Patent ID: 9031697
Filing Date: 2015-05-12
Classification: B25J,G05B,G05D,Y10S

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