A guidance system for remote guidance of a remote platform(s) towards a target destination is disclosed. The guidance system includes a light module including a light source operable for beam to illuminating the remote platform, and a spatial light modulator (SLM) placed in the optical path of the l
A guidance system for remote guidance of a remote platform(s) towards a target destination is disclosed. The guidance system includes a light module including a light source operable for beam to illuminating the remote platform, and a spatial light modulator (SLM) placed in the optical path of the light beam emitted from the light source. The guidance system includes a controller operable for obtaining data indicative of guidance information for navigating the remote platform towards the target destination. The controller operates the SLM to encode the guidance information in the light beam. The guidance information may be encoded in light pattern including at least one of the following: a spatial light pattern formed in a cross-section of the light beam, a temporal light pattern in the light beam, and a spatiotemporal light pattern. The guidance information is encoded in the light beam such that the remote platform can navigate towards the target by detecting at least a cross-sectional region of the light beam, decoding a portion of the guidance information encoded in the detected cross-sectional region and thereby determining guidance instructions for navigating the remote platform(s) towards the target destination.
대표청구항▼
1. A guidance system for remote guidance of one or more remote platforms towards a target destination, the guidance system comprising: a light module comprising a light source, an optical output portion directing said light beam towards said one or more remote platforms, and a controller;a spatial l
1. A guidance system for remote guidance of one or more remote platforms towards a target destination, the guidance system comprising: a light module comprising a light source, an optical output portion directing said light beam towards said one or more remote platforms, and a controller;a spatial light modulator (SLM) placed in an optical path of a light beam emitted from said light source and configured and operable for forming a spatiotemporal pattern within a cross-section of the light beam by dynamically switching between different programmable spatial patterns, andwherein said controller is configured and operable for obtaining guidance information indicative of guidance instructions for navigating the remote platform, and operating said SLM by switching between the different programmable spatial patterns to spatially and temporally modulate the cross section of the light beam for encoding said guidance information in the spatiotemporal pattern in the form of a plurality of spatially distributed cross-sectional regions within the cross-section of said light beam having respectively distinguishable temporal light patterns formed therein, said controller being adapted to obtain distance data indicative of a distance between said one or more remote platforms and said optical output of the guidance system, and obtain data indicative of a degree of collimation of said light beam and to operate said SLM to modify a scale of said spatial light pattern based on said distance data and said degree of collimation of the light-beam to thereby compensate for divergence of said light-beam when propagating to said one or more remote platforms,thereby enabling navigation of said one or more remote platforms to the target by detecting at least a cross-sectional region of said light beam and decoding a portion of said guidance information encoded in said cross-sectional region of said light beam to determine guidance instructions for navigating said one or more remote platforms towards said target destination. 2. The guidance system of claim 1 wherein said distinguishable temporal light patterns are indicative of respective guidance instructions for navigating the one or more remote platforms, when exposed to any one of said temporal light patterns, towards said target destination. 3. The guidance system of claim 2 wherein: said temporal modulation pattern encodes said location of the cross-sectional region, and at least one additional data piece relating to said guidance information; andsaid at least one additional data piece includes data indicative of a degree of convergence of motion path of said one or more remote platforms towards said target. 4. The guidance system of claim 1 wherein said distinguishable temporal light patterns are respectively indicative of locations of the cross-sectional regions associated therewith with respect to said cross-section of the light beam. 5. The guidance system of claim 1 wherein said guidance instructions are determined by: detecting light of at least one of said cross-sectional regions of the light beam;identifying a respective temporal modulation pattern modulating said cross-sectional regions of the light beam, thereby decoding said portion of the guidance information; anddetermining said guidance instructions based on said respective temporal modulation pattern. 6. The guidance system of claim 5 wherein determining said guidance instructions comprises utilizing said respective temporal modulation pattern to determine a location of a cross-sectional region within said cross-section of the light beam and determining said guidance instructions based on said location. 7. The guidance system of claim 1 wherein said controller is adapted to obtain optical path data including at least one of: (i) stabilization data indicative of deviation of an optical path of said light beam from a nominal optical path along which said light beam should be projected to navigate said one or more remote platforms to said target, or(ii) target position data indicative of a position of said target from which said nominal optical path can be determined; and wherein said controller is adapted to operate said SLM to modify said spatiotemporal light pattern by laterally shifting said spatiotemporal light pattern within the cross-section of the beam based on said optical path data, to thereby compensate for at least one of said deviations of the optical path and changes in said position of the target. 8. The guidance system of claim 7 configured in at least one of the following: said guidance system comprises inertial sensors and wherein said controller is adapted to obtain said stabilization data at least partially based on motion of said guidance system sensed by said inertial sensors; orsaid controller is associated with a tracking sensor operable for tracking said target and is adapted to obtain said target position data at least partially based on motion or position of said target detected by said tracking sensors. 9. The guidance system of claim 1 wherein a maximal time duration of said temporal modulation patterns is shorter than a characteristic time interval between consecutive modifications of said position of said spatial light pattern based on the optical path data, thereby enabling a detection module exposed to a certain cross-sectional region of said light beam to identify a temporal light pattern modulation. 10. The guidance system of claim 1 configured according to at least one of the following: said SLM includes at least one of the following: a digital micro-mirror device (DMD),a liquid crystal device (LCoS), oran array of MEMS mirrors;said light source is a laser light source;the guidance system comprises an optical assembly adapted for directing said light beam towards said one or more remote platforms; orsaid optical assembly comprises at least one of the following: a beam collimator adapted to collimate said light beam, ora beam expander adapted to expand said light beam such that a cross-sectional width of the light beam reaching said one or more remote platforms is substantially greater by one or more orders of magnitude from lateral dimensions of a light detector mounted on said one or more remote platforms. 11. The guidance system of claim 1 comprising a guidance detection module adapted to be furnished on said one or more remote platforms, said guidance detection module includes an optical sensor adapted to detect at least one cross-sectional region of said light beam and a control unit connectable to said sensor and adapted to identify at least one of a spatial or temporal pattern in said detected at least one cross-sectional region, decode said pattern to determine the navigation instructions encoded therein, and operate steering modules of said one or more remote platforms to direct said one or more remote platforms in accordance with said navigation instructions towards said target. 12. The guidance system of claim 11 wherein: said light pattern is a spatiotemporal pattern spatially distributed in a plurality of cross-sectional regions of said light beam and wherein light in said plurality of cross-sectional regions is temporally modulated with respectively distinguishable temporal modulation patterns; andsaid control unit is adapted to identify a temporal modulation pattern in the detected cross-sectional region, and determine said guidance instructions based on said temporal modulation pattern. 13. The guidance system of claim 12 wherein: said sensor includes at least one light sensitive pixel capable of detecting said temporal modulation pattern encoded in said cross-sectional region of the light beam; andlateral dimensions of said light sensitive pixel are substantially smaller than lateral dimensions of said cross-sectional region, providing that said light sensitive pixel senses said temporal light modulation pattern from substantially a single cross-sectional region thereby enabling accurately and unambiguously determining said temporal light modulation pattern. 14. The guidance system of claim 13 wherein duration of said temporal modulation pattern is substantially shorter than a characteristic time interval between modifications of position and/or scale of said spatial part of said spatiotemporal light pattern and wherein said light sensitive pixel is operated with integration time substantially shorter than duration of said temporal modulation pattern. 15. The guidance system of claim 1 configured and operable to transmit said light beam to propagate to said one or more remote platforms with cross-section lateral dimensions of two or more orders of magnitude larger than lateral dimensions of said one or more remote platforms thereby enabling simultaneous guidance of a plurality of the one or more remote platforms towards said target. 16. The guidance system of claim 15 wherein: said light pattern being a spatiotemporal pattern comprising a spatial light pattern defining a plurality of cross-sectional regions in a cross-section of said beam, and temporal light patterns formed respectively in said regions; anda temporal modulation pattern in each cross-sectional region encodes data indicative of a direction of said target with respect to one or more remote platforms being exposed to said region, and at least one additional data piece indicative of a desired degree of convergence of motion path of the one or more remote platforms towards said target, and said additional data piece enables to avoid collisions between said plurality of the one or more remote platforms when approaching said target. 17. A method for remote guidance of one or more remote platforms towards a target destination, the method comprising: operating a light source to generate a light beam to illuminate said one or more remote platforms;providing a spatial light modulator (SLM) placed in an optical path of said light beam, whereby said SLM is operable for forming a spatiotemporal pattern within a cross-section of the light beam by dynamically switching between different programmable spatial patterns;obtaining guidance information indicative of guidance instructions for navigating said remote platform;operating said SLM to spatially and temporally modulate the cross section of the light beam by switching between the different programmable spatial patterns to encode said guidance information in the spatiotemporal pattern in the form of a plurality of spatially distributed cross-sectional regions having respectively distinguishable temporal light patterns within the cross-section of said light beam, andproviding distance data indicative of a distance towards said one or more remote platforms, and data indicative of a degree of collimation of said light beam; andoperating said SLM to adjust a scale of said spatial light pattern based on said distance data and said degree of collimation to compensate for divergence of said light-beam when propagating to said one or more remote platforms;thereby enabling navigation of said one or more remote platforms to the target by detecting at least a cross-sectional region of said light beam and decoding a portion of said guidance information encoded in said cross-sectional region. 18. The method of claim 17 wherein said distinguishable temporal light patterns are configured according to one or more of the following: said distinguishable temporal light patterns indicative of respective guidance instructions for navigating the one or more remote platforms, when exposed to any one of said temporal light patterns, towards said target destination;said distinguishable temporal light patterns are respectively indicative of at least locations of the cross-sectional regions associated therewith, with respect to said cross-section of the light beam, and wherein said guidance instructions are determined based on said locations;a maximal time duration of said distinguishable temporal modulation patterns is shorter than a characteristic time interval between consecutive adjustments of lateral position and scale of said spatial light pattern; orsaid distinguishable temporal modulation pattern encodes at least one additional data piece indicative of a desired degree of convergence of motion path of the one or more remote platforms towards said target. 19. The method of claim 18 comprising determining said guidance instructions at said one or more remote platforms by: detecting light of at least one of said cross-sectional regions of the light beam;identifying a respective temporal modulation pattern modulating said cross-sectional regions of the light beam; anddecoding said respective temporal modulation pattern to determine said portion of the guidance information indicative of said guidance instructions. 20. The method of claim 17 further comprising operating said SLM to form said spatial light patterns by spatially modulating light intensities in said plurality of spatially distributed cross-sectional regions. 21. The method of claim 17 further comprising: providing optical path data including at least one of stabilization data indicative of deviation of an optical path of said light beam from a nominal optical path along which said light beam should be projected to navigate said one or more remote platforms to said target and target position data indicative of a position of said target, from which said nominal optical path can be determined; andoperating said SLM to adjust a lateral position of said spatial light pattern within the cross-section of the light beam based on said optical path data, to thereby compensate for at least one of said deviations of the optical path and changes in said position of the target. 22. The method of claim 17 wherein said cross-sectional lateral dimensions of said light beam are two or more orders of magnitude larger than lateral dimensions of said one or more remote platforms thereby enabling simultaneous guidance of a plurality of the one or more remote platforms towards said target. 23. The method of claim 22 wherein said distinguishable temporal modulation patterns encode at least one additional data piece indicative of a desired degree of convergence of motion path of the one or more remote platforms exposed to said region towards said target, and said additional data piece enables to avoid collisions between said plurality of the one or more remote platforms when approaching said target. 24. The method of claim 17 wherein said distinguishable temporal light patterns are purely temporal patterns and wherein the guidance instructions are decoded from one of said temporal light patterns detectable by an optical sensor comprising a single sensitive pixel, sensing light from substantially a single cross-sectional region of said light beam. 25. A guidance system for remote guidance of one or more remote platforms towards a target destination, the guidance system comprising: a light module comprising a light source, an optical output portion directing said light beam towards said one or more remote platforms, and a controller;a spatial light modulator (SLM) placed in an optical path of a light beam emitted from said light source and configured and operable for forming a spatiotemporal pattern within a cross-section of the light beam by dynamically switching between different programmable spatial patterns, andwherein said controller is configured and operable for obtaining guidance information indicative of guidance instructions for navigating the remote platform, and operating said SLM by switching between the different programmable spatial patterns to spatially and temporally modulate the cross section of the light beam for encoding said guidance information in the spatiotemporal pattern in the form of a plurality of spatially distributed cross-sectional regions within the cross-section of said light beam having respectively distinguishable temporal light patterns formed therein, said controller being adapted to obtain optical path data including at least one of: stabilization data indicative of deviation of an optical path of said light beam from a nominal optical path along which said light beam should be projected to navigate said one or more remote platforms to said target, or target position data indicative of a position of said target from which said nominal optical path can be determined, said controller being adapted to operate said SLM to modify said spatiotemporal light pattern by laterally shifting said spatiotemporal light pattern within the cross-section of the beam based on said optical path data, to thereby compensate for at least one of said deviations of the optical path and changes in said position of the target,thereby enabling navigation of said one or more remote platforms to the target by detecting at least a cross-sectional region of said light beam and decoding a portion of said guidance information encoded in said cross-sectional region of said light beam to determine guidance instructions for navigating said one or more remote platforms towards said target destination. 26. The guidance system of claim 25 wherein said controller is adapted to obtain distance data indicative of a distance between said one or more remote platforms and said optical output of the guidance system, and obtain data indicative of a degree of collimation of said light beam and to operate said SLM to modify a scale of said spatial light pattern based on said distance data and said degree of collimation of the light-beam to thereby compensate for divergence of said light-beam when propagating to said one or more remote platforms. 27. The guidance system of claim 25 configured in at least one of the following: said guidance system comprises inertial sensors and wherein said controller is adapted to obtain said stabilization data at least partially based on motion of said guidance system sensed by said inertial sensors; orsaid controller is associated with a tracking sensor operable for tracking said target and is adapted to obtain said target position data at least partially based on motion or position of said target detected by said tracking sensors. 28. A guidance system for remote guidance of one or more remote platforms towards a target destination, the guidance system comprising: a light module comprising a light source, an optical output portion directing said light beam towards said one or more remote platforms, and a controller;a spatial light modulator (SLM) placed in an optical path of a light beam emitted from said light source and configured and operable for forming a spatiotemporal pattern within a cross-section of the light beam by dynamically switching between different programmable spatial patterns, andwherein said controller is configured and operable for obtaining guidance information indicative of guidance instructions for navigating the remote platform, and operating said SLM by switching between the different programmable spatial patterns to spatially and temporally modulate the cross section of the light beam for encoding said guidance information in the spatiotemporal pattern in the form of a plurality of spatially distributed cross-sectional regions within the cross-section of said light beam having respectively distinguishable temporal light patterns formed therein, thereby enabling navigation of said one or more remote platforms to the target by detecting at least a cross-sectional region of said light beam and decoding a portion of said guidance information encoded in said cross-sectional region of said light beam to determine guidance instructions for navigating said one or more remote platforms towards said target destination, wherein the system has at least one of the following configurations:said SLM includes at least one of the following: a digital micro-mirror device (DMD),a liquid crystal device (LCoS), oran array of MEMS mirrors;said light source is a laser light source;an optical assembly is provided having one of the following configurations: the optical assembly is adapted for directing said light beam towards said one or more remote platforms; or the optical assembly comprises at least one of the following: a beam collimator adapted to collimate said light beam, or a beam expander adapted to expand said light beam such that a cross-sectional width of the light beam reaching said one or more remote platforms is substantially greater by one or more orders of magnitude from lateral dimensions of a light detector mounted on said one or more remote platforms. 29. A guidance system for remote guidance of one or more remote platforms towards a target destination, the guidance system comprising: a light module comprising a light source, an optical output portion directing said light beam towards said one or more remote platforms, and a controller;a spatial light modulator (SLM) placed in an optical path of a light beam emitted from said light source and configured and operable for forming a spatiotemporal pattern within a cross-section of the light beam by dynamically switching between different programmable spatial patterns, anda guidance detection module adapted to be furnished on said one or more remote platforms, said guidance detection module includes an optical sensor adapted to detect at least one cross-sectional region of said light beam and a control unit connectable to said sensor and adapted to identify at least one of a spatial or temporal pattern in said detected at least one cross-sectional region, decode said pattern to determine the navigation instructions encoded therein, and operate steering modules of said one or more remote platforms to direct said one or more remote platforms in accordance with said navigation instructions towards said target,wherein said controller is configured and operable for obtaining guidance information indicative of guidance instructions for navigating the remote platform, and operating said SLM by switching between the different programmable spatial patterns to spatially and temporally modulate the cross section of the light beam for encoding said guidance information in the spatiotemporal pattern in the form of a plurality of spatially distributed cross-sectional regions within the cross-section of said light beam having respectively distinguishable temporal light patterns formed therein, thereby enabling navigation of said one or more remote platforms to the target by detecting at least a cross-sectional region of said light beam and decoding a portion of said guidance information encoded in said cross-sectional region of said light beam to determine guidance instructions for navigating said one or more remote platforms towards said target destination. 30. The guidance system of claim 29 wherein: said light pattern is a spatiotemporal pattern spatially distributed in a plurality of cross-sectional regions of said light beam and wherein light in said plurality of cross-sectional regions is temporally modulated with respectively distinguishable temporal modulation patterns; andsaid control unit is adapted to identify a temporal modulation pattern in the detected cross-sectional region, and determine said guidance instructions based on said temporal modulation pattern. 31. The guidance system of claim 30 wherein: said sensor includes at least one light sensitive pixel capable of detecting said temporal modulation pattern encoded in said cross-sectional region of the light beam; andlateral dimensions of said light sensitive pixel are substantially smaller than lateral dimensions of said cross-sectional region, providing that said light sensitive pixel senses said temporal light modulation pattern from substantially a single cross-sectional region thereby enabling accurately and unambiguously determining said temporal light modulation pattern. 32. The guidance system of claim 31 wherein duration of said temporal modulation pattern is substantially shorter than a characteristic time interval between modifications of position and/or scale of said spatial part of said spatiotemporal light pattern and wherein said light sensitive pixel is operated with integration time substantially shorter than duration of said temporal modulation pattern. 33. A method for remote guidance of one or more remote platforms towards a target destination, the method comprising: operating a light source to generate a light beam to illuminate said one or more remote platforms;providing a spatial light modulator (SLM) placed in an optical path of said light beam, whereby said SLM is operable for forming a spatiotemporal pattern within a cross-section of the light beam by dynamically switching between different programmable spatial patterns;obtaining guidance information indicative of guidance instructions for navigating said remote platform;operating said SLM to spatially and temporally modulate the cross section of the light beam by switching between the different programmable spatial patterns to encode said guidance information in the spatiotemporal pattern in the form of a plurality of spatially distributed cross-sectional regions having respectively distinguishable temporal light patterns within the cross-section of said light beam, thereby enabling navigation of said one or more remote platforms to the target by detecting at least a cross-sectional region of said light beam and decoding a portion of said guidance information encoded in said cross-sectional region;providing optical path data including at least one of stabilization data indicative of deviation of an optical path of said light beam from a nominal optical path along which said light beam should be projected to navigate said one or more remote platforms to said target and target position data indicative of a position of said target, from which said nominal optical path can be determined; andoperating said SLM to adjust a lateral position of said spatial light pattern within the cross-section of the light beam based on said optical path data, to thereby compensate for at least one of said deviations of the optical path and changes in said position of the target. 34. The method of claim 33 further comprising: providing distance data indicative of a distance towards said one or more remote platforms, and data indicative of a degree of collimation of said light beam; andoperating said SLM to adjust a scale of said spatial light pattern based on said distance data and said degree of collimation to compensate for divergence of said light-beam when propagating to said one or more remote platforms.
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