxy
robot at its remote location.
[0096] For example, earth's moon has approximately 1/6 earth
gravity, so if a particular proxy robot weighs 120 kilograms on
earth it would weigh a mere 20 kg on the moon. So the object is to
render the weight equivalent of the human handler that same 20 kg,
regardless of his or her actual weight. Put another way, if the
handler weighs 70 kg, the gravity harness would effectively reduce
that weight to 20 kg if that is the weight of the proxy on the
moon.
[0097] FIG. 2 is an exemplary representation of how a heads-up
display might appear in the helmet or goggles of a human handler,
or on viewing screen(s) in front or possibly surrounding that
handler. The main portion 30 in the upper portion of the drawing
shows real- or near-real-time video from the camera "eyes" of the
handler's proxy robot: a lunar scene with hills in the background
and a large rock in the near foreground being surveyed by another
proxy robot.
[0098] In an exemplary embodiment, as this video would almost
certainly be three-dimensional, the handler's goggles include such
provision for 3-D rendering as polarization, left-right switching,
color differentiation, vertical striation or some other known way
to channel video from the robot's right camera to the handler's
right eye and left camera robot video to the left eye of the
handler.
[0099] The display screen can also include such important
information from the remote location as ambient temperature,
ambient luminosity, pitch forward (incline in this case), roll
right-left (slight tilt to the right showing), heading in degrees
from true north, latitude and longitude, surface conditions, and
proxy battery status, all represented by 31 in the drawing.
[0100] Area 32 of the display might contain alerts and warnings, in
this case a message about an abrupt 3.51 meter rise (the big rock)
some 4.7 meters ahead of the proxy, while area 32 of the screen
could show a frontal and right profile view of the proxy robot's
body in simple outline or stick figure form. The latter could be
vital in depicting a proxy robot fall or entanglement.
[0101] FIG. 3 illustrates an exemplary method and apparatus whereby
the handler can change heading on the treadmill, causing the robot
to change heading while the human handler stays safely on the
treadmill. This can be accomplished by placing the treadmill on a
turntable.
[0102] In FIG. 3A, the handler steps from position 44-45 by moving
her left foot 44 to a turn position 47 pointing to a change in
heading 48 to a new bearing 42 which is forty-five degrees
clockwise of the old position. When the handler moves her right
foot from position 49 to 50 in FIG. 3B (with the left foot
remaining at position 51), this action completes the forty-five
degree bearing change and causes the turntable to rotate from the
old heading 52 to the new heading forty-five degrees right
(clockwise) 53.
[0103] In FIG. 3C we see an exemplary embodiment of treadmill 54 at
the new heading 55, and also that the treadmill has moved the
handler back to the center. What is less obvious is that the
handler has also shifted the positions of her feet 57, 58 to once
again face forward, a move that can take place with a temporary
offline interval like the "Freeze, Freeze" voice command discussed
in FIG. 1 above. Small corrections like this should become second
nature to the handler with adequate training.
[0104] FIG. 4 shows an example of how the orientation of turntable
40 in FIG. 3 can be changed to follow the footsteps of the human
handler. In FIG. 4A, the handler's left foot 59 has already moved
to the new orientation. Next the handler moves her right foot from
position 60 to 61, aligning both boots in the new heading. FIG. 4B
shows a magnified and more detailed top-down view of the right boot
64, showing two marker points 65 and 66 along the front-facing axis
of the boot. The left boot (not shown) would have points at
corresponding locations.
[0105] In FIG. 4C, an overhead reader 68 scans or otherwise notes
the position of these markers atop the handler's boots, including
markings 65a and 66a on the right boot 64a as shown. When the
second boot (the right one in this example) has changed heading,
reader 68 sends a command to the turntable (40 in FIG. 3A) to
rotate to a new heading averaged between the heading readings from
both boots.
[0106] In practical terms there are many ways that reader 68 can
track the points on the handler's boots. One possibility is by
radio transmission (RFID, Bluetooth, WiFi, Zigbee, near-field or
any number of other RF means), wherein the reader contains
transceivers that "ping" both points on each boot and triangulate
their relative locations. Other triangulation methods can include
laser transmission and reflection, radar and sonar. Or the points
on the boots might themselves be transmitters of RF, sound or
light, in which case the reader would incorporate one or more
receivers to plot the orientation of each boot.
[0107] Still under FIG. 4C, the areas 69 under the heel and sole of
each of the handler's boots denote pressure switches to signal
"foot down" to the proxy robot. This is an important operation,
since it may be difficult for the handler to know whether a proxy's
"foot" is firmly down or still hanging an inch off the ground,
creating an impossible situation for the robot when the handler
moves the other foot.
[0108] So the purpose of each pressure switch 69 is to tell the
proxy robot that the heel, sole or both portions of the handler's
boot is firmly on the ground, at which point the proxy will follow
suit. Having pressure switches 69 under each portion also guides
the proxy in the navigation of rough terrain, steep angles and so
forth.
[0109] While FIGS. 3 and 4 above demonstrated a method and
apparatus for varying the heading of a human handler on a
treadmill, FIGS. 5-7 will demonstrate method and apparatus for
varying the pitch 78 (tilt front-to-back) and/or roll 82 (tilt
side-to-side) of the treadmill.
[0110] FIG. 5 depicts an exemplary embodiment of treadmill 70
mounted to a stand 71 with appropriate mounting hardware 72.
Attached underneath the stand are four legs 73-76 extendable via
hydraulic, pneumatic or other means from a relatively flat profile
77 to many times that height 73. When all legs are in their
compacted state, the plane of stand 71 and its treadmill 70 is
flat, without tilt in any direction.
[0111] Let us first consider pitch. If we want to tilt the
treadmill up from front to back 80, front legs 74 and 75 should be
in their compressed state, while back legs 73 and 76 will be
totally or partially extended to achieve the desired rise to the
rear of the treadmill. Front-up, rear-down pitch 81 is achieved by
doing the opposite: extend front legs 74 and 75 and compress back
legs 73 and 76.
[0112] In the case of roll, we can tilt (roll) the treadmill
downward toward the right side 84 by compressing legs 75 and 76
while extending legs 73 and 74, or conversely tilt downward toward
the left side 85 by compressing legs 73 and 74 while extending legs
75 and 76.
[0113] The accurate simulation of some remote terrain might involve
a degree of both pitch and roll: for example, as the proxy robot
climbs an irregular incline. Simulating this condition might
involve fully compressing left rear leg 73, fully extending right
front leg 75, and partially extending legs 74 and 76--all in
accordance with terrain data received from video and sensors on the
proxy robot.
[0114] FIG. 6 illustrates another exemplary method and apparatus
for adding pitch and roll as taught in FIG. 5 above to a treadmill
86 mounted by suitable means 87 to a stand 88 which rests on four
or more short legs 89. Each leg in turn rests on a ball joint 91
and ball-cupped foot 90 which may be mounted to the floor.
[0115] In this figure, pitch and roll are controlled by four
winches 97-100, each connected to a cable, wire or rope 93-96, and
one or more corners of the treadmill stand 88 are lifted to achieve
the appropriate amount of pitch and/or roll. For example, if the
incline of the terrain depicted in FIG. 1 above defines a rise
(pitch) of 9 degrees, the treadmill might need to rise 10 cm from
back to front, meaning that each of the two forward winches 97 and
98 would be commanded to take in 10 cm of cable.
[0116] In the example above, the treadmill would rest solely on its
two rear legs, but the angle of each leg would no longer be
perpendicular to the floor. This is the reason for ball joints 91,
allowing the some weight of the treadmill and stand to rest on the
rear legs even as their angle changes relative to the floor.
[0117] Always having at least one and usually at least two feet on
the floor will help secure the semi-hanging treadmill, stand and
human controller, but there are at least two additional
possibilities to further stabilize the device. The first is to have
telescoping elements 92 in each short leg to allow all legs to
continue to touch the floor under any combination of pitch and
roll. These are not the hydraulic or pneumatic jacks of FIG. 5, but
rather serve only to stabilize the platform against sway. Rather
than strictly telescoping, the internal extension 92 might also be
made of spring steel, gently pulling the stand down under small
extension and exerting increasing counter-force with greater
extension.
[0118] A second method of platform stabilization is depicted in the
form of lines 115-118 radiating outward from each corner of the
stand 88. These lines are connected to a suitable hook 119, and may
represent bungee cords or ropes or cables with series springs to
maintain the entire platform centered and stable under various
conditions of pitch and/or roll.
[0119] FIG. 7 illustrates still another exemplary method and
apparatus for the addition of pitch and roll to a treadmill
simulator for human proxy robot handlers, wherein the legs 120
under a treadmill 108 are firmly mounted to the floor of a modified
or custom made motion simulator 101. Motion simulators are
typically costly devices, with pitch, roll and various vibratory
sensations (like earthquakes, rocket engines or runaway trains) are
created by varying the length of four or more large hydraulically
extending arms 102-105 resting on large floor pads 106, 107.
[0120] Within the pod of motion simulator 101 we see the human
handler of FIG. 1, complete with gravity harness 109 and bungee
cords or cables with series springs 110 hanging on hooks 111 from
the ceiling of the pod. Note however, that this environment allows
the human handler to view video from the camera "eyes" of her proxy
robot on a large and possibly wrap-around video screen or screens
112 rather than view the same video in a helmet or goggles.
[0121] As a consequence, the goggles 113 worn by the handler in
this drawing are likely for 3-D viewing, while a two-way headset
114 may still be employed for mission and team communication as
well as voice commands like "Freeze, Freeze." Although the same
ends could be accomplished via a microphone and speakers not
directly connected to the person of the handler, the headset 114
serves the additional purpose of isolating the handler from ambient
noise including operational sounds of the motion simulator.
[0122] FIG. 8 illustrates an example of a spherical treadmill with
variable pitch, roll and infinitely variable heading. In this novel
approach, the treadmill takes the form of a large sphere 130, with
a diameter many times average human height; e.g., at least three
times but preferably five or more times human height. The diameter
of sphere 130 in FIG. 8 is approximately 30 feet, but the simulator
staging area typically occupies only the top 25% to 35%, as
depicted by floor line 140. The sphere protrudes from a circular
opening in upper floor 140, and a small area 168 where floor meets
sphere is magnified to depict Teflon.RTM. or a flexible, renewable
material such as bristles, rubber or plastic between the two
surfaces. In addition to keeping debris from falling through the
floor, this junction 169 serves to stabilize the sphere and smooth
its motion.
[0123] The sphere 130 can be made of a lightweight but strong
material such as plastic, aluminum or composite coated with rubber
or a similar no-slip substance. It rests upon three or more large
bearings 134, with each bearing seated in a socket 134a which is
mounted firmly in place to the support floor under sphere 130.
Bearings 134 and their lubricated sockets 134a assure movement of
the sphere with minimum friction, allowing pressure wheel motors
131 and 133 to be relatively small and economical.
[0124] In the upper (simulator stage) portion of the sphere 130, a
human handler 135 is taking a step to direct her proxy robot's
course. As this takes place, data indicating handler heading 141,
step distance 142 and step moment (time duration and velocity) 143
is sent to handler step motion circuitry 136 which sends
appropriate data representing each parameter to both the proxy
robot as part of a "follow me" data string 139 and to a processor
137 that feeds either digital or analog data to motor control
circuitry 138a, 138b and 159, with description to follow later.
[0125] If the proxy robot is walking on flat terrain, the human
handler will occupy position 135a at the very top, center of sphere
130. Although that handler will be atop a very slight rise equal to
the rise atop that section of the sphere, the simulation from a
sphere five times the human's height will be of a relatively flat
surface.
[0126] But if the robot is walking up a rise akin to the example in
FIG. 1, this positive (nose up) pitch of around 10 degrees can be
simulated by situating the handler in position 135b on the sphere.
A more severe forward pitch of approximately 20 degrees is shown as
position 135c on the sphere, while at position 135d near floor
level, rise in pitch approaches 45 degrees. Positive (upward) pitch
is represented by arrow 144 in the drawing, while downward or
negative pitch is represented by arrow 145.
[0127] Downward pitches on the same heading at -10, -20 and -45
degrees can be simulated from positions to the left of the sphere,
at 135e, 135f and 135g, respectively. If the handler's position
moves left in the direction of arrow 146, there will be leftward
roll (left tilt) in that position. For example, position 135h would
exhibit severe roll, tilting some 25 degrees to the left. Moving
the operating stage in the opposite direction (hidden from view)
will result in roll to the right (right tilt). From the foregoing,
it can be seen that any conceivable combination of pitch and roll
can be found at various locations on the surface of the spherical
treadmill 130.
[0128] Since the pitch and roll conditions in the simulator beneath
the human controller are determined by feedback 152 from the proxy
robot's remote location, suitable means must be present to change
the location of the handler staging area to one matching the
average pitch and roll of the remote terrain. In the drawing, data
is received from at least three sources on the "person" of the
proxy robot: 3-D video from its camera "eyes" 153, terrain-level
radar data from its boots 157, and an additional radar view 158
from a point above the robot's video cameras.
[0129] The video feed from the remote location is routed directly
to display devices for the human handler and other mission
personnel. Video can also go to a video terrain analyzer 153 which
turns the near-real-time video stream into data 156 about the
terrain ahead, both immediate (next step) and the general lay of
the land upcoming.
[0130] These three data streams--video analysis 156, boot view
radar 157a and "third eye" radar 158a are routed to a "terrain just
ahead data" circuit 154 where they are bundled with data from
handler step motion data circuit 136 and fed to a processor 137
which turns all the input into meaningful signals to drive the
above-mentioned motor control circuitry 138a, 138b and 159.
[0131] Motor control circuits 138a and 138b convert the data from
processor 137 into positive or negative direct current to drive
motors 131 and 133 and their respective pressure rollers 131a and
133a in either direction when so instructed by processor 137,
causing the sphere to turn under the handler's feet to compensate
for steps the handler takes forward, backward or in any direction
whatever. But since it is also acting from signals representing
such upcoming terrain conditions as pitch 144, 145 and roll 146, it
is the function of the roller motors to effectively move the sphere
under the handler as each step is taken to place that person in
average pitch and roll conditions matching the remote terrain to
the greatest extent possible.
[0132] Motor mounts 132 are illustrated to show a possible position
for a pressure solenoid that can activate whenever a roller motor
is called into service, pushing, for example motor 131 and its
attendant roller 131a harder into the sphere to gain traction. The
advantage of using solenoids in this manner is that the non-active
roller(s)--from motor 133 and its roller 133a in the
example--provides less drag for the active motor and roller to
overcome. Of course there may be instances when both roller motors
(or possibly four roller motors, one every 90-degrees, with roller
motor pairs spaced 180 degrees apart) may be called into action
simultaneously. But in this case there will be less drag to
overcome as motion overcomes inertia, even with all solenoids
pushing the motors' rollers into the sphere. Although roller motors
131 and 133 are depicted as mounted against the upper floor 140,
they can also be mounted at the sphere's equator or in any other
convenient position.
[0133] As described in previous drawings, the human handler would
be strapped into a gravity harness suspended from a platform 148,
149 by a number of bungee cords or cables with springs 147. A
rotation collar 149b allows the platform to rotate freely in any
direction. As the handler is effectively moved about on the staging
surface of the upper sphere, it is important that the gravity
harness follow those movements to maintain the handler's correct
effective weight, by lifting from a position directly above the
handler and harness. In the drawing, three handler positions are
depicted: 135a which is relatively flat, 135b with a positive pitch
10 degrees, and 135c with a forward incline of some 20 degrees.
[0134] Roller motors 131 and 133 can place the handler in any of
the above positions or virtually anywhere else on the simulator
stage, but an additional mechanism is needed to move the gravity
harness as the handler is moved. This mechanism is an extendable
boom or robotic arm 162 shown at the top of FIG. 8, which provides
overhead lift as well as positional correctness directly over
whatever handler's position. The boom or robotic arm depicted is
for illustrative purposes only, as it can be appreciated that other
combinations of tracks, motors and cables can place the handler at
the required positions.
[0135] At the tip of the boom is a winch 161. The motorized winch
maintains constant torque (upward pull) on the handler at some
predetermined level. For example, if the handler is to match the 40
lb. lunar weight of a 240 lb. robot, that handler's weight should
be effectively 40 lbs. So a 160 lb. human handler would require a
constant upward pull of 120 lbs., and a downward pull by gravity of
40 lbs. It is the job of winch 161 to maintain this effective
weight. The winch pays out as much cable 150 as necessary to
constantly maintain the desired upward pull on the handler, and it
receives data from processor 137 via boom motor control circuit
159. The cable positions 150, 150a and 150b are maintained directly
over handler positions 135a,135b and 135c, respectively, by lateral
movement of the boom, which can extend/retract; swing right or
left, and tilt up or down in accordance with data instructions from
processor 137 and boom motor control 159.
[0136] Maintaining constant torque solves one problem; namely, that
the length of cable 150 must change the further the handler is
moved from the "flat" position 135a at top center. So when
processor 137 and roller motors 131, 133 act to place the handler
in position 135c, for example, the length of cable 150 would leave
the handler dangling in mid-air. But not really, since such
dangling weight would equal 160 lbs downward. Immediately, the
constant torque mechanism would tell the winch to let out more
cable until the handler once again exerts 40 lbs downward and 120
lbs upward.
[0137] The winch weight-reducing apparatus is only necessary in
remote locations with far less gravity than earth, a situation
particularly true on the moon. For earth-bound projects, for
example, the handler harness would require no gravity compensating
apparatus, nor would it be useful on planets with greater gravity
than earth.
[0138] FIG. 8A illustrates another approach to the rotation of
sphere 130. Items numbered between 130 and 165 remain as described
in FIG. 8 above, while FIG. 8A is concerned with a plurality of
motors with rollers equally spaced around the sphere, preferably at
its equator 281. In this drawing, twenty-four such roller motors
are spaced at fifteen degree intervals around the sphere, with Nos.
251-263, representing the 13 roller motors visible in the
hemisphere facing outward in the figure, and 264 representing the
11 roller motors out of view. In fact, any number of roller motors
might be employed, with greater roller motor numbers spaced
proportionately closer yielding finer control over the movement of
the sphere 130. For example, thirty-six roller motors might be
spaced at ten degree intervals, with opposing roller motors (at
180-degree spacing) receiving positive or negative direct current
such that one motor such as 251 in the drawing will turn in the
opposite direction of its opposing counterpart 263.
[0139] Simply activating opposing roller motor pairs with motors
spaced at ten degree intervals would permit the same ten degree
resolution of movement by the sphere, but the ability to activate
two neighboring motors such as 257, 258 when necessary as well as
their counterparts on the other side of the sphere can reduce that
resolution to five degrees of accuracy. But in point of fact,
extremely fine resolution of movement, on the order of one degree
or less, can be achieved through the application of more voltage on
a motor such as 257 and less on its neighbor 258 as well as their
opposing counterparts.
[0140] In this drawing, the motor control circuits 138a and 138b of
FIG. 8 are replaced with a motor array controller 250 which
translates data from processor 137 into analog currents of specific
polarity and amplitude to move spherical treadmill 130 in any
desired direction under a human handler.
[0141] Motor and roller assembly 251 is shown in blowup form in
insert 251a, wherein motor 266 is attached to roller 267, and the
roller motor assembly itself is attached to a motor mount 268
attached to sphere 130. The motor mount includes a swivel 268a and
spring 269 that pulls the roller motor assembly away from the
surface 282 of the sphere, creating a gap 273 whenever the roller
motor is not in use. This swivel and spring combination assures
that inactive rollers are kept off of the surface of the sphere so
that they don't add unwanted friction that impedes sphere rotation.
Obviously, the swivel and spring are for illustration purposes
only, and merely representative of a family of devices that can be
employed for the stated purpose.
[0142] Also shown in insert 251a is a push solenoid 270 mounted 280
to sphere 130. The solenoid has an inner plunger 271, usually an
iron rod that can be repelled or attracted by a magnetic coil in
the solenoid. In this insert, the solenoid is not activated and the
plunger is withdrawn nearly completely into the solenoid core.
[0143] Insert 265 illustrates a mode wherein the roller motor
assembly is activated such that the roller comes into pressure
contact with the surface 283 of sphere 130. This is shown in blowup
form in insert 265a, where roller 274 is pressed against sphere
surface 283 by energized solenoid 278 mounted 280 to the sphere.
Note that plunger 279 is now extended from the solenoid core by
magnetic repulsion, causing the motor mount 276 to rotate inward
(counter clockwise) on its swivel 276a, stretching spring 277. In
this active mode, positive or negative current applied to motor 274
by motor array controller 250 will cause the motor to turn in one
direction, rotating the pressure roller 275 in the same direction,
and causing sphere 130 to turn in the opposite direction.
[0144] FIG. 9 depicts an exemplary method and apparatus for
harvesting solar energy to maintain batteries and electrical
systems functional for an extended period in proxy robots through
the provision of built-in photovoltaic panels 180 on the upper
surfaces of a cap, hat or helmet 181, including dome portion 182
and sunshade portion 183. Such a cap is also useful in shading
robotic eye cameras from direct sunlight.
[0145] Photovoltaic (PV) solar panels may also be included on
shoulder/breastplate 184. Although the figure depicts 6 individual
cells or sections in breastplate 184F (front), this is for
illustration purposes only, and any number of sections or cells may
be employed. Photovoltaic panels may also be placed on the top
facing surfaces of the feet 185R and 185L.
[0146] FIG. 9A is a rear view of the dome 182 and sunshade 183 of
the cap, hat or helmet, while 184B (back) represents photovoltaic
panels on the upper back and shoulder area.
[0147] FIG. 9B is a block diagram showing solar panels 180, 184F,
184B, 185R and 185L all connected to individual inputs in a PV
charge manager 186. All photovoltaic panels generate electrical
energy when exposed to sunlight or other radiation; energy which
can be stored in batteries like the proxy robot's internal battery
bank 187. PV charge manager 186 is designed to harvest any and all
electrical energy emanating from the robot's PVs and convert it
into charge energy for the batteries.
[0148] From battery bank 187, electrical power 188 is routed to
mobility motors, processors, communication systems, cameras and
other sensors, size-changing apparatus and other systems and
devices in the robot requiring electrical energy. A charge station
connector 189 is included on the battery bank to receive power from
another charge manager located in the robot's normal charging
station.
[0149] If battery power is very low, robot power routing may be
prioritized--either automatically or from the mission base--in such
manner that communication systems and cameras, for example, may
receive power when some other robotic system do not. This will
allow mission personnel to analyze the situation and seek
remedies.
[0150] The inclusion of solar energy systems as described in FIG. 9
above provides an important failsafe, allowing an out-of-power
robot to "re-fuel" away from its normal charging station 189.
Moreover, it might be possible to completely bypass a failed
battery bank and still have sufficient solar power available for
communication, diagnostics, a shift in position to maximize solar
input, or possibly even a slow but steady trek back to the
base.
[0151] FIG. 10 illustrates an exemplary method and apparatus for
the adjustment of key proxy robot dimensions by means of
turnbuckle-like bolts with opposing threads. Specifically,
dimensions are increased or decreased by use of either electric
motors 191-195 or a manually-adjusting element such as
wrench-adjusted portion 205 in FIG. 10A.
[0152] For example, if positive DC current is applied to motor 191
in the torso of the pictured proxy robot, the motor will commence
rotation, turning its two oppositely-threaded shafts 196 and 1997
in a counter-clockwise (CCW) direction (see threaded portions 201
and 202 in FIG. 10 for clarity). This CCW rotation will cause
shafts 196 and 197 to screw into threaded tubes 198 and 199,
diminishing the torso length of the proxy robot.
[0153] Conversely, applying negative DC current to motor 191 will
cause clockwise (CW) rotation of the oppositely-treaded shafts 196
and 197, causing these shafts to exit each treaded tube 198-199 and
extend the dimensions of the torso.
[0154] The same applies to all other motors 192-195 and their
corresponding shafts 196-197 with opposing threads and threaded
tubes 198 and 199, but in the case of all other adjustable
sections, normal operation would be to adjust right and left halves
in pairs. For this reason there are two motors 192 in the upper
arms with shafts and threaded tubes; two motors 193, et al in lower
arms; two motors 194 et al in upper legs and two motors 195 in
lower leg sections. In the drawing, darkened areas at the joints
190, shoulders and hips simply indicate structural connection
points to complete the robotic skeleton.
[0155] Thus it can be seen that positive or negative DC current may
be applied to either torso motor 191 or any of the arm or leg
pairs, not only to adjust the overall height of the proxy robot
from a minimum of around 5 feet to a maximum of 6.5 feet or
greater, but also to adjust body proportions to match those of a
human handler with, for example, long legs and short torso; long
arms and legs and average torso, or long torso and shorter
legs--combinations that real people bring to each mission. More
will appear on this subject under FIG. 10B below.
[0156] Power-assisted proxy robot adjustment means like those
described above might enable programmed readjustment of robot
dimensions with each change of handler. For example, 5 handlers
might be continuously operating a single robot in shifts,
twenty-four hours per day, seven days a week (earth time). At each
shift change, the new handler could enter a code or swipe a card
(etc) which would not only serve as a security pass but also feed
that particular handler's human dimensions into a program that
would automatically readjust the robot to the dimensions of the new
handler. The closer the physical match between handler and robot,
the simpler and safer it movement and productive operation, and the
more the handler will feel "at home" in the body of her/his robotic
partner.
[0157] Of course, manual dimension adjustments might be made to a
proxy robot with motorized or otherwise powered controls as well,
not only to override or circumvent programmed adjustment but also
for testing or field adjustments for whatever reason. In one
example of the latter, particular conditions in a mine or crater,
say, might need the services of a "taller" robot, while work in a
confined space might warrant minimizing all dimensions.
[0158] FIG. 10A, as discussed above, is partly included to show a
magnified turnbuckle-like element for clarity. But it also stands
alone as an alternative to automatic and/or machine-adjustable
dimensional elements, with a center element 205 integral to a
threaded shaft with opposing threads 201 and 202. Although the
figure shows a turnbuckle or screw extender-style apparatus with
threads in two elements 206 and 207 matching each threaded shaft at
the center end of two open "C" support braces 203 and 204, a more
likely scenario is that of internally-threaded tubes like those in
FIG. 10 rather than support braces and threaded end elements.
[0159] To extend the apparatus of FIG. 10A, a wrench or similar
tool is placed over fixed center element 205. As above, CCW
rotation will cause shafts 201 and 202 to screw into
internally-threaded elements 206 and 207, diminishing the overall
length 208 of the mechanism, while manual CW rotation will causing
the threaded shafts to exit each end element 206 and 207, extend
overall length 208.
[0160] FIG. 10B shows, in block diagram form, how the proxy robot
dimension motors might work in a circuit. The motors represent
upper arm portion 192 (left, right); lower arm section 193 (L,R);
torso 191T; upper legs 194 (L,R); and lower leg sections 195 left
and right. Note that all left, right motors are paired (wired in
parallel), such that any adjustment to one lower arm, for example,
would normally make the same adjustment in the other as well.
[0161] The two sides of each motor coil are directed to a proxy
dimension motor controller 210, which in turn receives data 219
representing programmed dimensions 216 which can be either entered
locally 217 at the site of the proxy robot, whether in factory,
home base or some remote location, or, more likely, as remote input
218 within the communication data stream from the mission base.
[0162] Note as well direct inputs 211-215 to each motor or pair.
This allows dimension changing by the application of appropriate
positive or negative DC current directly into the robot--for
testing, emergency situations, work-arounds and so forth.
[0163] FIG. 10C illustrates "taller" and "shorter" versions of a
proxy robot, adjusted to match a taller and shorter human handler
in each instance. Specifically depicted is a six-foot, six-inch
human handler 220, and a proxy robot 221 adjusted to match the
handler's overall height, arm and leg length, and so forth in
accordance with the drawing and description under FIG. 10
above.
[0164] To the right of the taller human-proxy robot pair is
another, shorter human handler 222 of five foot height, matched by
proxy robot 223 of that same height. While it is obvious that
humans 220 and 222 are not the same individual, the same cannot be
said of robots 221 and 223, which very well may be the same proxy
robot adjusted electronically to match the heights and other
dimensions of the two rather distinct human handlers.
[0165] Note that the proxy robot's outer skin 224, 225 remains
smooth and intact over the surface of the robotic frame. This outer
skin renders the robot's internal circuits, power supplies and
mechanisms clean and free from contaminates like dust, liquids and
so forth, made possible through the use of an elastic, pleated or
otherwise stretchable proxy robot skin constructed of plastic,
rubber or some other flexible material.
[0166] Note as well compartments 226-229 in the larger proxy robot
iteration 221. These contain electronics, mechanics, batteries,
etc, and are mounted with vertical space between pairs 226-228 and
227-229. But in shrunken proxy robot iteration 223, the extra
vertical space between the same compartment pairs 226a-228a and
227a-229a has nearly disappeared.
[0167] The principals discussed under FIG. 10C are for illustration
purposes only, and apply equally to other dimension adjustment
means such as hydraulic, pneumatic, screw-motor, turnbuckle, etc,
while the illustration of compartments is also exemplary and not
limiting in any manner.
[0168] FIG. 11 represents at least three scenarios wherein a proxy
robot's dimensions (and quite possibly its movements as well) are
controlled by fluid dynamics, including hydraulics and pneumatics.
The first scenario involves hydraulics, with a hydraulic fluid
reservoir tank 241 connected to a pump 230 that turns on as
necessary to maintain some pressure constant in the tank and
hydraulic systems. Although pump 230 is depicted in a position
between tank 241 and hydraulic tubing 240 that runs throughout the
robot, the actual location of the pump may vary.
[0169] Typically pump 230 is electrical; nevertheless, in dealing
with proxy robots, whether semi-autonomous or under direct human
handler control, it is possible to consider even a manual pump that
can be operated by either another proxy robot or even the subject
proxy robot itself: when it begins to feel "tired" it pumps a
plunger, squeezes a fluid-filled ball or whatever to revitalize
itself! Considerations such as this make it possible to envision
robots operating completely from compressed fluid, with perhaps a
single electric pump or even no electric compressor pump at all,
with the robot receiving a full pressure charge periodically from a
station at its mission base.
[0170] Still under scenario one, pressurized hydraulic fluid is
available to a series of pressure valves 231-235 which take on the
functions of the dimension-changing screw motors presented under
FIG. 10. In the present case, each valve operates two pistons 238,
239 which protrude from cylinders 236-237 to change the overall
dimension of their particular strut either positively (more length)
or negatively (less length) depending on the hydraulic pressure let
through each valve. Obviously, each hydraulic strut could operate
with a single piston and cylinder rather that the double-ended
configuration depicted.
[0171] The second scenario is also hydraulic, but in this case tank
241 serves to simply provide extra hydraulic fluid, and what were
pressure valves 231-235 become individual pumps that each generate
pressure sufficient to maintain a required set of strut dimensions.
In this scenario, tank pump 230 simply assures sufficient fluid
supply to each individual strut pump.
[0172] Scenario three works basically like scenario one, but in
this case compressed gas replaces the hydraulic fluid. So pressure
pump 230 is an "air" (gas) compressor that maintains the gas in
tank 241 at a constant pressure, and pressure valves 231-235,
pistons 238-239 and cylinders 236-237 are all pneumatic rather than
hydraulic. Although robot mobility is not the focus of the present
discussion, it is to be understood that systems for robot motion
can also be hydraulic or pneumatic in nature as well as operating
from electric motors so some combination of the above.
[0173] The block diagram under FIG. 11A serves a purpose identical
to the circuit of FIG. 10B above, but in the present case the
circuit serves hydraulic or pneumatic dimension-changing systems
rather than achieving the same purpose through electrical means as
in FIG. 10B.
[0174] Specifically, numbered items 231-235 are either pressure
pumps or pressure valves as described in FIG. 11 above, including
pumps or valves representing upper arm portion 232 (left, right);
lower arm section 233 (L,R); torso 231T; upper legs 234 (L,R); and
lower leg sections 235 left and right. Note that all left, right
pumps or valves are paired (wired in parallel), such that any
adjustment to one lower arm, for example, would normally make the
same adjustment in the other as well.
[0175] The two sides of each pump motor or electrical valve coil
are directed to a proxy dimension motor controller 250, which in
turn receives data 251 representing programmed dimensions 252 which
can be either entered locally 253 at the site of the proxy robot,
whether in factory, home base or some remote location, or, more
likely, as remote input 254 within the communication data stream
from the mission base.
[0176] Note as well direct inputs 245-249 to each motor or pair.
This allows dimension changing by the application of appropriate
positive or negative DC current directly into the robot for
testing, emergency situations, work-arounds and so forth.
[0177] This specification focuses on the creation of an environment
for a human handler reflecting as closely as possible the remote
environment of the handler's proxy robot. Simulating a remote
environment is extremely valuable in training human handlers of
proxy robots, both singly and in teams.
[0178] For training purposes, the content herein is applicable to
robots with some or even a great deal of autonomy as taught in the
previous application. But for actual missions this specification is
particularly pertinent to cases where the robot is largely devoid
of artificial intelligence (AI), essentially representing an
extension of the human handler.
[0179] Put another way, this specification is about human
telepresence in space, and especially in such near-space locations
as the earth's moon. During his or her turn in control of a given
proxy robot, the human handler sees and feels and acts through the
"person" of that robot: guiding the proxy in exploring; mining;
doing science experiments; constructing; observing the earth,
planets or stars; launching spaceships to further destinations;
rescuing other robots or humans; or simply enjoying an earthrise
over the moon's horizon.
* * * * *