Position and communications system and method

• US 20040236470A1
• Filed: 05/03/2004
• Published: 11/25/2004
• Est. Priority Date: 05/25/2001
• Status: Abandoned Application

• Current Assignee: Interlego, AG (Kirkbi A/S)
• Original Assignee: Interlego, AG (Kirkbi A/S)
• Inventors: Munch, Gaute, Dooley, Mike
• Application Number:
  US10/478,984
• Publication Number:
  US 20040236470A1
• Time in Patent Office: Days
• US Class Current: 700/255
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

A system for providing communication of position information between moving bodies navigating in proximity of each other. Messages can be communicated via the same system. Orientation information is provided by transmitting infrared digital signals that are specific to individual zones around the moving body. By knowledge of the relation between the position of the zones and the specific signals an orientation can be deduced by a receiving body. Distance information is provided by transmitting infrared digital signals from a transmitter at respective power levels, at which power levels the signals comprise information for identifying the specific power level. By knowledge of the relation between the range of the zones and the specific signals a distance from a receiving body to the transmitter can be deduced. Direction information is provided by knowledge of the position of reception zones and signals received.

Claims

1. A system for transmitting information about the orientation of a robot, comprising:

means for emitting signals to multiple zones (208,209, . . . ,215) at predetermined locations around and relative to the robot, wherein the signals carry information that is specific to the individual zones around the robot;

characterized in that

the information (FR, F, FL, BL, L, . . . FR) that is specific to the individual zones is time-multiplexed to multiple timeslots (t1,t2, . . . ,t7).

2. A system according to claim 1, characterized in that the information that is specific to the individual zones is emitted as a time-multiplexed signal divided both temporally (t1,t2, . . . ,t7) and spatially (208,209, . . . ,215) into one or more zones (F,FL,L,BL, . . . ).

3. A system according to claim 1, characterized in that the means are arranged as individual emitters (202,203, . . . ,207) mounted with a mutual distance and at mutually offset angles.

4. A system according to claim 1, characterized in that an emitter is arranged to create a space within which a specified least intensity level for a signal that carries information specific for the zone is detectable.

5. A system according to claim 1, characterized in that emitters are arranged to create a zone within which a specified least intensity level for a first signal (FL;

BR) and a second signal (BL;

FR) can be measured, where the first and second signal carry information specific for a respective zone (210;

213, 211;

208) to thereby create a third zone (L;

R) as the common space (214;

215) of two zones.

6. A system according to claim 5, characterized in that the information (L;

R) that is specific to the third zone is composed of at least portions of the first signal (FL;

BR) and the second signal (BL;

FR).

7. A system according to claim 5, characterized in that the information (L;

R) that is specific to the third zone extends temporally over more than one timeslot (t3,t4;

t6,t7).

8. A system according to claim 1, characterized in that at least one emitter (413) is controlled to transmit message-signals with information about the robot to other robots.

9. A system according to claim 1, characterized in that a first robot is arranged to wait for a situation where communication silence can be detected before a transmission of a signal is started.

10. A system according to claim 9, characterized in that the first robot is arranged to transmit the signals carrying information that is specific to individual zones in a sufficiently tight sequence to avoid that other similar robots in proximity of the first robot is able to detect a situation where communication silence (S) is present.

11. A system for receiving information about the orientation of a robot, comprising:

means for receiving signals that carry information that is specific to one of multiple zones (208,209, . . . ,215) around and relative to the robot (201); and

means for extracting the information specific to an individual zone and converting that information into information that represents the orientation of the robot;

characterized in that

the orientation of the robot is deduced by determining whether two signals that each carries information that is specific to one of multiple zones around and relative to the robot can be received in at least two consecutive timeslots (t1,t2, . . . ,t7);

in the positive, combining the at least two signals (FL,BL;

BR,FR) to determine the orientation of the robot (201).

12. A system according to claim 11, characterized in that, in the negative, determining the orientation of the robot based on the signal received in a first of the two consecutive timeslots (t1,t2, . . . ,t7).

13. A system according to claim 11, characterized in that the system further comprises program means for controlling physical actions of a robot in response to the received signals that represent the orientation of another robot.

14. A toy building set comprising a toy unit according to claim 11, characterized in that the toy unit comprises coupling means for inter-connecting with complementary coupling means on toy building elements.

15. A system for transmitting information about the distance between the system and a robot, comprising:

means for emitting signals to the surroundings of the robot;

characterized in

said means being controlled to emit the signals at respective power levels (L,M,H), at which power levels the signals comprise information (LBR,MBR,H;

bo b₁, . . . b₁₁) for identifying the specific power level.

16. A system according to claim 15, characterized in that the power levels are discrete power levels distributed as non-linear power levels.

17. A system according to claim 15, characterized in that power levels of the signals or signal portions are mixed within a time-interval over which the information for identifying the specific power level is transmitted.

18. A system according to claim 15, characterized in that the signals each comprise a set of bits (b₀,b₁ . . . ,b₁₁), which bits occur in a predetermined, but mixed sequence.

19. A system according to claim 15, characterized in comprising means for emitting signals to multiple zones at predetermined locations around and relative to the robot, wherein the signals carry information that is specific to the individual zones around the robot.

20. A system according to claim 15, characterized in that at least one emitter is controlled to transmit (807) message-signals with information about the robot to other robots.

21. A system according to claim 15, characterized in that a first robot is arranged to wait for a situation where communication silence can be detected before a transmission of a signal is started.

22. A system according to claim 21, characterized in that the first robot is arranged to transmit the signals at the respective power levels in a sufficiently tight sequence to avoid that other similar robots in proximity of the first robot are able to detect a situation where communication silence (S) is present.

26. A system according to claim 21, characterized in that the distance is provided as a digital value.

27. A system according to claim 26, characterized in that a sequence of consecutive digital values represents non-linear distributed distances.

23. A system for receiving information about the distance between the system and a transmitter, comprising:

means for receiving signals with information for identifying a specific power level at which the signal is transmitted; and

means for converting that information into information that represents distance between the system and a transmitter that transmits the signals.

25. A system according to claim 23, characterized in that the distance is determined as a discrete value by decoding a sequence of bits representing the received signal as a binary signal.

24. A system according to claim 24, characterized in comprising means for converting a received signal into a binary signal based on a specified threshold value.

28. A system for determining the direction to a robot characterized in that the system comprises:

means for receiving a signal from a remote robot, and determining a direction to the remote robot by determining which of multiple receivers that received the signal;

characterized in that

a direction is determined as a direction from which two or more receivers can receive the signal.

29. A system according to claim 28, characterized in that a precondition for determining the direction is that the receivers can receive the signal simultaneously.