Coordinate mapping for motion control

Abstract

Systems and methods for controlling motion of remotely operated equipment such that a motion path is automatically determined for a plurality of joints of the remotely operated equipment based on an updated target position input received from an operator, a current position of the remotely operated equipment, and predetermined parameters indicative of the geometry of the plurality of joints. An optimized motion path may be provided that avoids detected obstacles and joint singularities of the remotely operated equipment.

Having thus described various embodiments of the invention, what is claimed as new and desired to be protected by Letters Patent includes the following: 
     
         1 . (canceled) 
     
     
         2 . A method for controlling motion of a remotely operated equipment communicatively coupled to at least one input device of an operator, the method comprising:
 automatically determining a control point on at least one tool coupled to the remotely operated equipment;   identifying a current position of the control point on the at least one tool and a current position of the at least one input device;   detecting motion of the at least one input device;   responsive to detecting motion of the at least one input device, determining an updated target position for the control point on the at least one tool; and   generating a motion path for the remotely operated equipment to move the control point on the at least one tool to the updated target position based on the current position of the control point.   
     
     
         3 . The method of  claim 2 , further comprising:
 receiving, from the operator, a manual selection requesting to adjust the control point on the at least one tool; and   responsive to the manual selection, updating the control point on the at least one tool to a new position on the at least one tool indicated in the manual selection.   
     
     
         4 . The method of  claim 2 , further comprising:
 receiving an indication that the remotely operated equipment has been coupled to an at least one subsequent tool distinct from the at least one tool; and   responsive to the remotely operated equipment being coupled to the at least one subsequent tool, automatically updating the control point based on the at least one subsequent tool.   
     
     
         5 . The method of  claim 2 , wherein the at least one input device comprises a position sensitive controller configured to be held by the operator. 
     
     
         6 . The method of  claim 5 , wherein the at least one tool is a drill tool coupled to an end of a robotic arm of the remotely operated equipment. 
     
     
         7 . The method of  claim 6 , wherein the control point is positioned at a handle portion of the drill tool. 
     
     
         8 . The method of  claim 6 , wherein the control point is positioned at a drill bit portion of the drill tool. 
     
     
         9 . A system for controlling motion of a remotely operated equipment, the system comprising:
 at least one input device;   a communications connection coupled to the remotely operated equipment;   at least one processor; and   one or more non-transitory computer-readable media that store computer-executable instructions that, when executed by the at least one processor perform a method of controlling motion of the remotely operated equipment, the method comprising:
 automatically determining a control point on at least one tool coupled to the remotely operated equipment; 
 identifying a current position of the control point on the at least one tool; 
 detecting motion of the at least one input device; 
 responsive to detecting motion of the at least one input device, determining an updated target position for the control point on the at least one tool; and 
 transmitting a control signal to the remotely operated equipment via the communications connection, the control signal including information indicative of the updated target position for the control point on the at least one tool. 
   
     
     
         10 . The system of  claim 9 , wherein the at least one input device comprises a position sensitive controller configured to be held by an operator. 
     
     
         11 . The system of  claim 10 , wherein the communications connection comprises one or more fiber-optic cables disposed across a dielectric gap of a boom assembly supporting the remotely operated equipment. 
     
     
         12 . The system of  claim 9 , wherein the updated target position comprises a three-dimensional coordinate mapping for the control point on the at least one tool operable to control motion of the remotely operated equipment with six degrees of freedom in a three-dimensional space. 
     
     
         13 . The system of  claim 9 , wherein the system is configured to receive a signal from a remote capture device associated with the remotely operated equipment, the signal including sensory information captured by the remote capture device. 
     
     
         14 . The system of  claim 9 , wherein the control point is positioned at a handle portion of the at least one tool. 
     
     
         15 . The system of  claim 14 , wherein the control point is identified based at least in part on a tool type of the at least one tool. 
     
     
         16 . The system of  claim 9 , further comprising:
 a head-mounted display coupled to the at least one input device and configured to be worn by an operator during use, the head-mounted display operable to display real-time images of a remote operating environment of the remotely operated equipment during use.   
     
     
         17 . A method for controlling motion of a remotely operated equipment communicatively coupled to at least one input device of an operator, the method comprising:
 identifying a tool type associated with a tool coupled to the remotely operated equipment;   automatically determining a control point on the tool based at least in part on the tool type;   identifying a current position of the control point on the tool;   receiving an input command from the at least one input device, the input command requesting motion of the remotely operated equipment;   responsive to receiving the input command from the at least one input device, determining an updated target position for the control point on the tool based on the input command; and   generating a motion path for the remotely operated equipment to move the control point on the tool to the updated target position based on the current position of the control point.   
     
     
         18 . The method of  claim 17 , wherein the tool type is identified from one of a gripping tool type, a hotstick tool type, and a drill tool type, and wherein each tool type is associated with a respective default control point. 
     
     
         19 . The method of  claim 17 , further comprising:
 responsive to a tool change operation, identifying a subsequent tool type associated with a subsequent tool coupled to the remotely operated equipment; and   automatically determining an updated control point on the subsequent tool based at least in part on the subsequent tool type.   
     
     
         20 . The method of  claim 17 , further comprising:
 transmitting at least one signal to a control system of the remotely operated equipment, the at least one signal comprising information indicative of the motion path for the remotely operated equipment.   
     
     
         21 . The method of  claim 17 , further comprising:
 identifying one or more predetermined parameters associated with the remotely operated equipment, the one or more predetermined parameters comprising one or more dimensions of the remotely operated equipment.