System and method for docking an actively stabilized platform

Patent metadata

Field	Value
Publication number	US-10274924-B2
Application number	US-201615198040-A
Country	US
Kind code	B2
Filing date	Jun 30, 2016
Priority date	Jun 30, 2016
Publication date	Apr 30, 2019
Grant date	Apr 30, 2019

Abstract

A system and method are presented for docking an actively stabilized platform. The platform includes an active stabilizing mechanism selectively engageable to orient the platform in at least a first axis of rotation. Once the docking procedure is initiated, a docking device engages the platform to prevent rotation in the first axis. When the docking device becomes fixedly engaged with the platform, the active stabilizing mechanism can be disengaged and the platform sustained in a first orientation defined by the first axis of rotation. In addition, the method may sustain the platform aligned in a first spatial position defined by at least two orthogonal axes. Similarly, if the docking device does not provide complete stability for the platform (i.e., engages the platform with a tolerance error), the active stabilizing mechanism can be partially engaged to minimize the tolerance error while minimizing power consumption.

First claim

I claim:

1. A method for docking an actively stabilized platform, the method comprising:
providing a platform including an active stabilizing mechanism selectively engageable to orient the platform in at least a first axis of rotation, and providing a docking device;
initiating a docking procedure;
the docking device engaging the platform to prevent rotation in at least the first axis;
when the docking device becomes fixedly engaged with the platform, disengaging the active stabilizing mechanisms;
sustaining the platform in a first orientation defined by the first axis of rotation;
sustaining the platform aligned in a first spatial position defined by at least two orthogonal axes;
wherein providing the docking device includes providing a docking device located at the first spatial position;
wherein providing the platform includes providing the platform with an embedded locomotion mechanism capable of transversely moving the platform in at least two orthogonal directions;
wherein the docking device engaging the platform includes the platform locomotion mechanism moving the platform to the first spatial position;
wherein providing the platform further includes providing platform with an embedded locating system, the platform locating system determining the position of the platform with respect to the docking device; and
wherein the docking device engaging the platform further includes the platform locating system directing the platform locomotion mechanism to move the platform to the first spatial position.

2. The method of claim 1 wherein the platform locating system is selected from a group consisting of an inertial measurement unit (IMU), global positioning satellite (GPS) receiver, camera with visual odometry software, a transceiver system to communicate position information between the platform and the docking device, an ultrasonic ranging device, a laser detection and ranging (LiDAR) device, infrared ranging device, and combinations of the above-listed devices.

3. The method of claim 1 wherein providing the docking device includes providing the docking device with an embedded locating system;
the method further comprising:
the docking device locating system determining position information of the platform location with respect to the docking device location;
the docking device communicating the position information to the platform; and
wherein the docking device engaging the platform includes the platform locomotion mechanism moving the platform to the first spatial position in response to the position information.

4. The method of claim 1 further comprising: when the docking device engages the platform a tolerance error, partially engaging the active stabilizing mechanism to minimize the tolerance error.

5. A method for docking an actively stabilized platform, the method comprising:
providing a platform including an active stabilizing mechanism selectively engageable to orient the platform in at least a first axis of rotation, and providing a docking device;
initiating a docking procedure;
the docking device engaging the platform to prevent rotation in at least the first axis;
when the docking device becomes fixedly engaged with the platform, disengaging the active stabilizing mechanisms;
sustaining the platform in a first orientation defined by the first axis of rotation;
sustaining the platform aligned in a first spatial position defined by at least two orthogonal axes;
wherein providing the docking device includes providing a docking device with an embedded locomotion mechanism capable of transversely moving the docking device in at least two orthogonal directions;
wherein providing the platform includes providing the platform located at the first spatial position;
wherein the docking device engaging the platform includes the docking device locomotion mechanism moving the docking device to the first spatial position;
wherein providing the platform further includes providing the platform with an embedded locating system, the platform with the embedded locating system determining position information of the platform location with respect to the docking device location, and communicating the position information to the docking device; and
wherein the docking device locomotion mechanism moving the docking device to the first spatial position includes the docking device locomotion mechanism moving the docking device in response to the position information.

6. A method for docking an actively stabilized platform, the method comprising:
providing a platform including an active stabilizing mechanism selectively engageable to orient the platform in at least a first axis of rotation, and providing a docking device;
initiating a docking procedure;
the docking device engaging the platform to prevent rotation in at least the first axis;
when the docking device becomes fixedly engaged with the platform, disengaging the active stabilizing mechanisms;
sustaining the platform in a first orientation defined by the first axis of rotation;
sustaining the platform aligned in a first spatial position defined by at least two orthogonal axes;
wherein providing the docking device includes providing a docking device with an embedded locomotion mechanism capable of transversely moving the docking device in at least two orthogonal directions;
wherein providing the platform includes providing the platform located at the first spatial position;
wherein the docking device engaging the platform includes the docking device locomotion mechanism moving the docking device to the first spatial position;
wherein providing the docking device further includes providing a docking device with an embedded locating system;
the method further comprising:
the docking device locating system determining the position of the platform with respect to the docking device; and
wherein the docking device engaging the platform further includes the docking device locating system directing the docking device locomotion mechanism to move the docking device to the first spatial position.

7. A system for docking an actively stabilized platform, the system comprising:
a platform;
an active stabilizing mechanism embedded with the platform, selectively engageable to control platform alignment;
a docking device to sustain the platform in a first orientation when fixedly engaged with the platform;
wherein the active stabilization mechanism is at least partially disengaged when the docking device is fixedly engaged with the platform;
wherein the docking device sustains the platform in a first spatial position when fixedly engaged with the platform;
wherein the docking device is located at the first spatial position;
a locomotion mechanism embedded with the platform capable of transversely moving the platform in at least two orthogonal directions to the first spatial position; and
a location system embedded with the platform for determining the position of the platform with respect to the docking device and directing the locomotion mechanism to move the platform to the first spatial position.

8. The system of claim 7 wherein the active stabilizing mechanism embedded with the platform is capable of orienting the platform in at least two orthogonal axes of rotation.

9. The system of claim 7 wherein the locating system is selected from a group consisting of an inertial measurement unit (IMU), global positioning satellite (GPS) receiver, camera with visual odometry software, a transceiver system to communicate position information between the platform and the docking device, an ultrasonic ranging device, a laser detection and ranging (LiDAR) device, infrared ranging device, and combinations of the above-listed devices.

Assignees

• Sharp Laboratories America Inc

Inventors

• Smith Dana

Classifications

• G01S19/47

  the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial · CPC title

• G05B2219/40082

  Docking, align object on end effector with target · CPC title

• G05B19/19 Primary

  characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path · CPC title

• H04B1/38

  Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving · CPC title

• G01C21/18 Primary

  Stabilised platforms, e.g. by gyroscope · CPC title