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

FUJI XEROX CO., LTD.

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

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G05D-001/02 H04B-010/116 G05D-001/00 B64C-039/02 G05D-001/10 B64F-001/18
출원번호	US-0064595 (2016-03-08)
등록번호	US-9904283 (2018-02-27)
발명자 / 주소	Liu, Qiong Ma, Shang Kratz, Sven
출원인 / 주소	FUJI XEROX CO., LTD.
대리인 / 주소	TransPacific Law Group
인용정보	피인용 횟수 : 0 인용 특허 : 16

초록
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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.

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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; andb. 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; andd. 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; andd. 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.

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

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

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