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Method and system for universal guidance and control of automated machines

  • US 6,704,619 B1
  • Filed: 06/03/2003
  • Issued: 03/09/2004
  • Est. Priority Date: 05/24/2003
  • Status: Active Grant
First Claim
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1. A system for universal guidance and control of an automated machine comprising a motion element having an end effector, wherein said system comprises:

  • an inertial sensor package, which is installed at said end effector of said motion element, sensing a motion and motion changes of said end effector and providing a motion measurement of said end effector through a navigation processing of said inertial sensor package to obtain measurement data;

    a GPS receiver for providing GPS positioning measurements;

    an AHRS/INS/GPS integration system receiving said motion measurement of said motion element and said GPS positioning measurements for imparting position and motion information;

    an object detection system for ascertaining object presence;

    an object tracking and guidance system processor receiving an information on a presence of objects of interest from said object detection system and a position and motion information from said AHRS/INS/GPS integration system to produce a guidance command as a command input to said central control processor;

    a central control processor receiving said measurement data from said inertial sensor package, said position and motion information from said AHRS/INS/GPS integration system, and an output of said object tracking and guidance system processor, and comparing said measurement data with said command input to form error data which is received in said central control processor to produce a control signal in said central control processor; and

    a motion actuator receiving said control signal from said central control processor to control speed force outputs of said motion actuator and driving said end effector of said motion element by said motion actuator according to said control signal, wherein errors between said motion being measured and said command input converges to zero, so as to ensure said end effector of said motion element moves along a trajectory as said command input requires.

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