Real time mapping and location system

Abstract

A system for locating and mapping using three dimensional mapping and location system based on LIDAR imaging.

Description

[0001] REAL TIME MAPPING AND LOCATION SYSTEM

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to a system for locating and mapping, and in particular, to such a three dimensional mapping and location system.

[0004] BACKGROUND OF THE INVENTION

[0005] Autonomously controlled vehicles, remotely controlled vehicles and robotic vehicles may be used for various purposes such as a toy, as recreational modelling and / or building hobby, as a recreational racing vehicle, or as a functional tool meant to perform a task in various conditions and / or environments for example such as in a farming environment, underground environment, aboveground environment, pipe network system environment or the like.

[0006] State of the art mapping and localization system of different objects such as vehicles is largely based on the use of the use of a satellite based Global Positioning System commonly referred to as “GPS” to identify the active and / or real time location and mapping of GPS enabled objects such as mobile electronic communication and processing devices, vehicles or the like.

[0007] However, the task of active and / or real time identifying, mapping and location of such mobile electronics devices having communication and processing capabilities, for example autonomously and / or remotely controlled vehicles remains a challenge as such systems may be actively jammed and / or interfered with such that effectively the GPS locating system is disabled.

[0008] SUMMARY OF THE INVENTION

[0009] There is an unmet need for, and it would be highly useful to have, a substantially real time and / or active mapping, identification and location system that is not dependent on state of the art GPS systems. Embodiments of the present invention provide a substantially real time and / or active mapping, identification and location system, that utilizes Light Detection and Ranging referred to as “LIDAR” technology. Most preferably, embodiments of the present invention utilize short range LIDAR to actively map, identify and locate various object in various environments. Embodiments of the system according to the present invention comprises: an aerial vehicle, a mobile vehicle and / or object, system processor, wherein the aerial vehicle comprises a LIDAR imaging capability. In embodiments the aerial vehicle comprises short range LIDAR imaging capabilities.

[0010] In embodiments the aerial vehicle may be provided in the form of drone that may be autonomous and / or remotely controlled.

[0011] In embodiments the system processor is configured to process data so as to actively map the mobile object and / or vehicle, so as to render a map substantially in real time. In embodiments, the rendered map is optionally and preferably provided in the form of a three dimensional map.

[0012] In embodiments, the mobile device and / or that is preferably mapped by the system may be provided in optional forms for example including but not limited to a vehicle, an autonomous vehicle, a remotely controlled vehicle, a manned vehicle, a mobile device, a mobile device that is coupled to a user and / or object, a terrestrial vehicle, an aquatic vehicle, amphibious vehicle, boat, submersible vehicle, underwater vehicle, a space vehicle, a flying vehicle, an aerial vehicle, the like or any combination thereof.

[0013] In embodiments of the present invention the system may be functional in any environments for example including but not limited to aerospace, terrestrial, aquatic, vacuum, space, non-gravitational, or the like.

[0014] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The materials, methods, and examples provided herein are illustrative only and not intended to be limiting.

[0015] Implementation of the method and system of the present invention involves performing or completing certain selected tasks or steps manually, automatically, or a combination thereof.

[0016] BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The invention is herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of the preferred embodiments of the present invention only, and are presented in order to provide what is believed to be the most useful and readily understood description of the principles and conceptual aspects of the invention. In this regard, no attempt is made to show structural details of the invention in more detail than is necessary for a fundamental understanding of the invention, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice.

[0018] In the drawings:

[0019] FIG. 1 is a schematic block diagram of an exemplary system according to embodiments of the present invention.

[0020] DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] The principles and operation of the present invention may be better understood with reference to the drawings and the accompanying description.

[0022] The following figure reference labels are used throughout the description to refer to similarly functioning components are used throughout the specification hereinbelow.

[0023] 50 Mapping System;

[0024] 52 system processor;

[0025] 55 remote control module;

[0026] 55a first remote control member;

[0027] 55b second remote control member;

[0028] 100 Mobile Device or Vehicle System;

[0029] 102 Vehicle Body;

[0030] 104 Wheel Module ;

[0031] 106 Motor Module;

[0032] 110 Electronics Module ;

[0033] 120 Sensor Module;

[0034] 121 camera;

[0035] 122 terrain sensor;

[0036] 123 temperature sensor;

[0037] 124 pressure sensor;

[0038] 125 location sensor and / or GPS sensor;

[0039] 126 gas sensor;

[0040] 127 sound sensor and / or microphone;

[0041] 128 seismic sensor;

[0042] 129 noise cancellation sensor;

[0043] 130 optical and / or IR sensor; 131 water sensor;

[0044] 152 aerial vehicle / drone module;

[0045] 154 LIDAR module;

[0046] 156 Mapping Module;

[0047] 155 imaging module;

[0048] 156 mapping module;

[0049] 160 Augmented Reality Module;

[0050] 162 AR camera module;

[0051] FIG. 1 shows a schematic block diagram of an exemplary mapping system 50 according to the present invention. Mapping system 50 preferably comprises a system processor 52, an aerial vehicle 152 featuring a LIDAR imaging means 154, and a mobile device and / or vehicle 100.

[0052] In embodiments mapping system preferably provides for mapping and more preferably three dimensional mapping of mobile device and / or vehicle 100 with imagery provided by LIDAR imaging means 154 disposed on aerial vehicle 152. Most preferably the imaging is processed with processor 52 and displayed and / or communicated to at least one user or a higher processing center.

[0053] In embodiments mapping system 50 preferably includes a remote control module 55 configured to remotely control at least one of aerial vehicle 152 and / or mobile device 100. In embodiments remote control module 55 may comprise at least two or more remote control members 55a, 55b each individually configured to control one of aerial vehicle 152 or mobile device 100.

[0054] In an optional embodiment system mapping system 50 may further comprise an augmented reality (herein referred to as ‘AR’) module 160. Optionally and preferably AR module 160 may be configured to interchangeably function with remote control module 55 to control at least a portion of or at least one function of at one of the mobile device 100 and / or the aerial vehicle 152 forming and / or associated with mapping system 50.

[0055] In embodiments, system 50 utilizes short range LIDAR images obtained from LIDAR module 154 disposed about aerial vehicle 152, to map the location of mobile object 100 so as to render the a three dimensional map to identify the location, position, orientation, in three dimensional space. In embodiments, some embodiments aerial vehicle 152 may comprise a mapping module 156 and / or an imaging module 155 to facilitate the mapping processing.

[0056] In embodiments, aerial vehicle 152 may be fit with the controller and circuitry module 153 comprising the necessary electronic circuitry, processors, flight computer, communication, and controllers to render it functional as is known in the art.

[0057] In embodiment, system 50 enables communication and data exchange with at least aerial vehicle 152 and system controller 52. More preferably, system 50 is capable of communication between mobile device 100 and aerial vehicle 152 and system controller 52.

[0058] In embodiments system 50 enables mapping of mobile device 100 even when active communication with device 100 is not available.

[0059] In embodiments system 50 enables mapping of mobile device 100 even when mobile device 100 is in an autonomous vehicle and / or robot and / or in an autonomous functioning mode such that it is functions independently and / or offline without any form of active communication.

[0060] Mobile device and / or vehicle 100 may be provided in optional forms for example including but not limited to: a vehicle, an autonomous vehicle, a remotely controlled vehicle, a manned vehicle, a mobile device, a mobile device that is coupled to a user and / or object, a terrestrial vehicle, an aquatic vehicle, amphibious vehicle, a boat, a submersible vehicle, an underwater vehicle, a space vehicle, a space craft, a flying vehicle, an aerial vehicle, a robotic vehicle, the like or any combination thereof.

[0061] Optionally and preferably vehicle system may be deployed in various environments for example including but not limited to farming environment, underground environment, aboveground environment, pipe network system environment, underground pipe network system, tunnel system, underwater environment, aerospace environment, outer space, any combination thereof or the like.

[0062] In embodiments mobile device 100 may function individually and / or in a network of mobiles devices and / or vehicles that function in unison as a system of vehicles and / or fleet to achieve a common goal. In embodiment vehicle 100 may be deploy a plurality of vehicles 100 that may be utilized in unison so as to work together to overcome a common obstacle and / or objective and / or goal. Optionally and preferably the plurality of vehicles 100 are in communication with one another, for example utilizing circuitry module 110 and in particular communication module 116 to communicate with one another. Optionally, electronics module 110 may be configured to so as to coordinate the united functioning of the plurality of vehicles 100.

[0063] In embodiments mobile device 100 comprises a an electronics circuitry and control module 110, a sensor module 120, and a housing body 102.

[0064] In some embodiments mobile device 100 may for example, be provided in the form of a vehicle 100 may comprise a vehicle body 102, a wheel module 104, a motor module 106, an electronics circuitry and control module 110, a sensor module 120.

[0065] In embodiments the motor module 106 comprises at least one or more motors or the like propelling device. Optionally and preferably motor module 106 is an electrically controlled motor controller with electronics module 110.

[0066] In embodiments mobile device 100 in an optional form of a vehicle 100 may comprise a vehicle body 102 that is configured to have at least one and most preferably at least four wheel coupling members. In embodiments wheel coupling member may be configured in the form of a floating axle. Optionally and preferably coupling member may be provided in the form of a floating axle may be configured to receive an optional wheel module 104 as will be described hereinbelow.

[0067] In embodiments, vehicle body 102 may take any geometric form and / or shape for example in the form of a vehicle body, race car body, submarine, boat, aerial vehicle or the like mobile object.

[0068] In embodiments body 102 may be configured as a housing for associating with an individual. .

[0069] In embodiments vehicle body 102 may be configured to have a stealth geometric architecture.

[0070] In embodiments vehicle body 102 may be configured to be from smart materials. For example, such smart material may for example include but not is limited to shape memory materials plastic, shape memory alloys, shape memory composites, nitinol or the like.

[0071] In embodiments vehicle body 102 or any portion thereof may be configured to be from or optionally configured to incorporate optional functional materials for example including but not limited to KEVLAR™, carbon fiber, carbon fiber composites, graphene, graphene tubules, thermoplastics, LEXAN™, polyethylene, thermoplastic polyethylene, ultrahigh molecular weight polyethylene (also referred to as “UHMWPE”), the like or any combination thereof.

[0072] In embodiments vehicle body 102 may be configured to be bullet proof.

[0073] In embodiments vehicle 100 may be configured to receive optional wheel module(s) 104. Preferably the wheel module 104 allows for configuring the functionality of vehicle 100 by fitting body 102 with optional wheel types as selected from a variety of wheel module(s). For example, a wheel type of module 104 may be provide in optional forms for example including but not limited to racing wheels, radial tires, treads, continuous track treads, chained tires, chained treads, rubber tracks, sand wheels, compactor wheel, spiked wheels, dune wheels, screw shaped wheels, Archimedes screw wheels.

[0074] In embodiments, vehicle 100 preferably is configured to control each wheel 104 associated with body 102 individually such that the spin rate, direction is individually controllable.

[0075] As shown in FIG. 1, mobile device 100 comprises an electronics circuitry module 110 configured to render vehicle 100 operational. Preferably electronics circuitry modulel 10 may comprise a plurality of optional sub-modules for example including but not limited to a power supply module 112, controller and / or processor module 114, user interface module 111, and memory module 118, a communication module 116.

[0076] In embodiments electronics module 110 may further be functionally associated with a sensor module 120, to further allow vehicle 100 to be operational and controllable.

[0077] In embodiments processor module 114 provides the necessary processing hardware and / or software necessary to render vehicle 100 functional. In embodiments controller and / or processor module 114 may provide for controlling any portion of vehicle 100. For example, processor 114 may be utilized to determine vehicular parameters and analysis based on a sensed event in the vicinity of vehicle 100. In some embodiments vehicle 100 may be configured to be an autonomously controlled vehicle wherein the autonomous control functions may be provided by processing module 114.

[0078] In embodiments power module 112 provides the necessary hardware and / or software to power vehicle 100 rendering vehicle 100 operational. Power supply 112 may for example be provided in optional forms for example including but not limited to battery, rechargeable induction battery, induction coil, capacitors, super capacitors, the like power source or any combination thereof.

[0079] In embodiments communication module 116 provides the necessary hardware and / or software to facilitate communication to and from vehicle 100.

[0080] In some embodiments communications module 116 may be utilized to provide device 100 with communication capabilities. For example, communication sub-module 116 may provide for communication with devices and or systems by utilizing various communication protocols for example including but not limited to wireless communication protocols, cellular communication, wired communication, near field communication, RF communication, Bluetooth, optical communication, network communication, MESH network communication the like and / or any combination thereof.

[0081] In embodiments, communication module 116 may provide for communicating with an optional remote control module 55 that may be operated remotely by a user and / or individual to control and / or operate device 100.

[0082] In embodiments memory module 118 provides the necessary hardware and / or software to facilitate operations of device 100 by enabling storing and / or retrieving stored data and / or the like as is known in the art by way of interfacing with other sub-modules of device 100 for example including but not limited to controller module 114.

[0083] Preferably device 100 may further comprises a sensor module 120 that may be rendered operational with electronics circuitry module 110. In some embodiments sensor module 120 may provide the necessary hardware and / or software to facilitate operations of at least one or more sensor(s) associated with any portion of device 100. Preferably sensor module 120 enables sensing various events in and around device 100.

[0084] In embodiments sensor module 120 may comprise at least one or more sensor for example including but not limited to: camera 121, terrain sensor and / or haptic sensor 122, temperature sensor 123, pressure and / or barometric sensor 124, location sensor and / or GPS 125, gas sensor 126, sound sensor and / or microphone 127, seismic sensor 128, noise cancellation sensor 129, optic and / or infrared sensors 130, water sensor 131, the like or any combination thereof.

[0085] In some optional embodiments, as shown in the dashed line in FIG. 1, device 100 may further be in communication and / or functionally associated with an augmented reality (‘AR’) module 160 that allows for interfacing with and / or controlling and / or driving vehicle 100. Optionally such AR module 160 may comprise a camera 162.

[0086] In embodiments, the augmented reality (AR) module 160 may be provided in the form of a wearable device for example including but not limited to a visual display, glasses or the like. In embodiments, the AR module 160 may optionally be integrated with the head remote control module 55. In embodiments, the AR module 160 may be configured to display to a user guiding information related to operational performance of device 100 in real time.

[0087] In embodiments, aerial vehicle 152, most preferably in the form of a drone, may be provided as an autonomously controlled aerial vehicle or a remotely controlled aerial vehicle. Aerial vehicle 152 comprises a LIDAR module 154 for facilitating the functional mapping of mobile device 100 optionally and preferably in the form of a vehicle.

[0088] In embodiments drone 152 module may be in communication with mobile device and / or vehicle 100, optionally independently of system 50 and / or system controller 52.

[0089] In embodiments mapping module 156, may comprise a multidimensional mapping function so as to map in two dimensions (2D mapping) and optionally in three dimension providing a 3D mapping functionality. Optionally and preferably mapping module 156 further provides for triangulation capabilities preferably to facilitate identification of objects in environment surrounding in and around vehicle 100. In embodiments mapping module may be utilized with any imaging module for example utilizing LIDAR technology. In embodiments mapping module 156 may further comprise a radio wave camera. In embodiments mapping module 156 may further comprise a RADAR capabilities.

[0090] As used herein the term “about” refers to + / -10 %. The terms "comprises", "comprising", "includes", "including", “having” and their conjugates mean "including but not limited to". The term “consisting of’ means “including and limited to”. The term "consisting essentially of' means that the composition, method or structure may include additional ingredients, steps and / or parts, but only if the additional ingredients, steps and / or parts do not materially alter the basic and novel characteristics of the claimed composition, method or structure.

[0091] The word “exemplary” is used herein to mean “serving as an example, instance or illustration”. Any embodiment described as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments and / or to exclude the incorporation of features from other embodiments.

[0092] The word “optionally” is used herein to mean “is provided in some embodiments and not provided in other embodiments”. Any particular embodiment of the invention may include a plurality of “optional” features unless such features conflict.

[0093] As used herein, the singular form "a", "an" and "the" include plural references unless the context clearly dictates otherwise. For example, the term "a compound" or "at least one compound" may include a plurality of compounds, including mixtures thereof.

[0094] Throughout this application, various embodiments of this invention may be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as from 1 to 6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range.

[0095] Whenever a numerical range is indicated herein, it is meant to include any cited numeral (fractional or integral) within the indicated range. The phrases “ranging / ranges between” a first indicate number and a second indicate number and “ranging / ranges from” a first indicate number “to” a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numerals therebetween. In those instances where a convention analogous to "at least one of A, B, and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, and C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). It will be further understood by those within the art that virtually any disjunctive word and / or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase "A or B" will be understood to include the possibilities of "A" or "B" or "A and B."

[0096] As used herein the term "method" refers to manners, means, techniques and procedures for accomplishing a given task including, but not limited to, those manners, means, techniques and procedures either known to, or readily developed from known manners, means, techniques and procedures by practitioners of the chemical, pharmacological, biological, biochemical and medical arts.

[0097] There are many inventions described and illustrated herein. The present inventions are neither limited to any single aspect nor embodiment thereof, nor to any combinations and / or permutations of such aspects and / or embodiments. Moreover, each of the aspects of the present inventions, and / or embodiments thereof, may be employed alone or in combination with one or more of the other aspects of the present inventions and / or embodiments thereof. For the sake of brevity, many of those permutations and combinations will not be discussed separately herein.

[0098] While the invention has been described with respect to a limited number of embodiment, it is to be realized that the optimum dimensional relationships for the parts of the invention, to include variations in size, materials, shape, form, function and manner of operation, assembly and use, are deemed readily apparent and obvious to one skilled in the art, and all equivalent relationships to those illustrated in the drawings and described in the specification are intended to be encompassed by the present invention.

[0099] Therefore, the foregoing is considered as illustrative only of the principles of the invention. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not described to limit the invention to the exact construction and operation shown and described and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope of the invention.

[0100] It should be noted that where reference numerals appear in the claims, such numerals are included solely or the purpose of improving the intelligibility of the claims and are no way limiting on the scope of the claims.

[0101] Having described a specific preferred embodiment of the invention with reference to the accompanying drawings, it will be appreciated that the present invention is not limited to that precise embodiment and that various changes and modifications can be effected therein by one of ordinary skill in the art without departing from the scope or spirit of the invention defined by the appended claims.

[0102] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable sub-combination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.

[0103] Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the scope of the appended claims.

[0104] Citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the invention.

[0105] Section headings are used herein to ease understanding of the specification and should not be construed as necessarily limiting.

[0106] While the invention has been described with respect to a limited number of embodiments, it will be appreciated that many variations, modifications and other applications of the invention may be made.

Claims

CLAIMSWhat is currently claimed is:

1. A system (50) for real time mapping of a mobile device or object the system comprising: a. an aerial vehicle (152) comprising a LIDAR imaging module (154); b. a mobile device (100) ; c. a system processor (55).

2. The system of claim 1 wherein said LIDAR imaging module comprises short range LIDAR imaging capabilities.

3. The system of claim 1 wherein the aerial vehicle (152) is provided in the form of a drone that may be autonomous controlled and / or remotely controlled.

4. The system of claim 1 wherein the system processor (52) is configured to process data so as to actively map the mobile device (100) so as to render a map substantially in real time.

5. The system of claim 4 wherein the rendered map is rendered in the form of a three dimensional map.

6. The system of claim 1 wherein the mobile device that is preferably mapped by the system may be provided in optional forms selected from: a vehicle, an autonomous vehicle, a remotely controlled vehicle, a manned vehicle, a mobile device, a mobile device that is coupled to a user and / or object, a terrestrial vehicle, an aquatic vehicle, amphibious vehicle, boat, submersible vehicle, underwater vehicle, a space vehicle, a flying vehicle, an aerial vehicle, or any combination thereof.

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