Local positioning navigation system

• US 7,499,155 B2
• Filed: 08/23/2006
• Issued: 03/03/2009
• Est. Priority Date: 08/23/2006
• Status: Expired due to Fees

• Current Assignee: Bryan Cappelletti
• Original Assignee: Bryan Cappelletti
• Inventors: Cappelletti, Bryan
• Primary Examiner(s): Tarcza; Thomas H
• Assistant Examiner(s): Ratcliffe; Luke D
• Application Number:
  US11/508,472
• Publication Number:
  US 20080049217A1
• Time in Patent Office: 923 Days
• Field of Search: 356 301- 315, 356 401- 41, 356 501- 515, 356 6- 22, 3561411-1415
• US Class Current: 356/141.3
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 21/3826 Terrain data
• CPC Class Codes: G01C 21/3837 Data obtained from a single source
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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

Abstract

A local positioning navigation system and method for controlling navigation are provided. The local positioning navigation includes a stationary unit having a pointing device configured to emit a light signal and a roving unit having a detector including a plurality of light detecting elements configured to detect the emitted light signal from the stationary unit. The local positioning system further includes a controller configured to receive navigation information from the roving unit based on the detected emitted light signal and to provide control commands to the stationary unit to move the pointing device to direct the emitted light signal based on the navigation information.

Claims

1. A guidance system for ground borne vehicles comprising

a stationary unit,

the stationary unit including a pointing device supported on a pan and tilt mechanism,

the pointing device including a laser selectively emitting a modulated light signal,

the pointing device further including a range finding mechanism,

a roving unit,

the roving unit comprising a light detecting apparatus providing feedback information to a controller coupled to the roving unit,

the feedback information indicating receipt of the modulated light signal by the light detecting apparatus,

the controller coupled to the stationary unit,

the controller controlling a pan and a tilt of the pan and tilt mechanism to direct the modulated light signal toward the light detecting apparatus,

the range finding mechanism determining spacial separation of the roving unit from the stationary unit,

the range finding mechanism communicating spacial separation data to the controller,

the controller controlling movement of the roving unit to maintain the modulated light signal upon the light detecting apparatus.

2. The guidance system of claim 1 wherein

the modulated signal is a predetermined pattern of laser pulses.

3. The guidance system of claim 1 wherein

the light detecting apparatus comprises an array of solar cells.

4. The guidance system of claim 1 wherein

the range finding mechanism comprises an ultrasound transducer supported on the pointing device,

the ultrasound transducer emitting bursts of ultrasound energy,

the roving unit comprising an ultrasound detector receiving the bursts of ultrasound energy.

5. The guidance system of claim 4 wherein

the controller issues a start command to the ultrasound transducer and to a timer,

the timer determines time of flight of the bursts of ultrasound energy.

6. The guidance system of claim 1 wherein

the range finding mechanism comprises a second laser supported on the stationary unit.

7. The guidance system of claim 1 wherein

the controller is programmed with a predetermined path for the roving unit,

the controller issues direction commands to the pan and tilt mechanism responsive to the predetermined path.

8. The guidance system of claim 1 wherein

the light detecting apparatus comprises an array of solar cells,

the solar cells selectively generate electricity from light sources in an environment of the roving unit,

the solar cells are coupled to electric storage.

9. The guidance system of claim 8 wherein

the light detecting apparatus is pivotable about a substantially vertical axis,

the light detecting apparatus is pivotable about a substantially horizontal axis,

the orientation of the light detecting apparatus is controlled by the controller.

10. The guidance system of claim 9 wherein

the modulated signal is a predetermined pattern of laser pulses,

the light detecting apparatus comprising an array of solar cells,

the range finding mechanism comprising an ultrasound transducer supported on the pointing device,

the ultrasound transducer emitting bursts of ultrasound energy,

the roving unit comprising an ultrasound detector receiving the bursts of ultrasound energy,

the controller providing a start command to the ultrasound transducer and to a timer,

the timer determining time of flight of the bursts of ultrasound energy,

the solar cells selectively generating electricity from light sources in an environment of the roving unit,

the solar cells coupled to electric storage,

the light detecting apparatus pivotable about a substantially vertical axis,

the light detecting apparatus pivotable about a substantially horizontal axis,

the orientation of the light detecting apparatus controlled by the controller.

11. A pattern repetition system for ground-borne mobile equipment comprising

first and second selectively movable units,

a first of the first and second selectively movable units stationary when a second of the selectively movable units is moving,

each of the first and second movable units including a pointing device,

the pointing device comprising a light emitting element capable of generating a modulated light signal in a direction determined by the pointing device,

each of the first moveable unit and the second movable unit further comprising a light detecting element,

the light detecting element detecting the modulated light signal when the modulated light signal strikes the light detecting element,

each light detecting element selectively pivotable about a vertical axis,

a controller coupled to the pointing device and to the light detecting element of each of the first and second selectively movable units,

the light detecting element of the second of the first and second selectively movable units providing detection information to the pointing device of the first of the first and second selectively movable units,

the pointing device of the first of the first and second selectively movable units responsive to the detection information of the light detecting element of the second of the first and second selectively movable units to direct the pointing device of the first of the first and second selectively movable units toward the light detecting element of the second of the first and second selectively movable units,

the light detecting element of the second of the first and second selectively movable units indicating successful aim of the pointing device of the first of the first and second selectively movable units when the modulated light signal is detected by the light detecting element,

the pointing device of the first of the first and second selectively movable units providing directional information to the controller,

a distance measuring element determining physical separation of the first and the second of the first and second selectively movable units,

the distance measuring element communicating separation information to the controller,

the controller providing guidance information to the second of the first and second selectively movable units.

12. The pattern repetition system of claim 11 wherein

at least one docking station selectively receives the first of the first and second selectively movable units.

13. The pattern repetition system of claim 12 wherein

the light emitting element is a laser emitting pulses at a predetermined frequency,

the light detecting element detecting the pulses of the laser.

14. The pattern repetition system of claim 12 wherein

the distance measuring element comprises an ultrasound transmitter transmitting periodic bursts of ultrasound energy and an ultrasound receiver receiving ultrasound energy bursts transmitted by the ultrasound transmitter,

the controller receiving ultrasound transmission information and calculating the time of flight of the bursts of ultrasonic energy.

15. The pattern repetition system of claim 12 wherein

each light detecting element is further selectively positionable about a horizontal axis.

16. The pattern repetition system of claim 12 wherein

the controller is programmed by recording of direction and separation information provided by the first and second selectively movable units while the second of the first and second selectively movable units is moved about a preferred path.

17. The pattern repetition system of claim 12 wherein

the distance measuring element comprises an ultrasound transmitter on a one of the first and second selectively movable units and an ultrasound receiver on an other of the first and second selectively movable units.

18. The pattern repetition system of claim 12 wherein

each of the first and second selectively movable units comprises an electric storage device,

the electric storage device coupled to the light detecting element,

the light detecting element including solar cells,

the light detecting element delivering electricity to the electric storage device.

19. The pattern repetition system of claim 12 wherein

at least one of the first and second selectively movable units comprises a lawn mower.

20. Lawn mowing system comprising

a stationary unit,

the stationary unit including a pointing device supported on a pan and tilt mechanism,

the pointing device including a laser selectively emitting a modulated light signal,

the pointing device further including a range finding mechanism,

a roving grass cutting device,

the roving grass cutting device comprising a light detecting apparatus,

the light detecting apparatus providing feedback information to a controller coupled to the roving unit,

the feedback information indicating receipt of the modulated light signal by the light detecting apparatus,

the controller coupled to the stationary unit,

the controller controlling a pan and a tilt of the pan and tilt mechanism to direct the modulated light signal toward the light detecting apparatus,

the range finding mechanism determining spacial separation of the roving grass cutting device from the stationary unit,

the range finding mechanism communicating spacial separation data to the controller,

the controller controlling movement of the roving grass cutting device to maintain the modulated light signal upon the light detecting apparatus.

21. A guidance system for ground borne vehicles comprising

a stationary unit,

a roving unit,

the stationary unit including a pointing device supported on a pan and tilt mechanism,

the pointing device including a laser selectively emitting a modulated light signal,

a range finding mechanism determining spacial separation of the roving unit from the stationary unit,

the roving unit including a light detecting apparatus,

a controller coupled to the stationary unit and the roving unit,

the light detecting apparatus providing feedback information to the controller,

the feedback information indicating receipt of the modulated light signal by the light detecting apparatus,

the controller controlling a pan and a tilt of the pan and tilt mechanism,

the range finding mechanism communicating spacial separation data to the controller,

the pan and tilt mechanism providing a pan angle to the controller,

the controller controlling the pan angle to direct the modulated light signal toward the light detecting apparatus,

the controller controlling movement of the roving unit and the light detecting apparatus to maintain the modulated light signal upon the light detecting apparatus.

22. The guidance system of claim 21 wherein

the range finding mechanism comprises an ultrasound transmitter transmitting periodic bursts of ultrasound energy and an ultrasound receiver receiving ultrasound energy bursts transmitted by the ultrasound transmitter,

the controller receiving ultrasound transmission information and calculating the time of flight of the bursts of ultrasonic energy.

23. The guidance system of claim 21 wherein

the pan and tilt mechanism provides a tilt angle to the controller,

the controller controlling the tilt angle to direct the modulated light signal toward the light detecting apparatus.