Abstract
A distributed, self-organizing environment conditioning system with adaptive and learning behaviors that provide localized and targeted climate conditioning such as, but not limited to, temperature and humidity control in indoor and outdoor settings and more particularly, to extensible networked multi-modal autonomous systems of heating units working together to efficiently target objects for selective environmental control.
Claims
1. A self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors, comprising: a plurality of robotic targeting platforms; a plurality of effectors configured to effect climate conditions within an environment, the effectors movable with the robotic targeting platforms; a plurality of controllers configured to self-organize the locations of the plurality of robotic targeting platforms to enhance functionality through the sharing of information directly between each of the plurality of controllers using at least one of sensor data, functional capabilities, user preferences, location, and mapping of the plurality of robotic targeting platforms, the plurality of effectors, and the plurality of controllers to move at least one of the plurality of the robotic targeting platforms towards an animate object and control at least one of the plurality of effectors to focus climate conditioning towards the animate object only at a desired point of need.
2. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 comprising a plurality of sensors selected from a group consisting of temperature sensors, humidity measurement sensors, range finders, proximity sensors, and cliff sensors.
3. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 comprising a portable heater configured to project focused radiant heat at a distance greater than seven feet towards the animate object to focus climate conditioning only at a desired point of need.
4. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 comprising a tilt swivel tray affixed to the robotic targeting platform.
5. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 comprising a video camera.
6. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 5 comprising a human detection and tracking module using sequential video frames to identify motion of the animate object and predict the locus of motion of the animate object and move one of the plurality of robotic targeting platforms towards the moving animate object to target climate conditioning at the point of need of the moving animate object.
7. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 5 comprising a human detection and tracking module using sequential video frames to identify gestures that control the effectors to increase and decrease heating and cooling of the animate object.
8. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 wherein an effector comprising a heating element having optical elements that focus electromagnetic radiation emitted by the heating element in a collimated beam and having a band stop filter that absorbs visible light and passes through infrared parts of the electromagnetic spectrum.
9. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 wherein an effector comprising a laser producing wavelengths from 1,000 nm to 1,400 nm range to be absorbed by human tissue and produce a strong sensation of warmth.
10. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 wherein an effector comprising halogen bulbs having optical elements selected from a group consisting of parabolic reflectors, lenses, Fresnel lenses, and band-stop filters to culminate the electromagnetic radiation produced.
11. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 wherein an effector comprising a high resistance coil having optical elements selected from a group consisting of parabolic reflectors, lenses, Fresnel lenses, and band-stop filters to culminate the electromagnetic radiation produced.
12. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 wherein an effector comprising an infrared light emitting diode having optical elements selected from a group consisting of parabolic reflectors and lenses to culminate the electromagnetic radiation produced.
13. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 wherein an effector comprising a microwave source emitting unit having a waveguide to target electromagnetic radiation in a narrow beam.
14. The self-organizing environment conditioning system providing localized and targeted climate conditioning with adaptive learning behaviors of claim 1 wherein an effector comprising at least one thermal store unit movable with one of the plurality robotic targeting platforms.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) Illustrative embodiments in accordance with aspects of the invention are described below in conjunction with the following drawings in which like numerals reference like elements and wherein:
(2) FIG. 1a is an illustration of a first exemplary embodiment of an installation of the present invention where sample embodiments of several devices of the invention, as described in the summary, are used to provide environmental conditioning by heating three occupants of a room, dynamically solving several times a second for an optimal solution in using the devices;
(3) FIG. 1b is a top view diagram of a second exemplary embodiment in the present invention of a setup with sample embodiments of several devices of the invention, as described in the summary, showing illustrative regions of coverage of the area for providing environmental conditioning by coordinating and heating two exemplary occupants of a room, dynamically solving several times a second for an optimal solution in using the devices;
(4) FIG. 2a is a perspective view diagram in the present invention of a first exemplary embodiment of a Haser, as described in the summary, with multiple HotHeads;
(5) FIG. 2b is a perspective view diagram of a second exemplary embodiment of a Haser with multiple HotHeads;
(6) FIG. 3 is a partial exploded view diagram of the exemplary embodiment of a Haser in the present invention shown in FIG. 2a, including a first exemplary embodiment of a Laser Source and its feeds to HotHeads comprising LASER-EMUs in the exemplary embodiment of the Haser in FIG. 2a;
(7) FIG. 4 is an exploded view diagram of a first exemplary embodiment of a HotHead using a LASER-EMU, mounted on a tilt-pan tray;
(8) FIG. 5 is a first exemplary embodiment in the present invention of a LASER-EMU, using a laser source, motors and mirrors that are non-orthogonal (i.e. not at right angles) to the motors. It is contemplated that among other possibilities, variations in the relative speeds, angles of mirrors to each other and the locations of the motors are used to change the shape and size of the drawn spirograph. The spirograph covers the approximate area that needs to be heated;
(9) FIG. 5a is a second exemplary embodiment in the present invention of a LASER-EMU, using a laser source and galvanometers orthogonal to each other, with coaxial mirrors attached to the spindles of the motors;
(10) FIG. 5b is a first exemplary embodiment in the present invention of a tilt-pan tray using servos, with two degrees of freedom;
(11) FIG. 6a is a first exemplary embodiment of a parabolic reflector;
(12) FIG. 6b is a cross-sectional view of the first exemplary embodiment of a parabolic reflector in FIG. 6a, with an infrared-pass filter;
(13) FIG. 7a is a first exemplary embodiment of a WIRE HotHead comprising a parabolic reflector, a WIRE-EMU and an IR-pass filter;
(14) FIG. 7b is a first exemplary embodiment of a scaffold for a high-resistance wire of the WIRE-EMU;
(15) FIG. 8 is a first exemplary embodiment of an SPOT HotHead comprising a parabolic reflector, a SPOT-EMU and an IR-pass filter;
(16) FIG. 9 is perspective view diagram of a first exemplary embodiment in the present invention of a Thermal Storage Unit (TSU);
(17) FIG. 10 is the exemplary embodiment in the present invention of the TSU in FIG. 9 with its service panel removed;
(18) FIG. 11 is a perspective view diagram of an exemplary embodiment in the present invention of a Robotic Platform Unit (RPU);
(19) FIG. 12 is a perspective view of an exemplary embodiment in the present invention of a possible configuration of a Robotic Platform (RPU), an additional Battery Unit (BU) and two Thermal Storage Units (TSUs);
(20) FIG. 13 is a perspective view diagram of an exemplary embodiment in the present invention of a Docking and Charging station;
(21) FIG. 14 is a perspective view diagram of an exemplary embodiment of a Battery Unit (BU);
(22) FIG. 15 is a perspective view diagram of an exemplary embodiment in the present invention of a specifically designed collapsible Stand that can be set at multiple heights;
(23) FIG. 16 is a top view diagram of an exemplary embodiment in the present invention of a Remote Control (RC) with functions particular to the invention;
(24) FIG. 17 is a front view diagram of an exemplary embodiment in the present invention of a Controller Unit (CU);
(25) FIG. 18 is a chart showing a comparison of temperature profiles for various existing heating solutions;
(26) FIG. 19 is a diagram illustrating the air flow and effective distance for a generic portable heater of the prior art with air forced over a hot ceramic element;
(27) FIG. 20 is a diagram of modes of heat loss and gain from the human body where 75% of the loss and gain is through radiation;
(28) FIG. 21 is a chart illustrating the heat loss and gain of the human body based at various ambient temperatures;
(29) FIG. 22 is a chart illustrating the acceptable Maximum Power Exposure MPE for laser safety comparing power density versus exposure time for various wavelengths;
(30) FIG. 23 is a diagram of a parallel plate waveguide lens for microwaves;
(31) FIG. 24 is an isometric view of a parallel plate waveguide lens for microwaves;
(32) FIG. 25 is a diagram of a delay type lens for microwaves;
(33) FIG. 26 is a diagram of a loaded lens for microwaves;
(34) FIG. 27 is a block diagram of the environment conditioning system and modules in an embodiment of the present invention;
(35) FIG. 28 is a block diagram of the environment conditioning system and devices in an embodiment of the present invention; and
(36) FIG. 29 is a block diagram of an embodiment of the object tracker modules in an embodiment of the present invention.
DETAILED DESCRIPTION OF THE DIAGRAMS
(37) Reference will now be made to the figures where various structures will be provided with reference number designations. It is understood that the drawings are diagrammatic and schematic representations of possible embodiments of the invention, and are not intended to limit the scope of the present invention nor are they necessarily down to scale. Further, one skilled in the art will appreciate that terms such as top, bottom, lower and upper as used herein are merely words used to describe the accompanying figures and are not meant to limit the scope of the present invention in any way.
(38) Items in the diagrams are referenced by the following numbers, which are consistent in indicating the same or same type of item across the diagrams.
(39) 1. EMU, first embodiment
(40) 2. Laser beam (collimated rays)
(41) 3. Stand with collapsible column
(42) 4. Thermal Storage Unit (TSU)
(43) 5. Battery Unit (BU)
(44) 6. Robot Platform Unit (RPU)
(45) 7. Tracker, sending out homing beacon
(46) 8. Base station/charger
(47) 9. Remote control
(48) 10. Sweep of the laser heads
(49) 11. Power supply
(50) 12. EMU control panel
(51) 13. Exhaust fan
(52) 14. Laser head
(53) 15. Sensor bay
(54) 16. Microphone
(55) 17. Camera
(56) 18. Infrared remote receiver
(57) 19. Temperature sensor (pyrometer)
(58) 20. EMU, second embodiment
(59) 21. EMU, first embodiment, back, bottom and side covers
(60) 22. Wall-mounting holes
(61) 23. Air intake
(62) 24. Wireless network antenna
(63) 25. EMU, first embodiment, front panel
(64) 26. Control cable, main wiring harness
(65) 27. Microcontroller board
(66) 28. Control cable for galvos and laser outputs
(67) 29. Laser module cable
(68) 30. Laser source
(69) 31. High power Optic fiber
(70) 32. Laser cavity
(71) 33. Galvanometer (galvo) assembly
(72) 34. Servo assembly X (horizontal)
(73) 35. Servo assembly Y (vertical)
(74) 36. Laser head cover glass
(75) 37. Non-orthogonal mirror
(76) 38. Spirograph drawn by galvo assembly
(77) 39. Motor
(78) 40. Mirror
(79) 41. Parabolic reflector
(80) 42. Section through parabolic reflector
(81) 43. Visible light band-stop filter or infrared band-pass filter.
(82) 44. Heat-resistant board
(83) 45. Structure of high-resistance wire
(84) 46. Galvanometer motor (galvo)
(85) 47. Wireless signal
(86) 48. Radiation (heat) from the TSU
(87) 49. 3 articulation points for power and communication arranged in a triangle. This design is standard for all the units in the system so that they are stackable and they self-configure when stacked.
(88) 50. Handle for transport, folds into recess in the enclosure (not shown)
(89) 51. Glow LEDs
(90) 52. Convection fan
(91) 53. Power button
(92) 54. Thermal mass/PCM with heat transfer element
(93) 55. Access panel
(94) 56. Halogen lamp
(95) 57. Big wheel of the RPU
(96) 58. Little wheel of the RPU
(97) 59. Distance sensor
(98) 60. Camera
(99) 61. Pedestal
(100) 62. Infrared & Laser Remote control
(101) 63. Left button
(102) 64. Middle button: cycle: voice on/off, learn on/off
(103) 65. Human figure for scale comparison
(104) 66. Up button
(105) 67. Right button
(106) 68. Down button
(107) 69. IR diode
(108) 70. Laser diode
(109) 71. Power button
(110) 72. Device select button
(111) 73. Illuminate button
(112) 74. Defaults button
(113) 75. Return to charge button
(114) 76. Unused button
(115) 77. button, remove region
(116) 78. Temperature select mode (then use +/)
(117) 79. + button, add region
(118) 80. Speaker
(119) 81. Control panel
(120) 82. Control Unit (CU)
(121) 83. Motorized tilt/swivel stand
(122) 84. Plane wavefront
(123) 85. Direction of plane wave travel
(124) 86. Metallic medium
(125) 87. Air medium
(126) 88. Radial sections (rays)
(127) 89. Radiation source
(128) 90. Spherical wavefront
(129) 91. Collimating metallic strip
(130) 92. Exit side
(131) 93. Dielectric Lens
(132) 94. Energy Source Feedhorn
(133) FIG. 1 illustrates an example installation of the extensible networked multi-modal environment conditioning system 100 where various units of the present invention are used in conjunction with each other to heat the occupants of the room, a man, a woman and a dog. The devices work in concert with each othernote that a HotHead from a Haser 1 provides heat to the woman and partially to the man while another HotHead from another Haser 1 provides heat to him and the dog, while a thermal unit (TSU) 4 heats their feet. This TSU has an extra battery pack (BU) 5. Note that all the units in the present invention are stackable. The Robotic Platform Unit (RPU) 6 has articulating facets on its top (there can be none at the bottom as it has wheels). The TSU 4 and BU 5 have articulating facets at both the top and the bottom to provide for stacking of the devices in any configuration. The Haser 1 and Control Unit (CU) 82 have articulating facets only at the bottom. The stand 3 has articulating facets at the top and at the bottom as it can carry a Haser or CU. The stand has special molding on top to ensure that only Hasers 1 and CUs 82 can be attached.
(134) In the present invention, the TSU 4 glows red when it is hot and this changes to a lighter pink as the heat fades away. The control software provides for the TSU 4 to automatically go back to the docking station 8 for charging where in a first embodiment a partner TSU 4 leaves the station 8 and goes to the point of need (PON) providing radiant heat 48. The control software can also provide either for the TSU 4 using the RPU to go to a specified location as described herein or follow a weak radio transmitter or beacon 7 which the person can keep on a keychain to move the TSU 4 into close proximity of the person. The charger at the docking station charges the batteries in all the devices in the stack on the RPU. It also heats the thermal masses in the TSUs in the stack. The charger 8 delivers enough power such that this power is more than the energy dissipation rate of the TSU 4 when it is in heat transfer mode at the point of use.
(135) Devices environment conditioning system 100 can communicate via a network if thus enabledover a wire or wirelessly. In the present figure, all devices have wireless networking 47. The CU 82 and Hasers 1 have most of the sensors and processors and together exhibit distributed intelligence in how to best use the resources available to address the environmental conditioning requirements of the Setting. The remote control 9 in the present invention can be used to provide directives to the system 100 such as powering it up or down, selecting a device to communicate with (each device will emit a beep and flickerlights rapidly to indicate that it is the one the user will be communicating with). The remote control 9 also has a built-in laser pointer which can be used to highlight an area that the system should be heating or to subtract an area from the map of what can be heated. Pointing the laser on the remote control 9 at a device also selects that device in particular to respond to the remote control 9. Hasers 1 also include a laser pointer in the form of a low-power visible laser that can be turned on to highlight, among other objects, cold areas of the Setting or places frequented by people. The temperature sensor(s) on the devices, are swept all over the room to create a low resolution thermal map (typically distance to diameter, D/S, ratio of 10:1) of the objects in it.
(136) The custom microcontrollers in the extensible networked multi-modal environment conditioning system 100 of the present invention continuously perform image processing many times a second to determine what to heat and when. All the software is modifiable and thus the system can get smarter as enhancements are made by a manufacturer and/or by the user community at large. The software takes advantage of behavior patterns of humans and other animals, for example, a person does and cannot stop moving immediately. A slow down must happen and a person or animal usually does not move spatially very rapidly in an indoor environment (unless dancing). There are typical strata above the floor that parts of our body occupy, such as the position of the head while lying down, the position of the head and hands while sitting on a sofa or a chair, and the position of the feet, hands and legs while standing. The conditioning system's 100 computer vision software is augmented with this behavioral knowledge.
(137) In the present invention as shown in FIG. 1b, a Haser 1 can heat only what is available in the line of sight. To alleviate this, multiple Hasers 1 may be installed in an environment such that they provide a continuous range of coverage 10. Note that the areas of coverage are representative of the entire sweep of all HotHeads and it is not to be understood that the entire range is always covered by them.
(138) In the present invention as shown in FIG. 2a, a first embodiment of a Haser 1 is shown. It has a control panel 12, which has some features available, though the entire feature set may only be available via the remote control or via a control panel on a computer where a program may be used to interact with the Haser 1 via a wired or wireless network. Such a program may be an internet (web-based) application. The Haser 1 is connected to electric power using a power supply 11 that may be compatible with any electrical power source the device having the capability for example to operate with either 110V or 220V electric mains. A fan 13 provides exhaust for the heat generated in the unit which also results in heating the Settingso nothing goes to waste. The Haser 1 may have one or multiple HotHeads 14, especially designed for this invention. HotHeads 14 can be implemented with various technologies, some of which are described herein. In this embodiment, there are four HotHeads 14 each of which may work independently of one another and be independently positioned with respect to the others so that one or all of the HotHeads may focus on one person or on several people, depending on the conditioning requirements and number of persons or animate objects within the Setting. The sensor panel 15 contains a microphone 16, camera 17, infrared remote receiver 18 and temperature sensor (pyrometer) 19. These sensors are used to respond to spoken commands, determine the 3D layout of the room and its occupants, and to accept commands via an infrared remote control 9.
(139) In the present invention, in FIG. 2b, an alternative embodiment of a Haser 20 is shown, which has an alternate layout of the components and six instead of the four HotHeads in FIG. 2a, thus with the ability to deliver more power. Note that the fan in both the embodiments FIG. 2a and FIG. 2b is placed on the opposite side (and above) the temperature sensor 18 so as not to create errors in readings. Articulation points 49 for stacking of the Haser are also shown.
(140) In the present invention, in FIG. 3, an exploded view of Haser 1 from FIG. 2a is shown. A power supply 11 is connected to the device. The back, sides and bottom of the device are assembled in one piece 21. The top of the unit is not shown and is distinct from the front face 25. The device can be hung from a wall using the holes 22. The left side of the unit, when looking at it from the front, has an air intake 23 to keep cool, fresh air flowing through the system and maintaining its internal temperature. A wireless network antenna 24 may also be provided. The microcontroller board 27 is connected via a wiring harness 26 to the control panel 12, an additional wiring harness 28 continues and provides power and signals to fan 13, the HotHeads 14 and the sensor array 15.
(141) In this particular embodiment, LASER HotHeads are used. SPOT HotHeads, WIRE HotHeads and others can also be used. The controller 27 is also connected to the laser source 30 which may be a laser diode bank with beam splitters, which then feeds the lasers to the HotHeads 14 via fiber optic cables 31. The power and other controls for the laser source are delivered via cable 29.
(142) In the present invention, in FIG. 4, the LASER HotHead 14 houses an articulated 2-degree of freedom dual servo motor system 34, 35 that is used to position the galvanometer box (galvo box) 33 so that it can paint a medium sized area with the laser beam 2. These servos motors 34, 35 move relatively slowly in comparison to those inside the galvo assembly 33. The design of this component of the invention takes advantage of cheaper components and is similar in articulated control as for example an arm where the shoulder and the elbow are used for gross motion and the hand is used for faster, more nimble tasks. The servos motors 34 and 35 spin orthogonally to each other. The galvo box 33 has a laser cavity 32 through which the laser beam 2 exits. The laser source 30 is provided via a lightweight optic fibre 31 and the power and control information is provided by the bus wires 28. The front of the Laser EMU is covered by a glass 36 that is transparent to infrared radiation.
(143) FIG. 5 is a first exemplary embodiment in the present invention of a LASER-EMU, using a laser source 30 to project a laser beam 2 towards mirrors 37 mounted on motors 39. The mirrors are non-orthogonal (i.e. not at right angles) to the motors. It is contemplated that among other possibilities, variations in the relative speeds, angles of mirrors to each other and the locations of the motors are used to change the shape and size of the drawn spirograph 38. The spirograph 38 covers the approximate area that needs to be heated.
(144) FIG. 5a is a second exemplary embodiment in the present invention of a LASER-EMU, using a laser source 30 to project a laser 2 on a mirror 40 coaxially attached to the spindle of a galvanometer motor 46. The laser is reflected onto the other mirror 40, attached, again, coaxially to the spindle of a galvo 46. This second galvo 46 is positioned orthogonally to the first galvo 46. FIG. 5b is a first exemplary embodiment in the present invention of a tilt-pan tray using servos 34 and 35, exhibiting two degrees of freedom to tilt and direct a laser beam 2 or other electromagnetic radiation unit (EMU).
(145) A first exemplary embodiment of a parabolic reflector 41 denoting a cross-section 42 is shown in FIG. 6a. The cross-sectional view is shown in FIG. 6b, with an infrared-pass filter 43. A first exemplary embodiment of a WIRE HotHead comprising a parabolic reflector 41 is shown in FIG. 7a. In this first embodiment, the WIRE-EMU has a high-resistance wire 45 structured on a heat-resistant scaffold 44 and an IR-pass filter 43. Many high-resistance wires are contemplated within the scope of the present invention including nichrome. Several structures are contemplated for the high-resistance wire, including the coiled coil shown in FIG. 7a. Several heat-resistant materials, including mica, are considered, to build the scaffold 44 shown in FIG. 7b for the high-resistance wire. Many scaffold shapes are considered, including radially symmetrical shapes, i.e. rectangles (shown), extruded crosses (shown) and other n-pointed star shapes. FIG. 8 is a first exemplary embodiment of a SPOT HotHead comprising a parabolic reflector 41, a SPOT-EMU and an IR-pass filter 43. A first exemplary embodiment of a SPOT-EMU, shown here, is a high-wattage (e.g. 300 W-1000 W) halogen lamp (bulb) 56. Most of the energy from the lamp is emitted as IR light and thus is felt as heat.
(146) In the present invention as shown in FIG. 9, an embodiment of a Thermal Storage Unit (TSU) 4 with a switch 53 that turns the unit on or off is shown. The TSU 4 automatically coordinates with any other devices in the area via its wireless network interface 47 to perform its heating function. To this end, it uses the fan 52 to optionally drive air through the heated thermal mass and/or PCM (phase change materials) 54 within it as shown in FIG. 10. The TSU 4 has articulation points 49, a set of three on a surface, which can be used to put the unit 4 in a stack of RPUs 6 and BUs 5. A handle 50 is provided which can be used to transport the TSU 4 from one location to another. The handle 50 folds down when not needed or when the TSU 4 needs to be stacked and have another device (e.g. another TSU) placed on top of the unit 4. The TSU 4 has a service panel 55 which is removed to perform maintenance on the device.
(147) In the present invention as shown in FIG. 10, LEDs 51 light up when the unit is in service and the strength of the glow indicates the thermal energy left in the thermal mass/PCM 54 inside the unit 4. The TSU 4 uses the antenna 24 to communicate with other devices in the area. The fan 52 is used to optionally drive air out of the system into the room in order to control the heat within an area such as to provide for an area to be heated more quickly. The articulation points 49 are used when stacking devices one on top of the other these points 49 provide both power and communication pathways. The handle 50 may fold into the body of the TSU when not in use.
(148) In the present invention, as shown in FIG. 11, an exemplary embodiment of a Robotic Platform Unit (RPU) 6 has an antenna 24 that is used to communicate with other devices wirelessly 47. The RPU 6 is positioned at the bottom part of a physical stack of devices and has articulation points 49 for other devices such as BUs, TSUs and CUs and Hasers to be placed on top to provide mobility to the devices. The articulation points 49 automatically provide power and communication between the devices as necessary. The RPU 6 can be manually turned on or off with the power button 53. If the unit 6 receives no directive from any other devices (e.g. a statically mounted CU 82 or Haser 1 elsewhere in the Setting) or a remote control 9 (via remote receiver, not shown), and if it has a payload such as a TSU or Haser, it will do image processing to attempt to identify animate objects such as people or animals in the vicinity and go to the closest one found. Distance and cliff sensors 59 are provided for navigation and to prevent the RPU 6 from falling down stairs. A camera 60 is placed as high in the unit as possible to improve computer vision. The RPU may have two powered wheels 57, each run by an independent servo motors or other motor systems to adequately maneuver the device in and around obstacles within a Setting. In a first embodiment the independent servos are made to run at different speeds to provide for the robot turn within a small turning radius to avoid obstacles. A smaller wheel 58 in the front that is unpowered may be provided. The support structure of the base and wheels of the RPU 6 is designed to be able to carry large weights such as a battery pack of about 12V at 18 Ah and other devices within the conditioning system 100. The RPU 6 is designed for short runs within the Setting while carrying heavy loads where these runs may not include extensive movements. The control software may include a time lag between the moment motion of an animate object is detected and a command for movement is sent to the RPU 6 using for example a timer or a low-pass filter. This delay eliminates constant shuffling movement of a device in a case where a person or other animate object moves around frequently. This controlled movement assists in preventing a TSU 4 or other device from getting in the way of a person frequently moving within a Setting doing what he or she needs to do.
(149) In the present invention as shown in FIG. 12, a sample stack 101 of two TSUs 4, a battery unit BU 5 and an RPU 6 is shown. In this stacked formation the system 101 is able to provide more thermal energy 48 than a single TSU 4, which is an advantage of the field-configurable nature of the system. While the RPU 6 may have its own battery pack, the BU 5 may provide additional power for the RPU 6 to compensate for the additional weight of the second TSU 4.
(150) In the present invention as shown in FIG. 13, an exemplary embodiment of a docking and charging station 8 that uses a power supply 11 to charge an RPU 6, TSU 4 or BU 5 is shown. For example, if an RPU 6 with a TSU 4 stacked on top is at the docking station 8, the battery of the RPU 6 will be charged and the TSU 4 will be heated or chilled, as per its function. The docking station 8 also communicates wirelessly 47 with other devices and has a button 53 to turn on or to stop charging. The docking station 8 automatically determines the type of unit that is charging and provides the adequate power requirements for that specific device. Charging requirements at docking points on the station may provide the appropriate high voltage power after communicating with a microcontroller in the TSU 4, BU 5 or RPU 6.
(151) In the present invention as shown in FIG. 14, an exemplary embodiment of a battery unit (BU) 5 has a power switch 53 that makes it active or inactive, and articulation points 49 to place it in a stack of other units. These connection points 49 provide power to the other units and also provide communication between the different units. The BU may also communicate current status and health wirelessly 47 through its microcontroller (not shown). The BU 5 may have a handle 50 for carrying, and this handle 50 can fit into a recess when the BU 5 is stacked with other devices.
(152) In the present invention as shown in FIG. 15, a collapsible stand 3 for the use of mounting and supporting a Haser 1 or other device has a power button 53 and articulation points 49 on both the top and at the bottom for flexible stacking configurations. In the fully extended mode the stand may be of a height of an adult human 65 or in a range of approximately 1 to 2.5 meters to properly direct radiant heat from the system 100. The stand 3 also has a socket for plugging in a power supply (not shown). The stand 3 may be used to support a device such as a Haser 1 or CU 82 that may be mounted on an RPU 6 with for example a BU 5 or TSU 4 to provide mobility and a higher vantage point. This is an attractive solution to the gas-fired outdoor heaters used in restaurants as devices in the present invention make less noise and produce no unpleasant odors.
(153) In the present invention as shown in FIG. 16, an exemplary embodiment of a remote control (RC) 62 is shown. The remote control 9 has a number of control actuators or buttons to set commands, control voice on and off or set learning modes for example with a left button 63 may be used to position a TSU 4 at a point of need (PON), a middle button may turn on a learn mode to have the conditioning system 100 remember a temperature setting or location within a Setting 64, an Up button 66 and a Down button 68 may function to raise or lower a stand 3 with a Haser 1 or other devices supported on the stand 3, a Right button 67 may control movement and direction of one or more HotHeads, an infrared (IR) diode 69 may send commands to the CU 82, a laser diode 70 may be used to highlight regions that the user wishes to add or remove from the heating plan, a power button 71 may power on and off one device or by pressing it rapidly three times for example the button 71 may shut the entire system down, a Device Select button 72 may direct a command at a device, an illuminate button 73 may be used so that visible lasers can be turned on to show the areas being heated, the warmest areas and/or the coldest areas of the room or Setting where this information may be used to plan for insulation or other modification within the Setting. The remote 9 may also include a Default button 74 that will reset the current device to its default settings. Pressing this button 71 for example three times rapidly may set the entire system 100 to its default settings. The existing learned settings may not be destroyed but may be kept in memory to be retrieved and reused via the remote 9 or a web interface to the system 100 which is accessible via the wireless network. The return to charge button 75 will return the TSU 4 on an RPU 6 with the weakest charge to the charging station. The button 77 and the + button, 79 may be used for minimal adjustments to target the system 100 to the proper environmental conditions and/or may be used for a variety of other fine tuning adjustments. For example, the temperature mode button 78 may be pressed before using the + and buttons to adjust for the optimal personal temperature. The remote 9 may also include other feature and controls to monitor and adjust the environment conditioning system 100 to optimal conditions for the Setting and persons within the Setting.
(154) In the present invention as shown in FIG. 17, an exemplary embodiment of a Control Unit (CU) 82 is shown. The CU 82 has a power supply 11, a tilt/swivel base 83 that is used to position the unit to view an area of interest, articulation points 49 to provide alternate power, communication and signaling, cameras 17 and microphones 16 for stereoscopic visual and stereo aural perception respectively, a speaker 80 for verbal communication back to the user and additional communication ports for the connection of input/output devices such as an infrared projector for fast 3D layout calculations. The CU 82 has a control panel 81 that though use of the remote control 9 or gesturing towards the camera 17 provides for manual control and communication if desired.
(155) As shown in FIG. 18, various types of existing built-in heating systems are shown with their airflow patterns and distribution of temperature. Radiant floor heating (also marked as Radiant Heating in FIG. 19) has a similar distribution pattern that suits the preferred usage (Ideal Heating) pattern of the present invention. The temperature profiles showing a comparison of temperature as compared to the height from the floor or heating source using various heating methods currently in use and as are compared to the ideal curve. As shown in FIG. 19, the typical airflow of a portable heater using convection is shown. The laminar airflow quickly gives way to turbulent airflow making it inefficient to heat a person 65 directly, outside a range of 1.2 meters to 1.8 meters (4 feet to 5 feet). The directional heating of the present invention's HotHeads are therefore a significantly better design and can reach a point of need at distance that are three times this range for about the same power usage. As shown in FIG. 20 modes of heat loss and gain from the human body are shown where 75% of heat transfer is through radiation. This information is further shown in the chart of FIG. 21 that shows the heat exchange from clothed and unclothed humans at various temperatures via various methods (evaporation, radiation, convection, metabolism and storage). Exchange through each mode is more or less dependent on the ambient temperature and humidity. By targeting locations of exposed skin on a person as described in the present invention, points of need (PON) for an individual are efficiently maintained at proper temperatures to provide for perspiration, conduction, convection and radiation of heat from a person's body. The present invention further provides radiant heat using lasers that are well within the laser safety requirements as shown in FIG. 22 that shows the accepted levels for maximum power exposure MPE of power density versus exposure time for various wavelengths. As shown in FIGS. 23-26 various waveguide lenses for use in the MICRO-EMU using microwave radiation may be used in the conditioning system 100 for the electromagnetic radiation unit. As shown in FIG. 23 using a source of microwave radiation 89, such as a feedhorn 94 generates rays in radial sections 88 which creates a spherical wavefront 90 that travels through the air medium 87 and reaches the metallic medium 86 of the collimating parallel metallic strips 91 of a parallel plate lens 91. This lens 91 has the property of converting the spherical waveform to a plane waveform 84 on the exit side 92 of the lens 91, propagating in a direction 85 away from the source. The waveguide parallel plate lens with collimating metallic strips 91 for use in the MICRO-EMU is shown in an isometric view in FIG. 24. In a further embodiment a waveguide lens for the MICRO-EMU is shown in FIG. 25. In this embodiment, a microwave source through a feedhorn 94 generates a spherical wavefront that is collimated by a dielectric convex lens 93 to generate a plane wavefront 93. This type of microwave lens slows the phase propagation (velocity) as the wave passes through the lens. The lens is convex and constructed of dielectric materials. The inner portion of the transmitted wave is decelerated for a longer interval of time than the outer portions. The delay causes the radiated wave to be collimated to be directed at a point of need (PON). In a still further embodiment a loaded microwave lens, as shown in FIG. 26, has a multi-cellular array of thousands of cells that act as a phase controlling device to convert a spherical wavefront to a plane wavefront.
(156) The system architecture for the environment conditioning system of the present invention includes one or more devices, each comprising one or more modules including at least a power module and a housing and at least one module for input, sensor, output, environment conditioning, or processing. Devices have inputs, either physical modules or data received via network interfaces. It is contemplated that several types of sensors will be made available to the present invention including digital video cameras, microphones, pyrometers, cliff sensors, range finders, humidity, odor and tilt sensors. Processors are analog or digital. Analog processors are typically feedback loops. Digital processors comprise at least one of the following: CPU, GPU, FPGA, in addition to memory and optional network adapters. Environment conditioning modules include Thermal Store Units (TSUs) and HotHeads, which comprise EMUs, optics and filters. A networked humidifier is also contemplated that provides moisture as needed. The physical appearance of devices, their identifying features and/or attached QR Codes are used by devices with video cameras to mapping the setting that the devices are in.
(157) As shown in FIG. 27, the distributed, self-organizing environment conditioning system 100 includes integration and control of these devices and accessories using a distributed software network through wired or wireless connections. Communication to and from the system may be facilitated using the stand 3 or other devices. Inputs 102 to the system 100 may be through a touchscreen, keypad, remote control, internet connection or other data entry device. Sensors 104 may include cameras, microphones, temperature sensors, threshold level sensors, humidity measurements, odor sensors, range sensors, speed sensors, location sensors, obstacle sensors, tilt sensors and other data measuring devices. The system 100 may further be designed with physical features 106 that are identifiable by another device within the Setting and environment. The series of modules 108 are integrated with power supplies and power management systems 110 and with processors 112 and control systems. These control systems may be a digital processor 114 such as a computer system, or an analog processor with simple a feedback loop 116. The system 100 may further include output system 118 to provide messaging and diagnostics. To maintain and condition the temperature and humidity within the Setting or environment, the system 100 controls and monitors the environment conditioning modules 120 that include a number of devices such as thermal store units (TSU), networked humidifier devices 122 and HotHeads 124 that include one or more electromagnetic radiation units EMU of various configurations. The integration of these devices provides adaptive and learning behaviors for the system to update and optimally adjust the environment with a Setting.
(158) In this embodiment as shown in FIG. 28, the system 130 integrates a Haser 132 and a Rover 134 with each device under the control of the Control Unit 136. The Haser 132 may include one or more HotHeads, a Tilt/Pan device, environment monitoring sensors, a digital processor, network adaptors, power supplies and remote control capability. The Rover may include a thermal store unit (TSU), a battery unit (BU), a power supply, a digital processor, a robotic platform unit (RPU), range detection and other mobility sensors, network adaptors and remote control capability. The TSU may be a heating system 138 or a cooling system 140. The control unit (CU) may include digital video cameras, stereo microphones, an infrared (IR) pattern projector and remote control capability.
(159) A further embodiment of the software architecture of the present invention is shown in FIG. 29. In this embodiment, one digital processor in the installation of multiple devices is elected as the controller 150 and this unit determines the actions of the other devices. All digital processors in the installation are contemplated to be available for processing task requests from all other processors. Whenever possible, tasks are executed locally. Other tasks are assigned and scheduled by the controller 150. Load balancing is also done by the controller 150. Each processor has its own bootloader 152 and (simpler) process monitor 154. Background processes (daemons) 156 run continuously. Daemons 156 contemplated include the Object tracker 158, updating the system 2D and 3D maps, broadcasting the devices' capabilities, electing and re-electing system controllers. The object tracker daemon 158 uses sensory inputs (e.g. video camera) 160 to perform feature detection and update the locations of objects of interest, adding this information to its history for logging or adaptive learning of behavioral patterns of the objects, among other uses. Objects of interest are typically humans, which are identified using detection algorithms 162 for motion, face, body and torso detection, among others. The tracker 158 then takes action, such as heating the environment with an Effector 164 such as an EMU or moving a tilt-pan tray or moving a robot platform (RPU).
(160) The invention has been described in detail with particular reference to certain preferred embodiments thereof, but it will be understood that variations and modifications can be effected within the spirit and scope of the invention.
