SYSTEM AND METHOD FOR COORDINATING TERRESTRIAL MOBILE AUTOMATED DEVICES

Abstract

The invention relates to systems for controlling automated devices and can be used in the coordination of terrestrial mobile automated devices, namely robots. The technical result is an increase in the effectiveness of the coordination of the robots as a result of increasing the length of time that a suspended platform is in the air, in different conditions. The system contains one or multiple devices for tracking robots, mounted on suspended platforms; natural or artificial markers; and a central unit, to which all the information from all of the tracking devices is sent, for determining the coordinates and orientation of the robots. Furthermore, the suspended platform is a rotor device, capable of operating in 3 modes: autogyro, wind motor, and helicopter.

Claims

1. A system for navigating and joint coordinating one or more robots positioned in a monitored area, the system comprising one or more robot tracking devices mounted on suspended platforms, natural or artificial markers, a central unit receiving all data from all tracking devices, for determining coordinates and orientation of robots, the system characterized in that at least one suspended platform is a rotor device configured for operation in the following modes: a) autogyro, driven by the oncoming air stream; b) wind motor, powered by the oncoming wind, and c) helicopter, powered by a terrestrial charger, wherein the system comprises a central computing unit arranged on the suspended platform, or on the ground, or on the charging device, or on the robot, the unit configured for determining coordinates, determining orientation of system elements, and forming control commands based on data received from all devices described hereinabove.

2. The system according to claim 1, characterized in that the rotor aerial vehicle is connected to the charger or the robot by a cable for receiving energy therefrom and transferring energy thereto.

3. The system according to claim 1, further comprising at least one upper hemisphere tracking device mounted on the surface of the monitored area or on the robots and configured for receiving data from the central computing unit and for transferring data thereto.

4. The system according to claim 1, further comprising at least one device for converting solar energy into electrical energy, the device positioned on the rotor aerial vehicle and/or the robot and/or the surface of monitored area

5. The system according to claim 4, characterized in that the device for converting solar energy is configured for transferring energy to at least one charger for charging batteries of the robots and/or the rotor aerial vehicle in the helicopter flight mode.

6. The system according to claim 1, characterized in that the at least one rotor aerial vehicle is configured for transferring energy generated in the wind motor mode to an energy storage device arranged on the rotor aerial vehicle and/or to the robot and/or to the charger for further use in the helicopter flight mode.

7. The navigation method according to claim 1, characterized in that the rotor device can be used as a security drone for home or garden.

8. A method for navigating and joint coordinating one or more robots positioned in a monitored area, the method including the use of: one or more robot tracking devices mounted on one or more suspended platforms formed by rotor devices configured for operation in the following modes: a) autogyro, driven by the oncoming air stream; b) wind motor, powered by the oncoming wind, and c) helicopter, powered by a terrestrial charger; natural or artificial markers; a central unit receiving all data from all tracking devices, for determining coordinates and orientation of robots, the method characterized in that the suspended platform is switched to a. the wind motor mode, charging the batteries when wind is present and no area processing required, b. the autogyro mode or the combined autogyro and wind motor mode, charging the batteries when wind is present and area processing is required, c. the helicopter motor mode powered by the batteries when area processing is required in zero-wind conditions.

9. The method according to claim 8, characterized in that the central unit is placed on the suspended platform, or on the ground, or on the charger, or on the robot.

10. The navigation method according to claim 9, characterized in that the tethered platform is attached to the robot charger or directly to one of the controlled robots via a cable.

11. The navigation method according to claim 10, characterized in that the upper hemisphere tracking devices are placed on the ground or on the terrestrial robots, and data from said devices is also sent to the central control system.

12. The navigation method according to claim 11, characterized in that energy is generated using solar panels arranged on the suspended platforms, on the ground or on the robots, and said energy is used for charging batteries or supplied to the robots or to the suspended platforms for providing flight in the helicopter mode.

13. The navigation method according to claim 8, characterized in that energy from the tethered platforms generated by the oncoming air stream caused by high-altitude wind (autogyration) is used for aerodynamic unloading or charging batteries, or for powering the robots, or for providing flight in the helicopter mode.

14. The navigation method according to claim 9, characterized in that energy from the tethered platforms generated by the oncoming air stream caused by high-altitude wind (autogyration) is used for aerodynamic unloading or charging batteries, or for powering the robots, or for providing flight in the helicopter mode.

15. The navigation method according to claim 10, characterized in that energy from the tethered platforms generated by the oncoming air stream caused by high-altitude wind (autogyration) is used for aerodynamic unloading or charging batteries, or for powering the robots, or for providing flight in the helicopter mode.

16. The navigation method according to claim 11, characterized in that energy from the tethered platforms generated by the oncoming air stream caused by high-altitude wind (autogyration) is used for aerodynamic unloading or charging batteries, or for powering the robots, or for providing flight in the helicopter mode.

17. The navigation method according to claim 12, characterized in that energy from the tethered platforms generated by the oncoming air stream caused by high-altitude wind (autogyration) is used for aerodynamic unloading or charging batteries, or for powering the robots, or for providing flight in the helicopter mode.

26-45. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG. 1 is a graph depicting the relationship between wind force and altitude for various localities: city, rural town, village.

[0038] FIG. 2 depicts embodiments of the present invention. The following reference numerals are used: tethered unmanned aerial vehicle (tethered UAV) 1, charger and control device 2, camera(s) 3; ground markers 4 and robot markers 5; and a natural marker depicted as a bush 6.

DETAILED DESCRIPTION OF THE INVENTION

[0039] The present invention provides a centralized robot control system and increases accuracy in determining robot coordinates (spatial and angular).

[0040] The use of tethered platforms with surveillance devices which can be operated in three different modes (autogyro mode, wind motor mode, helicopter mode) provides effective robot coordination based on using robot tracking devices positioned at masts or aerial vehicles over the monitored area and monitoring the environment thereof, including natural and artificial markers.

[0041] The combined operation in different modes complements each mode and compensates for drawbacks thereof.

[0042] The solution is illustrated in FIG. 2, showing three exemplary embodiments (a, b, c) of the disclosed system. Fixedly mounted cameras covering the entire lower hemisphere are mounted on a suspended platform. Such arrangement is cheaper than using one adjustable camera, while a wired communications channel (fiber-optic or twisted pair) is reliable and high-capacity. Multiple cameras can be arranged on the tethered platform and on the suspender thereof at a required low altitude. The tethered platforms are attached to the ground via a cable (FIG. 2a), tethered to the energy storage and supply device via a cable (FIG. 2b), or attached directly to one of the robots in the monitored area (FIG. 2c).

[0043] Energy can also be generated by solar panels mounted on the tethered platform, on the ground, or on the robots.

[0044] In the disclosed solution, relative (differential) video positioning of the robots can be arranged with respect to the area or with respect to the aerial vehicle (or mast). Coordinates of the surveillance UAV may not be necessary to coordinate robot operation from the aerial vehicle (or mast). The invention can provide precise relative positioning of robots with respect to 3 or more special markers, fixed terrestrial objects, and other terrestrial robots.

[0045] Accurate UAV coordinates do not guarantee providing accurate coordinates of terrestrial robots. However, such UAV coordinates (position and orientation thereof) can be required for correcting projection distortions on the obtained images.

[0046] The present invention provides passive video surveillance in both natural and artificial light. The all-weather capability is provided by infrared and radar sight, by passive reflectors and active infrared markers, by infrared LEDs, etc.

[0047] The use of several surveillance cameras over the monitored area (in various combinations of fixed cameras and cameras arranged on tethered high-altitude platforms) provides increased reliability and stereoscopic positioning accuracy, and eliminates blind spots (e.g., behind trees and under tree branches).

[0048] Markers easily distinguishable from above can be placed on the robot, on the charger thereof, and on the ground.

[0049] The central unit receiving all data from all tracking devices determines coordinates and orientation of the at least one controlled robot (both relative (differential) video positioning of the robot with respect to the area and with respect to tracking devices (cameras)) and, if necessary, determines coordinates and orientation of the tracking devices. Said unit is configured for transmitting control commands and signals (including RF signals) to the robots, tracking devices, and chargers, further providing the possibility of exchanging control and data signals among said devices.

[0050] When multiple robots are used, the centralized coordination thereof is simple: the cameras see all robots at the same time, and a unified computer system receiving said data provides coordination of the mutual movement of the robots. Boundaries for the operating area (e.g. mowing boundaries for a lawnmower robot) can be set by specifying (e.g., using a mouse cursor or by drawing with a stylus or user's finger on a touch screen) boundaries on the computer system screen showing an image of the area.

[0051] The disclosed system is operated as follows: initially, at least one robot is placed in the monitored area (e.g., on a lawn). Tracking devices (one or more cameras) mounted on aerial vehicles or masts are arranged above the monitored area prior to starting robot operation, wherein positions and height at which the devices are suspended are selected to cover the entire monitored area.

[0052] In another example, the tracking device at the start of the operation process is located on the ground or on one of the robots; then, during operation, the device can take flight, fly or land on masts for tracking robots in the monitored area.

[0053] The devices for tracking suspended platforms can be placed on the ground or on the robots, thus providing determination of mutual position and orientation between tracking devices and robots, and further allowing to determine the robot rotation angle more accurately and to determine robot position in camera blind spots (under canopies and trees) by performing orientation based on canopy surfaces and tree leaves visible above the robot.

[0054] Furthermore, other spectral regions can be used instead of the visible signal. In this case, the signal is not necessarily natural and can be generated by a robot or by a device arranged on the camera or at a different point in space. Other usable signals include audio signals, ultrasound signals, radar signals, as well as sensors and markers such as olfactory or chemical signals or radioactivity slightly above the ambient level (e.g., silicon slabs).

[0055] The object is solved by the disclosed method for navigating and joint coordinating one or more robots positioned in a monitored area by routing each robot based on data comprising coordinates of obstacles, of the processed area boundaries, of the monitored area boundaries, and of all robots in said area. In order to provide operation of robots in the monitored area, especially in sections of the monitored area where the signal from GPS satellites is either re-reflected or suppressed, devices for tracking robots in the monitored area and surveying the environment thereof are positioned on one or more tethered platforms above the monitored area prior to starting robot operation. The tracking devices are natural or artificial markers configured for transmitting data regarding the monitored area and objects present therein to each or some of the robots in said area. Based on the data from tracking devices, each or some robots provide determination of coordinates of obstacles, of the processed area boundaries, of the monitored area boundaries, and of all robots used in said area; furthermore, control signals are exchanged between the tracking device and the automated devices in the monitored area in order to establish mutual coordination. The method is characterized in that at least one suspended platform is a rotor device configured for operation in the following modes: autogyro mode, driven by the oncoming air stream; wind motor mode, powered by the oncoming wind, and helicopter mode, powered by a terrestrial charger.

[0056] Therefore, when wind is present and area processing is not required, the suspended platform operates in the wind motor mode, charging the batteries. When wind is present and area processing is required, the suspended platform operates in the autogyro mode or in the combined autogyro and wind motor mode, charging the batteries. When area processing is required in zero-wind conditions, the suspended platform operates in the helicopter mode powered by the batteries. The system comprises a central computing unit arranged on the suspended platform, or on the ground, or on the charging device, or on the robot, the unit configured for determining coordinates, determining orientation of system elements, and forming control commands based on data received from all devices described hereinabove.

[0057] The present invention provides a centralized robot control system and increases accuracy in determining robot coordinates (spatial and angular).

[0058] The use of tethered platforms with surveillance devices which can be operated in three different modes (autogyro mode, wind motor mode, helicopter mode) provides effective robot coordination based on using robot tracking devices positioned at masts or aerial vehicles over the monitored area and monitoring the environment thereof, including natural and artificial markers.

[0059] The combined operation in different modes complements each mode and compensates for drawbacks thereof.

[0060] The method is illustrated in FIG. 2, showing three exemplary embodiments (a, b, c) of the disclosed method. Fixedly mounted cameras covering the entire lower hemisphere are mounted on a suspended platform. Such arrangement is cheaper than using one adjustable camera, while a wired communications channel (fiber-optic or twisted pair) is reliable and high-capacity. Multiple cameras can be arranged on the tethered platform and on the suspender thereof at a required low altitude. The tethered platforms are attached to the ground via a cable (FIG. 2a), tethered to the energy storage and supply device via a cable (FIG. 2b), or attached directly to one of the robots in the monitored area (FIG. 2c).

[0061] Energy can also be generated by solar panels mounted on the tethered platform, on the ground, or on the robots.

[0062] In the disclosed solution, relative (differential) video positioning of the robots can be arranged with respect to the area or with respect to the aerial vehicle (or mast). Coordinates of the surveillance UAV may not be necessary to coordinate robot operation from the aerial vehicle (or mast). The invention can provide precise relative positioning of robots with respect to 3 or more special markers, fixed terrestrial objects, and other terrestrial robots.

[0063] Accurate UAV coordinates do not guarantee providing accurate coordinates of terrestrial robots. However, such UAV coordinates (position and orientation thereof) can be required for correcting projection distortions on the obtained images.

[0064] The present invention provides passive video surveillance in both natural and artificial light. The all-weather capability is provided by infrared and radar sight, by passive reflectors and active infrared markers, by infrared LEDs, etc.

[0065] The use of several surveillance cameras over the monitored area (in various combinations of fixed cameras and cameras arranged on tethered high-altitude platforms) provides increased reliability and stereoscopic positioning accuracy, and eliminates blind spots (e.g., behind trees and under tree branches).

[0066] Markers easily distinguishable from above can be placed on the robot, on the charger thereof, and on the ground.

[0067] The central unit receiving all data from all tracking devices determines coordinates and orientation of the at least one controlled robot (both relative (differential) video positioning of the robot with respect to the area and with respect to tracking devices (cameras)) and, if necessary, determines coordinates and orientation of the tracking devices. Said unit is configured for transmitting control commands and signals (including RF signals) to the robots, tracking devices, and chargers, further providing the possibility of exchanging control and data signals among said devices.

[0068] When multiple robots are used, the centralized coordination thereof is simple: the cameras see all robots at the same time, and a unified computer system receiving said data provides coordination of the mutual movement of the robots. Boundaries for the operating area (e.g. mowing boundaries for a lawnmower robot) can be set by specifying (e.g., using a mouse cursor or by drawing with a stylus or user's finger on a touch screen) boundaries on the computer system screen showing an image of the area.

[0069] The disclosed system is operated as follows: initially, at least one robot is placed in the monitored area (e.g., on a lawn). Tracking devices (one or more cameras) mounted on aerial vehicles or masts are arranged above the monitored area prior to starting robot operation, wherein positions and height at which the devices are suspended are selected to cover the entire monitored area.

[0070] In another example, the tracking device at the start of the operation process is located on the ground or on one of the robots; then, during operation, the device can take flight, fly or land on masts for tracking robots in the monitored area.

[0071] The devices for tracking suspended platforms can be placed on the ground or on the robots, thus providing determination of mutual position and orientation between tracking devices and robots, and further allowing to determine the robot rotation angle more accurately and to determine robot position in camera blind spots (under canopies and trees) by performing orientation based on canopy surfaces and tree leaves visible above the robot.

[0072] Furthermore, other spectral regions can be used instead of the visible signal. In this case, the signal is not necessarily natural and can be generated by a robot or by a device arranged on the camera or at a different point in space. Other usable signals include audio signals, ultrasound signals, radar signals, as well as sensors and markers such as olfactory or chemical signals or radioactivity slightly above the ambient level (e.g., silicon slabs).

[0073] The surveillance system can detect obstacles or moving objects and can determine grass height and quality of lawn mowing. The system is simple in implementation and inexpensive.

[0074] The present system can be used with a wide variety of robots: automated lawnmowers, indoor cleaning robots, tractors, snowplows, garbage removal and street flushing vehicles, transporting vehicles for transporting people and goods, agricultural vehicles, municipal vehicles, transport vehicles, etc. The present system can be used with robots utilized on other planets, e.g. with Mars rovers.