Systems and methods employing coded light to dock aerial drones, self-driving cars and surface robots

• US 9,904,283 B2
• Filed: 03/08/2016
• Issued: 02/27/2018
• Est. Priority Date: 03/08/2016
• Status: Active Grant

• Current Assignee: Fujifilm Business Innovation Corp. (Fujifilm Holdings Corporation)
• Original Assignee: Fuji Xerox Company Limited (Xerox Holdings Corp.)
• Inventors: Liu, Qiong, Ma, Shang, Kratz, Sven
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Testardi, David A
• Application Number:
  US15/064,595
• Publication Number:
  US 20170261975A1
• Time in Patent Office: 721 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64F 1/18 Visual or acoustic landing aids taxiing aids B64F1/002
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 70/95 Means for guiding the landing UAV towards the platform, e.g. lighting means
• CPC Class Codes: B64U 80/25 for recharging batteries; for refuelling
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• 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 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: H04B 10/1121 One-way transmission
• CPC Class Codes: H04B 10/116 Visible light communication

Abstract

Precision docking is one of the most important tasks for drones and surface robots to charge themselves and load/unload packages. Without accurate docking, surface robots and drones will miss their charging pad or charging contacts and cannot automatically charge themselves for later tasks. Described is a system using coded light to guide the precision docking process for drones and ground robots. More specifically, the system uses projectors to project temporal identifiers for space partitioned by pixel projections. Different space partition gets a different identifier. By using a simple light sensor on a drone or a ground robot, the drone or the ground robot can know its precise location in the space and therefore knows where to move for a precise docking. Depending on docking precision requirement, the coded light precision may be adjusted by using projectors with different resolutions.

Claims

1. An autonomous vehicle guidance system comprising:

a. a projector configured to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector; and

b. an autonomous vehicle comprising a light sensor and an onboard computer operatively coupled to the light sensor, wherein the light sensor is configured to detect the temporal projector light signal and generate a sensor signal and wherein the onboard computer is configured to receive the sensor signal from the light sensor, to determine a location information of the autonomous vehicle based on the detected temporal projector light signal and to issue a guidance command to guide the autonomous vehicle to a base based on the detected temporal projector light signal, wherein the autonomous vehicle further comprises a second light sensor configured to detect the temporal projector light signal and generate a second sensor signal, and wherein a distance from the autonomous vehicle to the base is determined from the respective sensor signals.

2. The autonomous vehicle guidance system of claim 1, wherein the onboard computer of the autonomous vehicle determines the location information of the autonomous vehicle by identifying a projector pixel corresponding to the sensor signal.

3. The autonomous vehicle guidance system of claim 2, wherein the location information of the autonomous vehicle comprises angular position of the autonomous vehicle with respect to the projector.

4. The autonomous vehicle guidance system of claim 2, wherein the onboard computer of the autonomous vehicle determines the location information of the autonomous vehicle by identifying a second projector pixel corresponding to the second sensor signal and wherein the location information further comprises a distance from the autonomous vehicle to the projector.

5. The autonomous vehicle guidance system of claim 4, wherein the distance from the autonomous vehicle to the projector is additionally determined based on a distance between the light sensor and the second light sensor.

6. The autonomous vehicle guidance system of claim 4, wherein the onboard computer of the autonomous vehicle is configured to cause the autonomous vehicle to slow down when the determined distance from the autonomous vehicle to the projector is less than a predetermined threshold.

7. The autonomous vehicle guidance system of claim 1, wherein the onboard computer of the autonomous vehicle determines orientation information of the autonomous vehicle by identifying a projector pixel corresponding to the sensor signal and a second projector pixel corresponding to the second sensor signal and wherein the orientation information is determined based on the identified first projector pixel and the second projector pixel.

8. The autonomous vehicle guidance system of claim 7, wherein the onboard computer of the autonomous vehicle is configured to issue a second command to cause the autonomous vehicle to achieve a predetermined orientation.

9. The autonomous vehicle guidance system of claim 8, wherein the autonomous vehicle comprises a plurality of electrical contacts and wherein when the autonomous vehicle achieves the predetermined orientation, the plurality of electrical contacts of the autonomous vehicle mates with a second plurality of electrical contacts of a base to enable charging of the autonomous vehicle.

10. The autonomous vehicle guidance system of claim 1, wherein the temporal projector light signal projected by the project comprises a plurality of sequential light pulses encoding pixel coordinates of the each pixel of the projector.

11. The autonomous vehicle guidance system of claim 1, wherein the onboard computer is configured to issue the guidance command based on a difference between the sensor signal and the second sensor signal.

12. The autonomous vehicle guidance system of claim 11, wherein the guidance command is issued based on proportional-integral-derivative (PID) calculation.

13. The autonomous vehicle guidance system of claim 1, wherein the autonomous vehicle is an aerial drone, wherein the projector is positioned at a drone base, wherein the light sensor is positioned on the bottom side of the aerial drone and wherein the onboard computer issues the guidance command to guide the aerial drone to the drone base.

14. The autonomous vehicle guidance system of claim 1, wherein the autonomous vehicle is a surface robot, wherein the projector is positioned above a surface robot charging station, wherein the light sensor is positioned on the top front side of the robot and wherein the onboard computer issues the guidance docking command to guide the surface robot to the charging station.

15. The autonomous vehicle guidance system of claim 14, wherein the surface robot further comprises a second light sensor positioned on the top rear side of the robot.

16. The autonomous vehicle guidance system of claim 14, wherein the charging station comprises a first set of electrical contacts and the surface robot comprises a second set of electrical contacts designed to mate with the first set of electrical contacts when the surface robot dock at the charging station.

17. The autonomous vehicle guidance system of claim 14, wherein a central axis of the charging station coincides with a central axis of the projector.

18. The autonomous vehicle guidance system of claim 1, wherein the autonomous vehicle is a self-driving car.

19. The autonomous vehicle guidance system of claim 1, wherein the autonomous vehicle is an aerial drone, and wherein the guidance command directs the aerial drone to land.

20. A method for guiding an autonomous vehicle, the method comprising:

a. using a projector to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector;

b. detecting the temporal projector light signal using a light sensor of an autonomous vehicle and generating corresponding sensor signal;

c. detecting the temporal projector light signal using a second light sensor of an autonomous vehicle and generating a corresponding second sensor signal; and

d. using an onboard computer of the autonomous vehicle to receive the sensor signal, to determine location of the autonomous vehicle based on the detected temporal projector light signal and to issue a guidance command to guide the autonomous vehicle to a base based on the detected temporal projector light signal, wherein a distance from the autonomous vehicle to the base is determined from the respective sensor signals.

21. A non-transitory computer-readable medium embodying a set of instructions implementing a method for guiding an autonomous vehicle, the method comprising:

a. using a projector to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector;

b. detecting the temporal projector light signal using a light sensor of an autonomous vehicle and generating corresponding sensor signal;

c. detecting the temporal projector light signal using a second light sensor of an autonomous vehicle and generating a corresponding second sensor signal; and

d. using an onboard computer of the autonomous vehicle to receive the sensor signal, to determine location of the autonomous vehicle based on the detected temporal projector light signal and to issue a guidance command to guide the autonomous vehicle to a base based on the detected temporal projector light signal, wherein a distance from the autonomous vehicle to the base is determined from the respective sensor signals.