Vision-based automated directional measurement system and method of using the same

Abstract

A calibration assembly for a guided vehicle. The calibration assembly includes an azimuth marker operatively engaged with a first guidance device of the guided vehicle. The calibration assembly also includes an imaging assembly operatively engaged with and in electrical communication with a second guidance device of the guided vehicle. The imaging assembly calibrates a rotational displacement between a first guidance direction of the first guidance device and a second guidance direction of the second guidance device based on an angular displacement of the azimuth marker between a zero position representing the first guidance direction and a translated position when the imaging assembly captures the azimuth marker in the translated position over at least one cycle.

Description

Technical Field

[0001] This invention generally relates to an automatic calibration assembly for calibrating two guidance directions of two guidance kits of a projectile. Background Technology

[0002] In military operations, modern projectiles or projectile devices launched from various platforms, including mobile and fixed vehicles, may be equipped with at least one guidance kit to guide the projectile to a target or point of interest. In some cases, guided projectiles may be equipped with multiple types of guidance systems and / or kits for detecting and identifying various targets or points of interest in the air, on water, and on land, depending on the current mission and / or military operation. For example, a guided projectile may be equipped with a first type of guidance kit and a second type of guidance kit, which differ from each other depending on the current mission and / or military operation. As another example, another guided projectile may be equipped with a first type of guidance kit and a second type of guidance kit, which are similar to each other depending on the current mission and / or military operation to enhance the performance of the specific guidance system.

[0003] However, in these situations, due to various issues (including inconsistencies in the threads between guidance components), rotational displacement and / or angular misalignment may occur between the first and second type guidance components on the projectile. In this case, the guidance direction misalignment and / or offset between the first and second type guidance components may cause them to perform inconsistent guidance operations independently. If such a problem exists, operators and / or technicians assembling these projectiles must pay attention to the rotational position of the first and second type guidance components. However, if the structural configuration is inconsistent (e.g., threads and other mechanical connections on these projectiles), operators and technicians may not be able to assemble the projectile correctly and may not have a small rotational misalignment between the first and second type guidance components. Summary of the Invention

[0004] An exemplary embodiment of this disclosure provides a calibration assembly for a guided vehicle. The calibration assembly includes an azimuth marker operatively engaged with a first guidance device of the guided vehicle. The calibration assembly also includes an imaging assembly operatively engaged with and electrically communicating with a second guidance device of the guided vehicle. When the imaging assembly captures the azimuth marker in a translational position over at least one period, the imaging assembly calibrates the rotational displacement between a first guidance direction of the first guidance device and a second guidance direction of the second guidance device based on an angular displacement of the azimuth marker measured between a zero position representing a first guidance direction and the translational position.

[0005] This exemplary embodiment or another exemplary embodiment may further include: the imaging assembly includes: an imaging device operatively engaged with the second guidance device of the guidance vehicle and facing the azimuth marker; a processor operatively connected to the imaging device; and a calibration procedure executed by the processor, wherein the calibration procedure includes the zero point position of the azimuth marker; wherein, when the imaging device captures the azimuth marker at the translational position within at least one period in response to the processor executing the calibration procedure, the processor calibrates the rotational displacement between the first guidance direction of the first guidance device and the second guidance direction of the second guidance device based on the angular displacement of the azimuth marker measured between the zero point position and the translational position. This exemplary embodiment or another exemplary embodiment may further include: the imaging assembly further includes: at least one illumination device operatively engaged with the processor and facing the azimuth marker; wherein the at least one illumination device is configured to illuminate at least a portion of the azimuth marker before the imaging device observes the azimuth marker. This exemplary embodiment or another exemplary embodiment may further include: the orientation mark includes: a geometry indicating the first guidance direction at the zero point position; wherein the calibration component is configured to calibrate the first guidance device by means of the second guidance device based on the angular displacement between the second geometry at the translational position and the geometry at the zero point position. This exemplary embodiment or another exemplary embodiment may further include: at least one illumination device operatively engaged with the orientation mark and facing the imaging device; wherein the at least one illumination device is configured to illuminate the orientation mark from the first guidance device and away from the imaging device. This exemplary embodiment or another exemplary embodiment may further include: the orientation mark includes: a computer-readable medium facing the imaging component; wherein the computer-readable medium is configured to store data about the first guidance device. This exemplary embodiment or another exemplary embodiment may further include: the orientation mark is made of a retroreflective material. This exemplary embodiment or another exemplary embodiment may further include: the imaging device is a visible light camera with a macro lens.

[0006] On the other hand, an exemplary embodiment of this disclosure provides a method. The method includes the steps of: mounting an azimuth marker to a first guidance device of a guidance kit, wherein the first guidance device defines a first guidance direction; mounting an imaging assembly to a second guidance device of the guidance kit, wherein the second guidance device defines a second guidance direction independent of the first guidance direction; and loading a computer program product for calibrating the guidance kit onto a computer-readable medium of the imaging assembly, the computer program product being executable by a processor of the imaging assembly, wherein, when executed by the processor, the computer program product causes the processor to perform the following operations: instructing an imaging device of the imaging assembly to analyze at least one image of the azimuth marker, wherein the azimuth marker is located in a translational position; receiving the at least one image from the imaging device; measuring the angular displacement of the azimuth marker between a zero point position stored on the computer-readable medium and the translational position; and calibrating the rotational displacement between the first guidance direction of the first guidance device and the second guidance direction of the second guidance device.

[0007] This exemplary embodiment or another exemplary embodiment may further include: when the processor executes the computer program product, further causing the processor to perform the following operation: before the imaging device captures at least one image of the azimuth marker, commanding the illumination device of the imaging component to illuminate at least a portion of the azimuth marker. This exemplary embodiment or another exemplary embodiment may further include the following steps: mounting a computer-readable medium on the azimuth marker to store data about the first guidance device; and wherein, when the processor executes the computer program product, further causing the processor to perform the following operation: analyzing the data stored in the computer-readable medium to obtain knowledge about the first guidance device. This exemplary embodiment or another exemplary embodiment may further include: the azimuth marker is made of retroreflective material. This exemplary embodiment or another exemplary embodiment may include: when the processor executes the computer program product, further causing the processor to perform the following operation: before the imaging device captures the at least one image of the azimuth marker, commanding the illumination device to illuminate the azimuth marker from the first guidance device. This exemplary embodiment or another exemplary embodiment may further include: the imaging device is a visible light camera with a macro lens.

[0008] On the other hand, an exemplary embodiment of this disclosure provides a computer-implemented method stored on a computer-readable medium of a calibration component and executed by a processor of the calibration component on a guidance vehicle. The computer-implemented method includes: the processor executing a first instruction to command an imaging device of the calibration component to capture at least one image of an azimuth marker, wherein the azimuth marker is located in a translational position; the processor executing a second instruction to receive the at least one image from the imaging device; the processor executing a third instruction to measure the angular displacement of the azimuth marker between a zero point position stored on the computer-readable medium and the translational position; and the processor executing a fourth instruction to calibrate the rotational displacement between a first guidance direction of a first guidance device and a second guidance direction of a second guidance device.

[0009] This exemplary embodiment or another exemplary embodiment may further include: the processor executing a fifth instruction to command the illumination device of the calibration component to illuminate at least a portion of the azimuth marker before the imaging device captures the at least one image of the azimuth marker. This exemplary embodiment or another exemplary embodiment may further include: the processor executing a fifth instruction to analyze data about the first guidance device stored in a computer-readable medium of the azimuth marker. This exemplary embodiment or another exemplary embodiment may further include: the second instruction to receive the at least one image from the imaging device further including: based on the azimuth marker made of a retroreflective material, the azimuth marker reflects light emitted by the imaging device back to the imaging device. Attached Figure Description

[0010] The following description sets forth exemplary embodiments of the present disclosure, which are illustrated in the accompanying drawings and are particularly pointed out and set forth in the appended claims.

[0011] Figure 1 An isometric perspective view of the front, top, and first side of a guided projectile according to one embodiment of the invention is shown, wherein the guided projectile is equipped with a first guidance kit, a second guidance kit, and an automatic calibration assembly.

[0012] Figure 2 Partial exploded views of the first and second guidance kits are shown.

[0013] Figure 3 It is along Figure 2 The rear view of the second guidance kit, taken in the 3-3 line direction shown.

[0014] Figure 4 It is along Figure 2 The front view of the first guidance kit, shown in the 4-4 line direction.

[0015] Figure 5 This is an operational view of the second guidance kit that is threadedly engaged with the first guidance kit, wherein the first guidance direction of the first guidance component and the second guidance direction of the second guidance component are offset from each other.

[0016] Figure 6 Is with Figure 5 Another similar operation view, along Figure 5 The image is taken along the 6-6 line direction shown, but the imaging device indicating the calibration component captures at least one image of the orientation mark of the calibration component.

[0017] Figure 7 Is with Figure 6 Another similar operational view, but the calibration component automatically calibrates the second guidance direction of the second guidance kit via the first guidance direction of the first guidance kit, thereby making the first guidance direction and the second guidance direction parallel to each other.

[0018] Figure 8 It is a flowchart of the calibration procedure of the calibration component, which is stored on a non-transient computer-readable medium and can be executed by the processor of the calibration component.

[0019] The same reference numerals in the accompanying drawings indicate the same parts. Detailed Implementation

[0020] Figure 1 The image shows a projectile, projectile device, or guided vehicle 1, which may be equipped with guidance kits for guiding the projectile 1 to a specific target. As shown, the projectile 1 is a Hydra 70 rocket, equipped with at least two guidance kits for guiding the projectile 1 to a specific target, which will be discussed in more detail below. It should be understood that the projectile 1 can be any type of mobile device, whether or not it is an ammunition. For example, the projectile 1 can also be any manned or unmanned object that requires guidance in the manner described herein. The purpose and intended use of the at least two guidance kits equipped on the projectile 1 shown will be described in more detail below.

[0021] In this disclosure, projectile 1 is configured to be launched from a ground or ground-based vehicle platform toward a desired air or ground target. It should be understood that the platform discussed herein is merely exemplary, and any type of platform may be included. In one exemplary embodiment, the platform described herein may be an aircraft or flying vehicle (e.g., a manned or unmanned fixed-wing or rotary-wing aircraft) capable of launching projectiles and other similar payloads from the air and striking air, land, or sea targets. In another exemplary embodiment, the platform described herein may be a handheld launcher, a launcher mounted on a ground transport vehicle, a launcher mounted on a ship, or other launchers suitable for launching projectiles and other similar devices from land or sea and striking land or sea targets. In yet another exemplary embodiment, the platform described herein may be a ground-based launch vehicle operably engaged with the ground, configured to launch surface-to-surface projectiles or missiles (or “SSM”), surface-to-surface projectiles or missiles (or “GGM”), or surface-to-air projectiles or missiles. In other words, this exemplary embodiment is capable of launching projectiles and other similar devices from land and striking air, land, or sea targets. In another exemplary embodiment, the platform described herein may be represented as a watercraft, vessel, or waterborne vehicle (manned or unmanned) capable of launching projectiles and other similar payloads from water to strike air, land, or sea targets, or launching projectiles and similar payloads from water to strike sea targets.

[0022] The projectile 1 may include a rocket engine or propulsion engine 10 configured to provide the thrust and propulsion required for desired military operations. The rocket engine 10 typically includes a first end or front end 10A, a second end or rear end 10B opposite the first end 10A, and a longitudinal axis located between the two. The rocket engine 10 also typically includes a cylindrical wall 10C extending along the longitudinal axis of the rocket engine 10 between the first end 10A and the second end 10B. Although not shown in the figures, suitable rocket propellants and components may be stored within the cylindrical wall 10C (e.g., a chamber 10D within the cylindrical wall 10C), which provide thrust and propulsion to the rocket engine 10. The rocket engine 10 also includes a rear wing member 10E operatively engaged with the cylindrical wall 10C adjacent to the second end 10B of the rocket engine 10. When the projectile 1 is launched from the platform 2 and flies between the target and the air, the rear wing member 10E can provide flight assistance to the projectile 1 located at the second end 10B of the rocket engine 10.

[0023] Projectile 1 also includes a warhead 12 with an impact detonation fuse 14. For example... Figure 1As shown, the assembly of the warhead 12 and the impact and proximity fuse 14 is threadedly engaged with the first end 10A of the rocket motor 10. Therefore, the assembly of the warhead 12 and the impact fuse 14 is located in front of the rocket motor 10. Although the assembly of the warhead 12 and the impact fuse 14 is located in front of the rocket motor 10, the assembly of the warhead and the impact fuse can also be located at any suitable position on the projectile described herein. In one exemplary embodiment, the assembly of the warhead and the impact fuse can be located between the retrieval device and the guidance device described and illustrated herein, such that the guidance device, the assembly of the warhead and the impact fuse, and the retrieval device can form an integral device and be assembled in the projectile. In another exemplary embodiment, the warhead may include a central axis that allows both ends of the warhead to be visible through the central axis. This central axis design can guide light from one end of the warhead (e.g., light generated by the illumination device discussed herein) to the other end of the warhead, thereby enabling an image sensor located at the other end (as described herein) to measure different intensities and / or directions of the light, thereby calibrating at least two guidance devices and / or components.

[0024] Projectile 1 may also include a thermal battery or power source. During operation, once projectile 1 enters flight, the thermal battery can provide the necessary electrical power to any electrical devices and / or components included in projectile 1 (described and illustrated herein).

[0025] In the illustrated embodiment, the rocket motor 10 of the projectile 1 can be a standard 2.75-inch rocket motor (e.g., a liquid-fuel rocket motor, a solid-fuel rocket motor, or other similar suitable rocket motor). In other exemplary embodiments, the projectile can be equipped with any suitable rocket motor, depending on the mission and / or objective.

[0026] Projectile 1 also includes a first guidance kit or device (hereinafter referred to as the "first guidance kit"), typically designated 20, configured to guide projectile 1 to a specific target. The first guidance kit 20 may include existing hardware and guidance procedures configured to activate and / or deploy onboard devices to guide and / or direct projectile 1 to a specific target. The first guidance kit 20 is also configured to operatively engage a rocket motor (e.g., rocket motor 10) to enable guidance capability for the rocket motor. As described above, the first guidance kit 20 provided with projectile 1 is an existing guidance kit and / or device. In one example, the existing guidance kit described and illustrated herein may be the Advanced Precision Kill Weapon System (APKWS) laser guidance kit manufactured by BAE Systems. In another example, the existing guidance kit described and illustrated herein may be an existing guidance kit including commercial navigation equipment and / or instruments (including inertial navigation systems or inertial measurement units) for guiding a projectile to a target. In yet another example, the guidance kit described and illustrated herein may include non-commercially available navigation equipment and / or instruments, such as inertial navigation systems or inertial measurement units, for guiding a projectile to a target.

[0027] With regard to the first guidance kit 20, the first guidance kit 20 includes a first body 22, which is operatively engaged with the rocket motor 10 and houses the electrical components and / or devices of the first guidance kit 20. The first body 22 includes a first end or front end 22A remote from the rocket motor 10, a second end 22B opposite to the first end 22A and engaged with the rocket motor 10 at the first end 10A of the rocket motor 10, and a longitudinal axis 22C located between the two.

[0028] The first body 22 also includes a cylindrical wall 22D extending between a first end 22A and a second end 22B. The cylindrical wall 22D of the first body 22 can also accommodate means and components of the first guidance kit 20, as well as other guidance devices, which will be discussed in detail below. The cylindrical wall 22D of the first body 22 may also define an outer surface 22E that extends longitudinally between the first end 22A and the second end 22B and faces toward the external environment surrounding the projectile 1. The cylindrical wall 22D may also define an inner surface 22F that extends longitudinally between the first end 22A and the second end 22B and faces toward the interior of the first body 22 in the opposite direction to the outer surface 22E.

[0029] The first body 22 also defines a chamber 22G within a cylindrical wall 22D located between the first end 22A and the second end 22B. The chamber 22G can also be accessed through a front opening 22H located at the first end 22A of the first body 22. Such devices and components of the first guidance kit 20 can be inserted through the front opening 22H for storing and / or accommodating said devices and components of the first guidance kit 20. The first body 22 also defines an internal thread 22J extending inwardly from the inner surface 22F to the outer surface 22E into the cylindrical wall 22D. The use and purpose of the internal thread 22J will be discussed in detail below.

[0030] The first main body 22 also defines a set of slots 22K. For example... Figure 2 As shown, the groove 22K is defined in the cylindrical wall 22D, such that each groove in the groove 22K extends from the outer surface 22E to the inner surface 22F into the cylindrical wall 22D. Each groove in the groove 22K also extends longitudinally between the first end 22A and the second end 22B of the first body 22. This use and purpose of the groove 22K will be discussed in detail below.

[0031] The first guidance kit 20 may also include flaps and ailerons and a wing assembly 24, which are operatively engaged with the first main body 22. For example... Figure 1 As shown, each wing of the wing assembly 24 is movable on the first body 22 near its first end 22A. More specifically, when the projectile 1 is launched and in flight, the wing assembly 24 is pivotable outward from the first body 22 and located outside the slot assembly 22K. In one exemplary embodiment, each wing of the wing assembly described herein may be fixed to and stationary with the body of the first guidance kit, thereby preventing each wing of the wing assembly from moving relative to the body of the first guidance kit.

[0032] The first guidance kit 20 may also include an optical imaging device or a searching device group 26. For example... Figure 2 As shown, each optical imaging device in the optical imaging device group 26 is operatively engaged with a corresponding wing of the wing group 24. In this disclosure, a portion of each optical imaging device in the optical imaging device group 26 is visible in the external environment and / or far field in front of the projectile 1. During operation, each optical imaging device in the optical imaging device group 26 is configured to visualize and detect one or more electromagnetic wavelengths (e.g., visible light or visible spectrum wavelengths, infrared wavelengths, ultraviolet wavelengths, etc.) of a target (particularly an aircraft or spacecraft in flight). In one embodiment, each optical imaging device in the optical imaging device group 26 may be a laser-guided device and / or sensor, guided by a laser device to a target or point of interest. In this case, these optical imaging devices may also be equipped with an avalanche photodiode to detect the laser response of a designated target.

[0033] The first guidance kit 20 also includes a first guidance direction, typically indicated by 27. For example... Figure 5 and Figure 7 As shown, the first guidance direction 27 is represented by a pair of arrows extending outward from the longitudinal axis 22C of the first body 22. In this disclosure, the first guidance direction 27 is also located in a first azimuth or angular position relative to the longitudinal axis 22C of the first body 22. It should be understood that the first guidance direction 27 indicates that the first guidance kit 20 provides directional guidance to the projectile 1 based on data and information detected and / or observed by the optical imaging device group 26, so as to guide it to the target and / or the desired position.

[0034] The first guidance kit 20 also includes a first two-way communication board 28. For example... Figure 4 As shown, the first two-way communication board 28 is located within the chamber 22G of the first body 22 and can be accessed through the front opening 22H. The first two-way communication board 28 may also include a set of sensors or communication lights 28A, which are electrically connected to and operatively engaged with the first two-way communication board 28 to communicate with another guidance kit of the projectile 1, which will be discussed in detail below.

[0035] The projectile 1 also includes a second guidance kit or device (hereinafter referred to as the "second guidance kit"), typically designated 40, configured to guide the projectile 1 to a specific target. The second guidance kit 40 may include existing hardware and protocols configured to activate and / or deploy onboard devices to guide and / or direct the projectile 1 to the specific target. The second guidance kit 40 is also configured to operatively engage with the first guidance kit 20 (specifically, the first body 22 of the first guidance kit 20) to provide guidance capability to the projectile 1. In one example, the second guidance kit described and illustrated herein may be a guidance kit with a locating device. In another example, the guidance kit described and illustrated herein may be an existing or conventional guidance kit, including commercial navigation equipment and / or instruments (including optical imaging devices) for guiding the projectile to a desired target.

[0036] Regarding the second guidance kit 40, it includes a second body 42 that is operatively engaged with and houses the electrical components and / or devices of the second guidance kit 40, and is connected to the first body 22 of the first guidance kit 20. The second body 42 includes a first end or front end 42A remote from the first body 22, a second end 42B opposite to the first end 42A and operatively engaged with the first body 22 at the first end 22A, and a longitudinal axis 42C located between the two. In this disclosure, the first end 42A is the foremost point of the projectile 1.

[0037] The second body 42 also includes a cylindrical wall 42D extending between the first end 42A and the second end 42B. The cylindrical wall 42D of the second body 42 may also be configured to accommodate means and components of the second guidance kit 40, as well as other guidance devices, which will be discussed in detail below. The cylindrical wall 42D of the second body 42 may also define an outer surface 42E that extends longitudinally between the first end 42A and the second end 42B and faces toward the external environment surrounding the projectile 1. The cylindrical wall 42D may also define an inner surface 42F that extends longitudinally between the first end 42A and the second end 42B and faces toward the interior of the second body 42 in the opposite direction to the outer surface 42E.

[0038] The second body 42 further defines a chamber 42G within a cylindrical wall 42D between the first end 42A and the second end 42B. The chamber 42G can also be accessed through a front opening 42H defined at the first end 42A of the second body 42. The chamber 42G can also be accessed through a rear opening 42J defined at the second end 42B of the second body 42. Such devices and components of the second guidance kit 40 can be inserted through the rear opening 42J, thereby storing and / or accommodating said devices and components of the second guidance kit 40 within the chamber 42G.

[0039] The second body 42 can also define the external thread 42K. For example... Figure 2 and Figure 3 As shown, the external thread 42K extends along a portion of the outer surface 42E from the second end 42B of the second body 42 to a position between the first end 42A and the second end 42B. When assembling the projectile 1, the external thread 42K is complementary to the internal thread 22J of the first body 22, thereby enabling the first body 22 and the second body 42 to be threadedly engaged with each other.

[0040] The second guidance kit 40 may also include a forward-looking optical imaging device or a searching device 44. For example... Figure 1 As shown, the locating device 44 is operatively engaged with the inner surface 42F of the cylindrical wall 42D of the second body 42 within the chamber 42G. In this disclosure, a portion of the locating device 44 extends through the front opening 42H of the second body 42, thereby providing visual observation of the external environment and / or far field in front of the projectile 1. During operation, the locating device 44 is configured to visualize and detect one or more electromagnetic wavelengths (e.g., visible light or visible spectrum wavelengths, infrared wavelengths, ultraviolet wavelengths, etc.) of a desired target (particularly an aircraft and flight vehicle in flight). For example, the locating device described herein may be an electro-optical / infrared (“EOIR”) device for visualizing and detecting the infrared wavelengths characteristic of a heat source or a desired target (particularly the engine or engine exhaust of an aircraft or flight vehicle). It should be understood that the locating device 44 is configured to detect and capture one or more electromagnetic wavelengths of at least one desired target, thereby indicating the orientation of the at least one desired target during flight.

[0041] The second guidance kit 40 also includes a second guidance direction, typically indicated by 45. For example... Figure 5 and Figure 7 As shown, similar to the first guidance direction 27, the second guidance direction 45 is represented by a pair of arrows extending outward from the longitudinal axis 42C of the second body 42. In this disclosure, the second guidance direction 45 is also located in a second azimuth or angular position relative to the longitudinal axis 42C of the second body 42. In this disclosure, the first guidance direction 27 of the first guidance kit 20 and the second guidance direction 45 of the second guidance kit 40 are offset from each other and / or angularly displaced from each other; this angular offset in Figure 5 The arrow marked "α" indicates this. In other words, due to the different axial positions of the first body 22 and the second body 42 relative to the longitudinal axes 22C and 42C, the first guidance direction 27 of the first guidance kit 20 and the second guidance direction 45 of the second guidance kit 40 are not aligned in the same direction. It should be understood that the second guidance direction 45 represents the directional guidance of the second guidance kit 40, thereby guiding the projectile 1 to the desired target and / or position based on the data and information detected and / or observed by the locating device 44.

[0042] The second guidance kit 40 also includes a second two-way communication board 46. For example... Figure 3 As shown, the second two-way communication board 46 is located within the chamber 42G of the second main body 42 and can be accessed through the rear opening 42J. The second two-way communication board 46 may also include a set of sensors or communication lights 46A, which are electrically connected to and operatively engaged with the second two-way communication board 46 to communicate with the first guidance kit 20. Specifically, when the projectile 1 is energized to the operational state and in flight, the communication lights 46A on the second two-way communication board 46 can communicate with the communication lights 28A on the first two-way communication board 28 of the first guidance kit 20, thereby relaying and / or transmitting guidance information to the first guidance kit 20.

[0043] The second guidance assembly 40 also includes a cover or shield 47. For example... Figure 3 As shown, the cover 47 is operatively engaged with the second body 42 via a set of connectors (e.g., connectors, fasteners, and other similar suitable connectors). The cover 47 can also pivot within the second body 42 via a hinge assembly. Still referring to Figure 3 The cover 47 has an opening 47A that extends completely through the cover 47, thereby allowing the front and rear surfaces of the cover 47 to communicate with each other at the opening 47A. The purpose and use of the opening 47A will be discussed in detail below.

[0044] The projectile 1 also includes a calibration assembly 60, which is operatively engaged with the first guidance kit 20 and the second guidance kit 40. In this disclosure, the calibration assembly 60 is configured to calibrate the guidance direction of the other guidance kit via the guidance direction of one of the guidance kits described herein. In this disclosure, the calibration assembly 60 is configured to calibrate the second guidance direction 45 of the second guidance kit 40 via the first guidance direction 27 of the first guidance kit 20, such that the second guidance direction 45 is aligned with the first guidance direction 27 in the same guidance direction (see [link to documentation]). Figure 7 It should be noted that the calibration operation performed by the calibration assembly 60 allows the operators or technicians of these projectiles 1 to align the second guidance direction 45 with the first guidance direction 27 in the same guidance direction without rearranging and / or reconfiguring the first guidance kit 20 and the second guidance kit 40. These components and devices of the calibration assembly 60 will be described in more detail below.

[0045] The calibration component 60 includes at least one imaging device 62 of the imaging component 61. For example... Figure 3 and Figure 6 As shown, the at least one imaging device 62 is operatively engaged with and electrically communicates with the second bidirectional communication board 46 of the second guidance kit 40. In this disclosure, the at least one imaging device 62 is housed within the second body 42 of the second guidance kit 40. See also Figure 6 The at least one imaging device 62 is pointed and / or toward the first two-way communication board 28 of the first guidance kit 20 for calibration, as will be discussed in more detail below. The at least one imaging device 62 also has a field of view (denoted by dashed triangle 62A) that allows observation of the entire first two-way communication board 28 of the first guidance kit 20 for calibration, as will be discussed in more detail below. The at least one imaging device 62 also has a field of view that allows observation of a portion of the azimuth markers (discussed in detail below) and a set of communication lights 28A, as it may not be necessary to observe the entire first two-way communication board 28.

[0046] It should be understood that the calibration assembly described herein may include any number of imaging devices. In this disclosure, the calibration assembly 60 includes a single imaging device 62 capable of observing the entire first two-way communication board 28 of the first guidance kit 20 for calibration purposes, or observing a portion of the azimuth markers (see below) and the communication lamp group 28A, since observing the entire first two-way communication board 28 may not be necessary. It should also be understood that any suitable imaging device may be used in the calibration assembly described herein, as long as it is capable of observing the entire first two-way communication board of the first guidance kit for calibration purposes. In this disclosure, the imaging device 62 is a visible light camera with a macro lens, capable of observing the entire first two-way communication board 28 of the first guidance kit 20 for calibration purposes.

[0047] The calibration assembly 60 also includes at least one illumination device 64 of the imaging assembly 61. For example... Figure 3 and Figure 6 As shown, the at least one lighting device 64 is operatively engaged with and electrically communicates with the second bidirectional communication board 46 of the second guidance kit 40. In this disclosure, the at least one lighting device 64 is housed within the second body 42 of the second guidance kit 40. Still referring to Figure 3 and Figure 6 The at least one illumination device 64 is also pointed and / or toward the first two-way communication board 28 of the first guidance kit 20 for calibration, as will be discussed in more detail below. When commanded and / or instructed by the controller of the calibration component 60, the at least one illumination device 64 is capable of illuminating part or all of the first two-way communication board 28 of the first guidance kit 20 for calibration, as will be discussed in more detail below.

[0048] It should be understood that the calibration assembly described herein may include any number of illumination devices. In this disclosure, calibration assembly 60 includes a single illumination device 64 capable of illuminating a portion or all of the first two-way communication board of the first guidance kit for calibration. In this disclosure, illumination device 64 is one of the communication lamps 46A of the second guidance kit 40. It should also be understood that any suitable imaging device capable of illuminating a portion or all of the first two-way communication board of the first guidance kit for calibration may be used in the calibration assembly described herein. In this disclosure, illumination device 64 is a light-emitting diode (LED) or similar light source capable of illuminating a portion or all of the first two-way communication board 28 of the first guidance kit 20 for calibration.

[0049] The calibration assembly 60 also includes at least one processor 66 of the imaging assembly 61. In this disclosure, a single processor 66 is shown herein for illustrative and schematic purposes only. In other exemplary embodiments, any suitable number of processors may be provided for projectiles launched for a particular military operation (e.g., guidance protocols and methods). The processor 66 is configured to logically execute its accessible programs and / or methods prior to military operations, including calibration procedures and / or products, which will be discussed in detail below. The processor 66 may also be powered by an onboard power supply and / or a power source (e.g., a portable battery, etc.) to logically execute programs and / or methods operatively communicable to the processor 66. The processor 66 may also logically communicate with a tangible medium (e.g., a non-transient computer-readable medium) to execute conventional and / or novel guidance applications or protocols discussed herein.

[0050] In this disclosure, processor 66 is operatively connected to imaging device 62 and illumination device 64 via electrical connection 67, which can be a wired connection, a wireless connection, or other similar electrical connection. Through this electrical connection, processor 66 commands and / or instructs the operation of imaging device 62 and illumination device 64 for calibration. Processor 66 can also receive one or more images from imaging device 62 after commanding and / or instructing imaging device 62 to capture at least one image. As will be discussed in more detail below, processor 66 utilizes one or more images captured by imaging device 62, in conjunction with the calibration procedure of calibration component 60, to provide calibration parameters and / or settings for second guidance kit 40, thereby adjusting and calibrating second guidance direction 45 via first guidance direction 27 of first guidance kit 20.

[0051] The calibration component 60 includes at least one non-transient computer-readable medium 68. In this disclosure, a single computer-readable medium 68 is shown herein for illustrative and schematic purposes only. In other exemplary embodiments, any number of computer-readable media (e.g., guidance programs and methods) may be provided for projectiles in a particular military operation. The computer-readable medium 68 is configured to logically store programs and / or methods accessible to the processor 66 prior to military operation, including calibration programs and products discussed herein. The computer-readable medium 68 may also be powered by an onboard power supply and / or a power source (e.g., a portable battery, etc.) to enable operative communication with the processor 66.

[0052] In this disclosure, a computer-readable medium 68 is operatively connected to a processor 66 via an electrical connection 67 (e.g., a wire or other similar electrical connection). This electrical connection enables the processor 66 and the computer-readable medium 68 to communicate with each other during calibration operations. As will be discussed in more detail below, the processor 66 can access and execute a calibration program stored in the computer-readable medium 68 to provide calibration parameters and / or settings to the second guidance kit 40, thereby adjusting and calibrating the second guidance direction 45 via the first guidance direction 27 of the first guidance kit 20.

[0053] The calibration component 60 also includes an orientation marker 70. For example... Figure 4 and Figure 6As shown, the orientation mark 70 is operatively engaged with the first guidance component 20 (particularly the first bidirectional communication board 28) within the first body 22. In this disclosure, when engaged with the first bidirectional communication board 28, the orientation mark 70 faces the imaging device 62 and the illumination device 64. It should be understood that the orientation mark 70 can be engaged with the communication board 28 in any suitable manner, as long as the engagement allows the orientation mark 70 to remain engaged with the communication board 28 and facing the imaging device 62 and the illumination device 64. In one exemplary embodiment, the orientation mark 70 is fixed and / or adhered to a portion of the communication board 28.

[0054] Referring again to azimuth marker 70, which defines an irregular and / or asymmetrical shape or profile, this asymmetrical shape of azimuth marker 70 provides azimuth identification for processor 66, thereby determining and calibrating the second guidance direction 45 via the first guidance direction 27 based on the angular displacement between the zero point or reference position of azimuth marker 70 (i.e., the direction of the first guidance direction 27) captured by imaging device 62 and the translational position of azimuth marker 70 (i.e., the offset direction of the first guidance direction 27).

[0055] Still referring to azimuth mark 70, azimuth mark 70 may also include computer-readable medium 70A. For example... Figure 4 As shown, the computer-readable medium 70A faces the imaging device 62 and the illumination device 64. Once the processor 66 receives at least one image captured and output by the imaging device 62, the processor 66 can access and execute the computer-readable medium 70A. The computer-readable medium 70A can store data and information related to a device, component, or equipment disposed in the projectile 1, including data and information related to the first guidance kit 20 (e.g., kit model and / or algebra, kit software and / or firmware, and other relevant data). In this disclosure, the computer-readable medium 70A for the azimuth marker 70 is a quick response code (or QR code) for storing data and information related to a device, component, or equipment disposed in the projectile 1, including data and information related to the first guidance kit 20. In other exemplary embodiments, any commercially available computer-readable medium may be equipped with the azimuth marker described herein for storing data and information related to a device, component, or equipment disposed in the projectile. Other examples of media 70A may include other image codes (e.g., QR code Micro, Fast Response Matrix (QRM), data matrix, Aztec code, PDF417) that include orientation markers. These markers may be designed as specific patterns or elements in the code to help determine orientation.

[0056] Referring again to azimuth marker 70, azimuth marker 70 can also be a non-electric device comprising a reflective material. This structure of azimuth marker 70 allows light emitted by imaging device 62 and / or illumination device 64 to be reflected onto azimuth marker 70. In one exemplary embodiment, the azimuth marker can also be an electric device that emits light via a power source, mechanical source, or chemical source, enabling imaging device 62 to capture the orientation of azimuth marker 70 during calibration operations. In another exemplary embodiment, illumination device 64 can also be configured and / or connected to a first bidirectional communication board 28 housed within chamber 22G of first body 22, thereby illuminating azimuth marker 70 from within chamber 22G. In this exemplary embodiment, azimuth marker 70 can be transparent or translucent, allowing light emitted by illumination device 64 to act as a backlight and illuminate azimuth marker 70 upon command by processor 66.

[0057] Calibration component 60 may also include a computer-implemented product and / or a computer program product 72 (hereinafter referred to as "calibration program 72"). Figure 8 As shown, calibration procedure 72 is logically in communication with processor 66. In this disclosure, calibration procedure 72 may be loaded into a tangible medium (e.g., computer-readable medium 68) that is logically in communication with processor 66, thereby executing and running calibration procedure 72 during calibration operations. As will be discussed in more detail below, calibration procedure 72 enables processor 66, upon execution, to calibrate second guidance kit 40 via first guidance kit 20, thereby calibrating and aligning second guidance direction 45 with first guidance direction 27 to perform guidance operations. These steps of calibration procedure 72 will be discussed in more detail below.

[0058] The calibration procedure 72 includes an initial step 72A, which, when executed by the processor 66, commands the imaging device 62 to capture at least one image of the orientation marker 70, wherein the orientation marker 70 is located in a translational position (see...). Figure 6 Therefore, processor 66 will be initialized to an operational state and configured to access and execute calibration procedure 72. During operation, processor 66 will output commands or instructions to imaging device 62 to capture at least one image of azimuth marker 70 located at a translational position. Optionally, processor 66 may output multiple commands or instructions to illumination device 64 to illuminate azimuth marker 70 while imaging device 62 captures at least one image of azimuth marker 70. It should be understood that prior to the first step 72A, the first guidance assembly 20 and the second guidance assembly 40 will be threadedly engaged with each other, wherein the first guidance direction 27 and the second guidance direction 45 will be rotated offset relative to each other (see...). Figure 5 ); Figure 5The arrow marked "E" indicates the threaded engagement between the second guidance component 40 and the first guidance component 20.

[0059] The calibration procedure 72 also includes a second step 72B, during which the processor 66 receives at least one image from the imaging device 62. Optionally, the processor 66 may output multiple commands or instructions to the imaging device 62 to capture multiple images of the azimuth marker 70 located at a translational position until the processor 66 can identify and observe the received azimuth marker 70. In this case, the first and second steps 72B may be repeated until the processor 66 can identify and observe the received azimuth marker 70. Optionally, when at least one image of the azimuth marker 70 captured by the imaging device 62 is distorted and / or difficult to analyze due to insufficient light, the processor 66 may also output multiple commands or instructions to the illumination device 64 to illuminate the azimuth marker 70.

[0060] The calibration procedure 72 also includes a third step 72C, which, when executed by the processor 66, measures the angular displacement of the azimuth marker 70 between its zero-point and translational positions stored on the computer-readable medium 68. Based on the third step 72C, the computer-readable medium 68 can be pre-programmed and / or pre-loaded with the zero-point position of the azimuth marker 70, which represents a predetermined position of the first guidance direction 27 of the first guidance kit 20. Once the processor 66 accesses and executes the zero-point position of the azimuth marker 70, angular displacement analysis can be performed by simply measuring the translational position and the zero-point position of the azimuth marker 70 captured by the imaging device 62, thereby determining the total angular displacement between the first guidance direction 27 and the second guidance direction 45.

[0061] The calibration procedure 72 also includes a fourth step 72D, which, when executed by the processor 66, calibrates the angular displacement between the first guidance direction 27 of the first guidance device 20 and the second guidance direction 45 of the second guidance device 40. The processor 66 calculates this angular displacement based on the calculation results in the third step 72C. Once the angular displacement is found, the processor 66 can send the calibration data to the second guidance kit 40, specifically to at least one controller or processor of the second guidance kit 40, thereby enabling the second guidance kit 40 to calibrate and adjust the second guidance direction 45 to maintain a fixed and / or static first guidance direction 27 (see [link to documentation]). Figure 7 ). Figure 7 The arrow marked "C" indicates such calibration and / or adjustment performed by the second guidance kit 40 based on calibration data completed by the processor 66 of the calibration component 60.

[0062] As described herein, certain aspects of this disclosure may include one or more electrical, pneumatic, hydraulic, or other similar auxiliary components and / or systems. Therefore, this disclosure should be understood to include any necessary operating parts thereof. For example, electrical components should be understood to include any suitable and necessary wiring, fuses, or similar parts required for their normal operation. Furthermore, it should be understood that any connection between the various components not expressly described herein can be achieved by any suitable means, including mechanical fasteners or more durable connections such as adhesives. Alternatively, where feasible and / or necessary, the various components of this disclosure may be integrally formed.

[0063] Various inventive concepts can be embodied in one or more methods, an example of which has been provided herein. The operations performed as part of this method can be ordered in any suitable manner. Therefore, several implementations can be constructed in which the order of operation execution differs from that illustrated, including performing certain operations simultaneously, even if they are shown as sequential operations in the exemplary implementation.

[0064] While various embodiments of the invention have been described and illustrated herein, those skilled in the art will understand that various other methods and / or structures exist to achieve the functions and / or results described herein and / or to realize one or more advantages described herein, and each such variation and / or modification should be considered within the scope of the embodiments of the invention described herein. More generally, those skilled in the art will understand that all parameters, dimensions, materials, and structures described herein are intended as examples, and actual parameters, dimensions, materials, and / or structures will depend on the specific application of the teachings of this invention. Those skilled in the art will recognize, or can determine by conventional experimentation alone, many equivalents of the specific embodiments of the invention described herein. Therefore, it should be understood that the above embodiments are given by way of example only, and that embodiments of the invention may be practiced in ways different from the specific descriptions and claims within the scope of the appended claims and their equivalents. The inventive step of this disclosure applies to each feature, system, article, material, kit, and / or method described herein. Furthermore, any combination of such features, systems, articles, materials, kits, and / or methods is also included within the inventive step of this disclosure if there is no contradiction between two or more such features, systems, articles, materials, kits, and / or methods.

[0065] The above-described embodiments can be implemented in various ways. For example, the technical embodiments disclosed herein can be implemented using hardware, software, or a combination of both. When implemented in software, the software code or instructions can be executed on any suitable processor or set of processors, whether such processors or sets of processors are located on a single computer or distributed across multiple computers. Furthermore, the instructions or software code can be stored in at least one non-transitory computer-readable storage medium.

[0066] In addition, computers or smartphones can execute software code or instructions through their processors and may be equipped with one or more input / output devices. These devices can be used for a variety of purposes, including presenting a user interface. Examples of output devices that can be used to provide a user interface include printers or displays for visual presentation of output, and speakers or other sound-emitting devices for auditory presentation of output. Examples of input devices that can be used for a user interface include keyboards and pointing devices such as mice, touchpads, and digitizers. For example, a computer can receive input information through speech recognition or other audio formats.

[0067] Such computers or smartphones can be interconnected via one or more networks in any suitable form, including local area networks (LANs) or wide area networks (such as corporate networks), intelligent networks (INs), or the Internet. These networks can be based on any suitable technology and operate according to any suitable protocol, and may include wireless networks, wired networks, or fiber optic networks.

[0068] The various methods or processes described herein can be written as software / instructions and executed on one or more processors that can operate on various operating systems or platforms. Furthermore, such software can be written using a variety of suitable programming languages ​​and / or programming or scripting tools, and can also be compiled into executable machine language code or intermediate code and executed on a framework or virtual machine.

[0069] In this regard, various innovative concepts can be embodied in computer-readable storage media (or multiple computer-readable storage media) (e.g., computer memory, one or more floppy disks, optical disks, magnetic tapes, flash memory, USB flash drives, SD cards, field-programmable gate arrays or other semiconductor devices, or other non-transient media or tangible computer storage media) that are encoded with one or more programs that, when executed on one or more computers or other processors, can implement the various embodiments of the present disclosure described above. The computer-readable medium is thus portable, and therefore the programs stored thereon can be loaded onto one or more different computers or other processors to implement the various aspects of the present disclosure described above.

[0070] In this document, the terms "program," "software," or "instructions" are used in a general sense to refer to any type of computer code or set of computer-executable instructions that can be used to program a computer or other processor to implement the various implementation methods described above. Furthermore, it should be understood that, according to one aspect of the present invention, one or more computer programs executing the methods of this disclosure do not need to reside on a single computer or processor, but can be modularly distributed across multiple different computers or processors to implement various aspects of this disclosure.

[0071] Computer-executable instructions can take various forms, such as program modules, and are executed by one or more computers or other devices. Typically, program modules include routines, programs, objects, components, data structures, etc., for performing specific tasks or implementing specific abstract data types. The functionality of program modules can typically be combined or distributed in various implementations as needed. Therefore, one aspect or implementation of this disclosure may be a computer program product including at least one non-transitory computer-readable storage medium operatively communicating with a processor, the storage medium storing instructions that, when executed by the processor, implement the methods or processes described herein, wherein these instructions include steps for performing the methods or processes detailed herein.

[0072] Furthermore, data structures can be stored in any suitable form on a computer-readable medium. For ease of illustration, fields in a data structure can be associated with each other by their position within the data structure. This association can also be achieved by assigning storage locations in a computer-readable medium that reflect the relationships between fields. However, any suitable mechanism can be used to establish relationships between fields in a data structure, including the use of pointers, labels, or other mechanisms capable of establishing relationships between data elements.

[0073] All definitions and usages herein should be understood to take precedence over dictionary definitions, definitions in incorporated documents, and / or the usual meaning of the defined terms.

[0074] As used herein, "logic" includes, but is not limited to, hardware, firmware, software, and / or combinations thereof, for performing one or more functions or actions, and / or triggering another logic, method, and / or system to perform a function or action. For example, depending on the required application or requirement, logic may include software-controlled microprocessors, discrete logic (e.g., processors, such as microprocessors), application-specific integrated circuits (ASICs), programmable logic devices, memory devices including indicators, electronic devices with memory, and so on. Logic may include one or more gates, combinations of gates, or other circuit elements. Logic may also be implemented entirely in software. If multiple logics are described, these logics can be integrated into a single physical logic. Similarly, if a single logic is described, that single logic can be distributed across multiple physical logics.

[0075] Furthermore, the logic proposed herein for implementing various methods of this system can be used to improve existing computer- or internet-centric technologies that may not have prior similar versions. This logic can provide specific functions directly related to the structure, thereby solving some of the problems identified herein. This logic can also significantly enhance the advantages of solving these problems by providing exemplary inventive concepts (as specific logical structures of methods and systems and their corresponding functions). In addition, this logic can provide specific computer implementation rules for improving prior art processes. The logic provided herein is not limited to collecting data, analyzing information, and displaying results. Furthermore, some or all of this disclosure may rely on basic equations derived from the specific arrangement of the apparatus or components described herein. Therefore, the portions of this disclosure relating to the specific arrangement of components are not directed at abstract concepts. Moreover, the content set forth in this disclosure and its appended claims relates to more than just performing activities known, conventional, and easily understood in the art. In some methods or processes of this disclosure, aspects of natural phenomena may be included, and the process or method steps may be new and useful additional features.

[0076] Unless otherwise expressly stated, the articles “a” and “an” used in this specification and claims shall be understood as “at least one”. The phrase “and / or” (if any) used in this specification and claims shall be understood as “one or both,” meaning that they exist in parallel in some cases and separately in others. Multiple elements listed with “and / or” shall be interpreted in the same way as “one or more” parallel elements. Other elements may optionally exist in addition to those expressly specified in the “and / or” clause, regardless of whether these elements are related to the expressly specified elements. Thus, as a non-limiting example, when “A and / or B” is used in conjunction with open-ended language such as “comprising,” in one embodiment it may refer only to A (optionally including elements other than B); in another embodiment it may refer only to B (optionally including elements other than A). In yet another embodiment, both A and B may be included (optionally including other elements); and so on. As used in this specification and claims, “or” shall be understood to have the same meaning as “and / or” as defined above. For example, when separating items in a list, “or” or “and / or” should be interpreted as inclusive, meaning it includes at least one element, multiple elements, and (optionally) other items not listed. Only terms that explicitly indicate the opposite meaning, such as “only one” or “exactly one”, or “consisting of” as used in a claim, refer to an element that includes one of multiple elements. Generally, the term “or” as used herein should only be interpreted as indicating a mutually exclusive choice (i.e., “either one, not both”) when preceded by an exclusive term (e.g., “one of both”, “only one”, or “exactly one”). The phrase “consisting primarily of” when used in a claim should have the usual meaning as used in the field of patent law.

[0077] As used in this specification and claims, the term "at least one," when referring to a list of one or more elements, should be understood to mean selecting at least one element from one or more elements in the list, but does not necessarily include every element specifically listed in the list, nor exclude any combination of elements in the list. This definition also allows for the presence of elements other than those specifically identified in the list referred to by "at least one," regardless of whether such elements are related to any element specifically identified in the list. Thus, as a non-limiting example, "at least one of A and B" (or equivalently, "at least one of A or B," or equivalently, "at least one of A and / or B") in one embodiment may refer to at least one A (optionally including multiple A's) and exclude B (and optionally include other elements besides B); in another embodiment, it may refer to at least one B (optionally including multiple B's) and exclude A (and optionally include other elements besides A). In yet another embodiment, at least one, optionally including multiple A's, and at least one, optionally including multiple B's (and optionally including other elements); and so on.

[0078] Although the various components of this disclosure are described in relation to each other herein, any one of the components disclosed herein may also include inventive subject matter if used alone or claimed. For example, if the disclosed embodiments demonstrate features of components A and B, then unless otherwise stated herein, the combination of A and B, or A alone or B alone, may include inventive subject matter.

[0079] As used in this specification and claims, the word "achieve" or any phrase or claim element beginning with "achieve" should be understood as causing something to happen or facilitating the occurrence of something. For example, even if an event actually occurs or occurs to a second party, the actions of the first party may cause an event to occur. In other words, "achieve" means that one party provides tools, articles, or resources to another party, thereby facilitating the occurrence of an event. Therefore, in this example, the claim element "cause an event to happen" means that the first party provides the second party with the tools or resources necessary for the second party to carry out the event, but the specific actions of providing the tools or resources to facilitate the occurrence of the event are the responsibility of the first party.

[0080] In this document, when a feature or element is described as being "located" on another feature or element, it may be directly located on the other feature or element, and there may also be intermediate features and / or elements. Conversely, when a feature or element is described as being "directly located" on another feature or element, there are no intermediate features or elements. It should also be understood that when a feature or element is described as being "connected," "attached," or "coupled" to another feature or element, it may be directly connected, attached, or coupled to the other feature or element, and there may also be intermediate features or elements. Conversely, when a feature or element is described as being "directly connected," "directly attached," or "directly coupled" to another feature or element, there are no intermediate features or elements. Although the features and elements described or illustrated herein are given with reference to one embodiment, they are applicable to other embodiments as well. Those skilled in the art will also understand that references to structures or features "adjacent" to another feature may include portions that overlap with or are located below the adjacent feature.

[0081] For ease of description, this document may use spatial relative terms such as “below,” “under,” “lower,” “above,” “over,” “behind,” “front,” etc., to describe the relationships between the various elements or features shown in the figures. It should be understood that these spatial relative terms are intended to cover different orientations of the device other than those shown in the figures during use or operation. For example, if the device shown in the figures is inverted, elements described as “below” or “under” will become “above.” Therefore, the exemplary term “below” can cover both “above” and “below.” The device may also be in other orientations (e.g., rotated 90 degrees or other orientations), and the spatial relative descriptors used herein should be interpreted accordingly. Similarly, unless otherwise explicitly stated, the terms “up,” “down,” “vertical,” “horizontal,” “lateral,” “transverse,” “longitudinal,” etc., used herein are for illustrative purposes only.

[0082] Although the terms “first” and “second” may be used herein to describe various features / elements, these features / elements should not be limited by these terms unless the context otherwise requires. These terms are used to distinguish different features / elements. Thus, a first feature / element discussed herein may be referred to as a second feature / element, and similarly, a second feature / element discussed herein may be referred to as a first feature / element, without departing from the teachings of the invention.

[0083] The term "implementation method" refers to any implementation or example of the contents of this disclosure. The terms "implementation method," "one implementation method," "some implementation methods," "a specific implementation method," "an exemplary implementation method," or "other implementation methods" used in the specification refer to specific features, structures, or characteristics related to an implementation method that are included in at least some, but not necessarily all, implementation methods of the invention. Various forms of "implementation method," "one implementation method," "some implementation methods," "a specific implementation method," "an exemplary implementation method," or "other implementation methods" do not necessarily refer to the same implementation method.

[0084] If this specification indicates that a component, feature, structure, or characteristic "may," "may," or "can" be included, then that component, feature, structure, or characteristic is not necessarily included. If the specification or claims refer to "an" element, it does not mean that there is only one such element. If the specification or claims refer to "an additional" element, it does not mean that there cannot be multiple such additional elements.

[0085] As used herein, including in the examples, unless otherwise expressly stated, all figures shall be understood to have the prefix "about" or "approximately," even if the word is not explicitly stated. "About" or "approximately" is used to describe the magnitude and / or location of a numerical value, thereby indicating that the described numerical value and / or location is within a reasonably expected range. For example, a numerical value may be ±0.1% of the stated value (or range), ±1% of the stated value (or range), ±2% of the stated value (or range), ±5% of the stated value (or range), ±10% of the stated value (or range), and so on. Any numerical range described herein is intended to include all its subranges.

[0086] Furthermore, the methods described in this disclosure may be implemented in a different order than those described herein. Therefore, unless explicitly stated otherwise, any order of methods should not be considered a limitation. It is understood that performing certain steps of the method in a different order may also yield similar results.

[0087] In the aforementioned claims and description, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” and “constituting of” should be understood as open-ended phrases, meaning “including but not limited to.” Only the transitional phrases “constituting of” and “mainly composed of” should be understood as closed or semi-closed transitional phrases, respectively. For specific definitions, please refer to the U.S. Patent and Trademark Office’s Patent Examination Procedure Manual.

[0088] The use of the word "invention" in various headings or sections of this specification is added in accordance with the guidelines / requirements of the United States Patent and Trademark Office for the formatting requirements of Word document submissions, and should in no way be considered an abandonment of any subject matter.

[0089] Certain terms have been used in the above description for the purpose of brevity, clarity, and ease of understanding. These terms are for descriptive purposes only and should be interpreted broadly; therefore, no unnecessary limitations beyond the requirements of the prior art should be inferred from them.

[0090] Furthermore, the descriptions and illustrations of various embodiments of this disclosure are merely examples, and this disclosure is not limited to the specific details shown or described.

Claims

1. A calibration assembly for a guided vehicle, comprising: A directional marker that is operatively engaged with the first guidance device of the guided vehicle; An imaging component that is operatively coupled to and electrically communicates with a second guidance device of the guided vehicle; When the imaging component captures the azimuth marker in a translational position within at least one cycle, the imaging component calibrates the rotational displacement between the first guidance direction of the first guidance device and the second guidance direction of the second guidance device based on the angular displacement of the azimuth marker measured between the zero position representing the first guidance direction and the translational position.

2. The calibration component according to claim 1, wherein, The imaging component includes: An imaging device that is operatively engaged with the second guidance device of the guided vehicle and oriented toward the azimuth marker; A processor, which is operatively connected to the imaging device; and A calibration procedure, which can be executed by the processor, wherein the calibration procedure includes the zero point position of the orientation mark; When the imaging device captures the azimuth marker at the translational position within at least one cycle in response to the processor executing the calibration procedure, the processor calibrates the rotational displacement between the first guidance direction of the first guidance device and the second guidance direction of the second guidance device based on the angular displacement of the azimuth marker measured between the zero position and the translational position.

3. The calibration component according to claim 2, wherein, The imaging component also includes: At least one lighting device, which is operatively engaged with the processor and oriented toward the azimuth marker; The at least one illumination device is configured to illuminate at least a portion of the azimuth mark before the imaging device observes the azimuth mark.

4. The calibration component according to claim 2, wherein, The directional marker includes: The geometry of the azimuth marker indicates the first guidance direction at the zero point position; The calibration component is configured to calibrate the second guidance device based on the angular displacement between the second geometry at the translational position and the geometry at the zero point position, using the first guidance device.

5. The calibration component according to claim 2, further comprising: At least one illumination device, which is operatively engaged with the orientation mark and oriented toward the imaging device; The at least one illumination device is configured to illuminate the orientation mark that is located from the first guidance device and away from the imaging device.

6. The calibration component according to claim 1, wherein, The directional marker includes: A computer-readable medium facing the imaging component; The computer-readable storage device is configured to store data about the first guidance device.

7. The calibration component according to claim 1, wherein, The azimuth marker is made of retroreflective material.

8. The calibration component according to claim 2, wherein, The imaging device is a visible light camera equipped with a macro lens.

9. A method comprising: An azimuth marker is installed, the azimuth marker having a first guidance device of a guidance kit, wherein the first guidance device defines a first guidance direction; An imaging assembly is installed, the imaging assembly having a second guidance device of the guidance kit, wherein the second guidance device defines a second guidance direction independent of the first guidance direction; A computer program product for calibrating the guidance kit is loaded onto a computer-readable medium of the imaging assembly. This computer program product can be executed by the processor of the imaging assembly, and when executed by the processor, the computer program product causes the processor to perform the following operations: The imaging device of the imaging component is instructed to analyze at least one image of the orientation marker, wherein the orientation marker is positioned at a translational location; Receive the at least one image from the imaging device; Measure the angular displacement of the azimuth marker between its zero point position and its translational position stored on the computer-readable medium; The rotational displacement between the first guidance direction of the first guidance device and the second guidance direction of the second guidance device is calibrated.

10. The method according to claim 9, wherein, When executed by the processor, the computer program product further causes the processor to perform the following operations: Before the imaging device captures at least one image of the orientation mark, the illumination device of the imaging component is instructed to illuminate at least a portion of the orientation mark.

11. The method of claim 9, further comprising: A computer-readable medium is mounted on the azimuth marker to store data about the first guidance device; and When the processor executes the computer program product, it further performs the following operations: By analyzing the data stored in the computer-readable medium, knowledge about the first guidance device can be obtained.

12. The method according to claim 9, wherein, The azimuth marker is made of retroreflective material.

13. The method according to claim 9, wherein, When the processor executes the computer program product, it also causes the processor to perform the following operations: Before the imaging device captures at least one image of the azimuth marker, the illumination device is commanded to illuminate the azimuth marker from the first guidance device.

14. The method according to claim 9, wherein, The imaging device is a visible light camera equipped with a macro lens.

15. A computer-implemented method, stored on a computer-readable medium of a calibration component and executable by a processor of the calibration component on a guided vehicle, the computer-implemented method comprising: The processor executes a first instruction, thereby commanding the imaging device of the calibration component to capture at least one image of an orientation marker, wherein the orientation marker is in a translated position; The processor executes a second instruction to receive the at least one image from the imaging device; The processor executes a third instruction to measure the angular displacement of the orientation mark between its zero position and its translational position stored on the computer-readable medium. The processor executes a fourth instruction to calibrate the rotational displacement between the first guidance direction of the first guidance device and the second guidance direction of the second guidance device.

16. The method for implementing a computer according to claim 15, further comprising: The processor executes a fifth instruction to command the illumination device of the calibration component to illuminate at least a portion of the orientation mark before the imaging device captures at least one image of the orientation mark.

17. The method for implementing a computer according to claim 15, further comprising: The processor executes a fifth instruction to analyze data about the first guidance device stored in the computer-readable medium of the orientation mark.

18. The method for implementing a computer according to claim 15, wherein, The second indication of receiving the at least one image from the imaging device further includes: an orientation mark made of retroreflective material that reflects light emitted by the imaging device back to the imaging device.

Images