Information sensing and sharing system for supporting rescue operations from burning buildings

• US 20060061752A1
• Filed: 07/11/2005
• Published: 03/23/2006
• Est. Priority Date: 07/11/2004
• Status: Active Grant

• Current Assignee: Rafael - Armament Development Authority Ltd.
• Original Assignee: Rafael - Armament Development Authority Ltd.
• Inventors: Solomon, Ofer, Bustnay, Tamir, Golan, Oded, Ehrlich, Avshalom
• Granted Patent: US 7,342,648 B2
• Time in Patent Office: Days
• US Class Current: 356/4.30
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations

Abstract

A system for automatic mapping of a walled structure includes at least one mobile unit, preferably worn by a user. The mobile unit has a position tracking system for tracking a current position of the mobile unit, a wall detection system including a sensor arrangement for measuring range data from the mobile unit to at least four points, and a mapping processor associated with both the position tracking system and the wall detection system. The mapping processor processes the range data and, if the at least four points lie on a common plane according to a defined criterion, maps a wall in corresponding spatial relation to the current position. The mobile unit preferably also includes a wireless communication link for transmitting and receiving data indicative of the mapped walls to other mobile units and to a remote command control unit.

Claims

1. A system for automatic mapping of a walled structure, the system comprising at least one mobile unit including:

(a) a position tracking system for tracking a current position of said mobile unit;

(b) a wall detection system including a sensor arrangement for measuring range data from said mobile unit to at least four points; and

(c) a mapping processor associated with both said position tracking system and said wall detection system, said mapping processor being configured to process said range data and, if said at least four points lie on a common plane according to a defined criterion, mapping a wall in corresponding spatial relation to said current position.

2. The system of claim 1, wherein said mobile unit further includes a wireless communication link for transmitting and receiving data indicative of said mapped walls.

3. The system of claim 1, wherein said mobile unit further includes a display for displaying information including said mapped walls.

4. The system of claim 1, wherein said mobile unit is configured to be mounted on the body of a user.

5. The system of claim 1, wherein said sensor arrangement includes:

(a) at least four laser pointers; and

(b) an imaging sensor for sensing spots generated by beams from said laser pointers impinging on surfaces.

6. The system of claim 5, wherein said at least four laser pointers are spaced around said imaging sensor.

7. The system of claim 5, wherein said at least four laser pointers generate substantially parallel beams.

8. The system of claim 5, wherein said sensor arrangement is configured for deployment on the torso of a user.

9. The system of claim 5, wherein said sensor arrangement is configured for deployment on a helmet worn by a user.

10. The system of claim 1, wherein said mapping processor is further configured to identify range data lying beyond a mapped wall as a door.

11. The system of claim 1, wherein said position tracking system includes a plurality of inertial sensors.

12. The system of claim 11, wherein at least some of said plurality of inertial sensors are associated with footwear of a user.

13. The system of claim 11, wherein said position tracking system is further responsive to data from said wall detection system to correct drift in measurements of said plurality of inertial sensors.

14. The system of claim 1, implemented with a plurality of said mobile units each configured to be mounted on the body of a user, wherein each of said mobile units further includes a wireless communication link for transmitting and receiving data indicative of said mapped walls.

15. The system of claim 14, wherein said wireless communication links together form a distributed communications network.

16. The system of claim 14, further comprising a remote command control unit in wireless communication with said plurality of mobile units and configured to process said data indicative of said mapped walls from all of said mobile units.