US 12,124,256 B2
Systems and methods of remote teleoperation of robotic vehicles
Matthew D. Summer, Melbourne, FL (US); William S. Bowman, Melbourne, FL (US); Andrew D. Falendysz, Winter Green, FL (US); Kevin M Makovy, Palm Bay, FL (US); Daniel R Hedman, Palm Bay, FL (US); and Bradley D. Truesdell, Vero Beach, FL (US)
Assigned to Tomahawk Robotics, Inc., Melbourne, FL (US)
Appl. No. 17/417,194
Filed by Tomahawk Robotics, Inc., Melbourne, FL (US)
PCT Filed Dec. 31, 2019, PCT No. PCT/US2019/069148
§ 371(c)(1), (2) Date Jun. 22, 2021,
PCT Pub. No. WO2020/142550, PCT Pub. Date Jul. 9, 2020.
Claims priority of provisional application 62/786,888, filed on Dec. 31, 2018.
Prior Publication US 2022/0083054 A1, Mar. 17, 2022
Int. Cl. G05D 1/00 (2024.01); B62D 57/02 (2006.01); G05D 1/222 (2024.01); G05D 1/223 (2024.01); G05D 1/224 (2024.01); G05D 1/24 (2024.01); G05D 1/65 (2024.01); G06F 3/0346 (2013.01)
CPC G05D 1/0016 (2013.01) [B62D 57/02 (2013.01); G05D 1/0033 (2013.01); G05D 1/0038 (2013.01); G05D 1/0223 (2013.01); G05D 1/222 (2024.01); G05D 1/223 (2024.01); G05D 1/224 (2024.01); G05D 1/2247 (2024.01); G05D 1/2248 (2024.01); G05D 1/24 (2024.01); G05D 1/65 (2024.01); G06F 3/0346 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of teleoperation of a vehicle located in a field of view of a camera comprising:
receiving, from an input device coupled to a user interface device, a desired direction of motion of a ground vehicle in a user interface reference frame;
receiving, via a first wireless network connection associated with an aerial vehicle that is coupled to a remote camera, a first position of the remote camera in a global reference frame, wherein the ground vehicle is within a field of view of the remote camera and the remote camera provides visual data of the ground vehicle for projection on the user interface reference frame;
receiving, via a second network connection coupled to the ground vehicle, a second position of the ground vehicle in the global reference frame;
generating, based on the first position of the remote camera in the global reference frame, the desired direction of motion in the user interface reference frame, and the second position of the ground vehicle in the global reference frame, a direction of motion of the ground vehicle in a vehicle reference frame, wherein the direction of the motion corresponds to the desired direction of movement of the ground vehicle in the user interface reference frame;
transmitting the direction of motion to the ground vehicle; and
controlling the ground vehicle to move in the direction of motion in the vehicle reference frame.