MODULAR AND SCALABLE POSITIONING AND NAVIGATION SYSTEM

• US 20110046836A1
• Filed: 08/18/2009
• Published: 02/24/2011
• Est. Priority Date: 08/18/2009
• Status: Abandoned Application

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne
• Application Number:
  US12/543,152
• Publication Number:
  US 20110046836A1
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

The different illustrative embodiments provide an apparatus that includes an autonomous vehicle, a modular navigation system, and a number of modular components. The modular navigation system is coupled to the autonomous vehicle.

Claims

1. An apparatus comprising:

a processor unit configured to perform positioning and navigation;

a mobility system configured to be controlled by the processor unit;

a behavior database configured to be accessed by the processor unit; and

a base system interface coupled to the processor unit, configured to interact with a number of modular components, and configured to enable a connection between the mobility system and the number of modular components.

2. The apparatus of claim 1, further comprising:

a sensor system configured to send sensor data to the processor unit.

3. The apparatus of claim 1, further comprising:

a power supply coupled to a power level indicator and configured to provide power to the processor unit.

4. The apparatus of claim 1, wherein the number of modular components include at least one of hardware upgrades and software.

5. The apparatus of claim 1, wherein the number of modular components further comprise:

a first interchangeable positioning-navigation component; and

a second interchangeable positioning-navigation component, wherein the second interchangeable positioning navigation component includes different implemented technology and components than the first interchangeable positioning-navigation component.

6. The apparatus of claim 5, wherein the first interchangeable positioning-navigation component costs less than the second interchangeable positioning navigation component.

7. The apparatus of claim 5, wherein the apparatus is upgraded by replacing the first interchangeable positioning-navigation component with the second interchangeable positioning navigation component.

8. The apparatus of claim 5, further comprising:

a first interchangeable positioning-navigation component interface configured to receive a number of tasks based on the worksite environment.

9. The apparatus of claim 8, wherein the worksite environment is at least one of a yard, home, golf course, different area, and change in needs of a user.

10. An autonomous vehicle comprising:

a modular navigation system having a number of independent attachable modular components, wherein each independent attachable modular component provides a different level of functionality to the modular navigation system;

a mobility system configured to be controlled by the modular navigation system; and

a system interface coupled to the modular navigation system, configured to interact with the number of independent attachable modular components and provide data communication between any of the independent attachable modular components and the mobility system.

11. The apparatus of claim 10, wherein the number of independent attachable modular components further comprises at least one of a vision module, a precision mowing module, a high precision positioning module, an automated guidance module, and an asymmetric vision system module.

12. The apparatus of claim 11, wherein the vision module further comprises:

a processor unit configured to communicate with and control a base processor unit of the modular navigation system;

a vision behavior database having behavioral actions for the vision module; and

a number of modular interfaces configured to interact with the modular navigation system.

13. The apparatus of claim 10, wherein a first independent attachable modular component is attached to the modular navigation system.

14. The apparatus of claim 13, wherein a second independent attachable modular component is attached to the modular navigation system with the first independent attachable modular component still affixed.

15. The apparatus of claim 10, wherein the each independent attachable modular component is interchangeable with a different one of the number of independent attachable modular components.

16. The apparatus of claim 10, further comprising:

a sensor system including at least one of a dead reckoning system, an obstacle detection system, and a perimeter detection system.

17. The apparatus of claim 10, further comprising:

a behavior database having a number of behaviors to execute when a number of condition are met, the number of conditions including at least one of a perimeter encountered, an obstacle encountered, a manual controller detected, a higher level positioning and navigation component detected, and a low battery level detected.

18. The apparatus of claim 17, wherein the behavior database is enhanced with a number of additional behaviors dependent upon which independent attachable modular component is attached to the modular navigation system.

19. A method for autonomous vehicle navigation, the method comprising:

receiving a task to complete in a worksite;

performing the task using a number of base behaviors;

receiving a first modular component upgrade having a number of first enhanced behaviors; and

performing the task using the number of first enhanced behaviors.

20. The method of claim 19, further comprising:

detecting a second modular component upgrade;

identifying a number of second enhanced behaviors; and

identifying a number of second modular components.

21. The method of claim 20, further comprising:

performing the task using the number of first enhanced behaviors, the number of second enhanced behaviors, and the number of second modular components.

22. The method of claim 20, further comprising:

determining whether additional modular component upgrades are present; and

responsive to a determination that additional modular component upgrades are present, detecting a third modular component upgrade.