CA2845115A1 - System and method of outdoor geolocation that uses distributed short-range communication subsystem in the context of snow removal operation - Google Patents

Abstract

A system and a method is described for outdoor geolocation of predetermined outdoor stationary points of interest. The system comprises a centralized database, a mobile controller mounted in a mobile vehicle, and a plurality of outdoor identity devices associated with a respective one of stationary points of interest. The mobile controller has a user interface computer and a navigation software for guidance to the identity devices and a communication link to identify the identity devices. The centralized database has a communication link with the mobile controller for the transmission of instructions thereto in a preferred embodiment, the stationary points of interest are ground areas at specific location where there is a need for the removal of snow therefrom and the mobile vehicle is a snow clearing device.

Description

. .
SYSTEM AND METHOD OF OUTDOOR GEOLOCATION THAT USES
DISTRIBUTED SHORT-RANGE COMMUNICATION SUBSYSTEM IN THE
CONTEXT OF SNOW REMOVAL OPERATION
BACKGROUND OF THE INVENTION
Field of the Invention This invention relates to a system and method for providing navigation instructions to a snow removal machinery operator in any weather condition, and also to find and identify points of interest.
Description of the Related Art Global position systems (GPS) are useful for helping a driver to navigate and guide himself to specific destination following a given route. The GPS receives navigation signals from three or more satellites in geosynchronous orbit around the earth. Using the navigation signals, the GPS calculates its position and its speed. The GPS
may also calculate a direction of travel.
The GPS may display the driver's current location and/or destination. The driver can use the information provided by the GPS to navigate to its destination.
Unfortunately, the GPS operation might be disrupted caused by the loss of satellite signals. Bad weather conditions, such as heavy fog, snow storm, or heavy rain can be the cause of signal loss. When satellite signals are lost, the GPS gets inoperative to provide navigation instruction to the driver. For example a snow removal machinery operator would not be able to know where to go next to remove snow in a residential or commercial area based solely on GPS guidance. Any route follow-up or zone of interest information update would then be impossible. Also, the GPS
may have a variable accuracy that might lead to errors in targeting the area for snow removal, particularly in dense residential neighbourhood.

SUMMARY OF THE INVENTION
Following the prior discussion, there is a need for a system and method to geolocate outdoor positions using distributed short-range communication subsystem, in conjunction with the GPS, for residential and commercial snow removal operation.
Beneficially, such an apparatus, system and method would provide navigation instruction to the machinery operator at all time, even when GPS satellites signals are lost.
The present invention has been developed in response to the present state of the art, and in particular, in response to the problems and needs in the art that have not yet been fully solved by currently available snow removal management tools using solely the GPS technology. Accordingly, the present invention has been developed to provide a system, and a method for providing navigation instructions that overcome the above-discussed shortcomings in the art. The combination of the use of distributed short-range communication system (tags) and Inertial Navigation System (INS) allows navigation aid when GPS signals are not available for the use of conventional navigation aid based solely on GPS.
According to a still further broad aspect of the present invention, there is provided a system for outdoor geolocation of predetermined outdoor stationary points of interest. The system comprises a centralized database, a mobile controller mounted in a mobile vehicle, and a plurality of outdoor identity devices associated with a respective one of stationary points of interest. The mobile controller has a user interface computer and a navigation software for guidance to the identity devices and an identification means to identify the identity devices. The centralized database has a communication link with the mobile controller for the transmission of instructions thereto.
More specifically as described in the previous paragraph, the outdoor stationary points of interest are ground areas at specific locations where there is a need for the removal of snow therefrom. The mobile vehicle is a snow clearing vehicle.
According to a still further broad aspect of the present invention, there is provided a method for outdoor geolocation of predetermined outdoor stationary points of interest. The method comprises the steps of providing a centralized database.
The

2 method further provides a mobile vehicle with a controller mounted therein and having a communication link with the centralized database. The method still further comprises mounting an outdoor identity device at each of the outdoor stationary points of interest, the said identity devices having stored therein proprietary information. The mobile vehicle is then guided by means of a navigation software stored in a computer of the controller to the outdoor stationary points of interest. The computer is further provided with a screen. The proprietary information is extracted by the communication device mounted in the mobile vehicle. A job function is then effected by the mobile vehicle at the outdoor stationary points of interest located.
DESCRIPTION OF THE DRAWINGS
In order that the advantages of the invention will be readily understood, a more detailed description of the invention briefly described above will be rendered by reference to components structure that are illustrated in the appended drawings.
Understanding that these drawings depict only typical content of the components of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings, in which:
Figure 1 is a block diagram of the main component parts of the system of the present invention;
Figure 2 is a functional block diagram of the system and provides more details; and Figure 3 is a partly schematic and partly block diagram of an example of a snow removal operation using intelligent tags and the system and method of the present invention.
BRIEF DESCRIPTION OF THE PREFERRED EMBODIMENT
Briefly, the system is composed, but not limited to, of the following main components: a Global Database, some or many Intelligent Tags, a Datalink, and a Mobile Controller.
The Global Database component is a centralized database containing but not exclusively the following items. It contains POI (Points of Interests) application

3 information and the ID of the intelligent tags. It also contains Mobile Controllers positions and intelligent tags readings (current and past). There is an outdoor map sized to have all POls and Mobile Controllers routes within it. And finally it comprises the normal route for mobile controller as well as assignations.
The Intelligent Tag component is made from a passive UHF RFID inlay, a polymer plastic weather-resistant pouch and a custom label. Each tag has a unique RFID

inlay with unique ID. Also the RFID inlay comprises a specific field to each snow removal company. Currently, the frequency of operation of this inlay is with the band of 902-928 MHz, with a frequency hopping scheme. This band might also be 865-868 Mhz for European market, or any other allowed frequency for such an apparatus depending of the tag technology.
The Datalink component is accomplished with the use of existing cellular link Internet network, as GPRS, 3G, 4G LTE or the equivalent. This Datalink securely connects each Mobile Controller and a central computer, on which the Global Database is stored and maintained. Before and during each snow removal run, the Global Database is transferred to each Mobile Controller (which is named Local Database) in order to update routes, assignments, customers and specific notes to all operators.
The Mobile Controller component is installed in the cab of the machinery, with the operator. The Mobile Controller is equipped with classic geolocating capabilities, such as GPS. It is also equipped with proximity short range tags reader to read and detect Intelligent Tags. There is also apparatus to support communication to Internet network through Datalink, such as cellular, GPRS, 3G, 4G LTE or the equivalent.
The Mobile Controller is also equipped with user interface computer, such as a tablet, laptop, touch screen, or the equivalent. And finally there is data storage to save a delayed copy of the Global Database, which is named Local Database.
Reference numeral 100, the POI, is a point of interest in the snow removal operation context. It can identify a drive-way or a delimiting coordinate (example a parking lot corner) of a large commercial area that is under snow removal contract.

4 Reference numeral 101, the Intelligent Tags, is the technological support of communicating an unique ID only in short range distance to the Mobile Controller, thus providing a mean of identify the current location.
Reference numeral 102, the Mobile Controller, is the sum of technological means for positioning the utility vehicle and to provide relevant information to the operator. It integrates many currently available possible means of positioning (like GPS, RF
TAGS and Inertial Navigation System) and returns to the operator the most accurate position depending on the best data available from these.
Reference numeral 103, the Proximity RF Tag Reader, is one or many devices incorporating antenna(s) and the related embedded electronic hardware that handles and initiates the communication with the INTELLIGENT TAGS when in the immediate vicinity of the operator.
Reference numeral 104, the Accelerometer, Gyroscope and Compass, are the devices that provide and return time varying information of measured acceleration on X, Y and Z axis, measured rotation moment as well as the angle relative to the magnetic north of earth to INS (105).
Reference numeral 105, the Inertial Position & Bearing Integrator (INS), is the software function of time integrating the information provided by (104) to compute the current position and bearing offset to update (109).
Reference numeral 106, the Touch Screen Display, is a touch screen device that allows the operator to visualize his vehicle position on the map and also to get relevant information to accomplish snow removal run.
Reference numeral 107, the GPS Receiver, calculates its position by precisely timing the signals sent by geosynchronous satellites above the earth. It sends absolute position of the vehicle and return raw information to the GPS Position / Angle Producer software module (110).
Reference numeral 108, the Display Manager, is a software module in the Mobile Controller that controls and manages display and interface control available to the operator.

5 Reference numeral 109, the Integral Positioning Function & Kernel, is the main software module that comprises an algorithm integrating all current and available information from (105), (111) and (110) and also produces the current most accurate position possible and return it to (108) for update.
Reference numeral 110, the GPS Position / Angle Producer, is a software module that manages data received from the GPS Receiver (107) to get the NMEA
information and to link it to the map and bearing position (109).
Reference numeral 111, the Tag Detection Sweeper, is a software module that manages the sweeping power of the Proximity RF Tag Reader (103) used to wake-up Intelligent Tags (101) and initiate communication.
Reference numeral 112, the Local Database, contains a copy of the Global Database (117) which is needed to associate position of the vehicle with local position, and to give the operation context (like street maps, snow removal area delimitation, position of the Intelligent Tags (101) and their unique ID, last position of the other vehicles if applicable).
Reference numeral 113, the Database Updater, makes a periodic copy of the Local Database (112) information through the Datalink (114). Thus allowing information exchange between the operator vehicle, administration console, and other vehicles'.
In the event of a communication lost (storm) the operation can resume and continue without disturbance based on the last information received.
Reference numeral 114, the Datalink and 116, the Internet Network, allows through a RF modem such as cellular, GPRS, 3G, 4G LTE or the equivalent communication between the Mobile Controller (102) and the Global Database (117). An encryption layer is added to the communication to insure business privacy.
Reference numeral 115, the Administration Server, is the server that provides information to the Mobile Controller (102) and allows the management of the vehicles, the route, the finance and the client information though the administration interface (118). The information is kept on a Global Database (117).

6 Reference numeral 117, the Global Database, contains all the business information (client names, billing addresses, client locations, etc.). Some of these are transferred periodically to provide instructions to the operator through a copy in Local Database (112), namely:
ID of the Intelligent Tags (101) and their positions.
Current Mobile Controller positions and tags readings.
Latest outdoor map sized to have all POls and Mobile Controller (102) routes within it.
Latest normal route for Mobile Controller (102) and assignments.
Reference numeral 118, the Administration Interface, is the software server application that provides management interface to the administrator in regards of these informations:
Position and progress of one or many Mobile Controllers (102).
Management vehicles planned route and the operator assignment.
Management of the vehicles, maintenance, business and technical information.
Financial and client information (CRM Customer Relationship Management).
DETAILED DESCRIPTION OF THE INVENTION
The present invention will now be described with reference to the accompanying drawings. It is understood that other embodiments may be utilized and structural changes may be made without changing the scope of the present invention.
All Points of Interests (POI), as referred to 100, are equipped with Intelligent Tags.
These POls are for example, but not limited to, customers driveways in the case of residential snow removal, commercial center and business parkings lot delimiting coordinates in the case of commercial snow removal operation, obstacles to avoid in a specific snow removal run, etc.
Intelligent Tags, as referred to 101, are proprietary tags currently made with an UHF
RFID inlay, a plastic protective pocket and a label. The construction of the Intelligent Tags may vary upon availability and market pricing of existing UHF RFID Tags.
This

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RFID inlay is compliant with EPC Class 1 Generation 2 international standard for such equipment. (Electronic Product Code). This RFID system can be classified as an Active Reader Passive Tag (ARPT) system. The active reader inside the Mobile Controller transmits interrogator signals and also receives authentication replies from passive tags. Each RFID inlay has embedded memory, which allows storage of unique ID, as well as specific custom parameters, such as location, customer ID, type of tags, snow removal contractor unique ID, etc.
The Mobile Controller, as referred to 102, gathers all the means of positioning the vehicle (Intelligent Tags and Proximity RF Tag Reader, GPS, Inertial Navigation) and produces along with the Local Database a navigation map that includes the driver's assigned POls and routes.
The Proximity RF Tag Reader, as referred to 103, is part of the Mobile Controller.
This Proximity RF Tag Reader is an UHF RFID device made to communicate with UHF RFID inlays in Intelligent Tags. This device is emitting power and control data to start communication with inlays in line of sight and within a short distance range, in the order of 5-8 meters. The reader gets inlay memory content and sends received data to the software module named Tag Detection Sweeper, referred as 111. This software module manages the power of the Proximity RF Tag Reader in a sweeping scheme. This sweeping scheme gives a rough estimate about the distance between the reader and the tags since the radiation power of an RF device decreases to the inverse square of the distance. This software module also manages other aspects of the Proximity RF Tag Reader to intercept tags in a constant manner without any interference or disruption.
The Mobile Controller (102) comprises motion sensors that are embedded or external to measure acceleration, rotation moment and orientation relatively to the magnetic north. These sensors are accelerometers, gyroscope and compass, as referred to 104. These sensors provide raw data to the Inertial position &
bearing integrator (INS) software module, referred as 105. This software module continuously computes dead reckoning navigation of position, orientation and velocity of the Mobile Controller without the need of external references, like GPS
signals from satellites. The dead reckoning navigation provides guidance between Intelligents Tags reading in order to compensate the lack of GPS signal from any

8 disruption. The INS navigation has however important limitations due to integration drift error. This navigation method is a backup and provide good indications between scan of Intelligent Tags. When a tag is scanned, absolute position is corrected from known position data in the Local Database associated with this particular tag.
The operator controls the Mobile Controller (102) through the use of a Touch screen display, as referred to 106. This display is managed with Display manager software module (108). The display shows all relevant information to help the operator to navigate and to manage customers in a snow removal run. It shows road maps, snow removal routes, customers ID, special notes, vehicle maintenance information, etc.
The Mobile Controller (102) comprises a GPS receiver, as referred to 107. This GPS
receiver is either embedded or external to the Mobile Controller itself. It transmits raw position data to the GPS position / angle producer software module, as referred to 110. This software module manages data from the GPS receiver to get the position, velocity and orientation data in order to link them to the map and routes.
The Mobile Controller (102) has a Datalink, as referred to 114. This Datalink is a cellular link connected to the Internet network, and to the centralized Global Database, as referred to 117. Datalink is using existing technology for remote data transmission, such as cellular network GPRS, 3G, 4G LTE or any equivalent data network. The Datalink is encrypted using AES (Advanced Encryption Standard) or equivalent encryption algorithm to protect privacy of data exchanges.
The Administration console, as referred to 115, comprises the Global Database (117) and an Administration interface, as referred to 118. This software module is the central management tool intended to the administrator of the system. It comprises Vehicle Management module, Route management module, Finance management module and finally, but not limited to, Client management module. The Administration interface allows access to the position and the progress of the fleet of Mobile Controllers. It is also the center component to manage and display customer information, known as CRM (Customer Relationship Management).

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It is within the ambit of the present invention to cover any obvious modifications of the preferred embodiments described herein, provided such improvements fall within the scope of the appended claims.

Claims (4)

CLAIMS:

1. A system for outdoor geolocation of predetermined outdoor stationary points of interest, said system comprising a centralized database, a mobile controller mounted in a mobile vehicle, and a plurality of outdoor identity devices associated with a respective one of stationary points of interest; said mobile controller having a user interface computer and a navigation software for guidance to said identity devices and an identification means to identify said identity devices; said centralized database having a communication link with said mobile controller for the transmission of instructions thereto.

2. The system of claim 1 wherein said outdoor stationary points of interest are ground areas at specific locations where there is a need for the removal of snow therefrom, said mobile vehicle being a snow clearing vehicle.

3. The system of claim 2 wherein said identity devices are RFID tags having stored thereon proprietary information which is readable by a proximity RF tag reader mounted in said mobile vehicle.

4. A method for outdoor geolocation of predetermined outdoor stationary points of interest, said method comprising the steps of:
i) providing a centralized database, ii) providing a mobile vehicle with a controller mounted therein and having a communication link with said centralized database;
iii) mounting an outdoor identity device at each said outdoor stationary points of interest, said identity devices having stored therein proprietary information;
iv) guiding said mobile vehicle by means of a navigation software stored in a computer of said controller to said outdoor stationary points of interest, said computer having a screen;
v) extracting said proprietary information by a communication device mounted in said mobile vehicle; and vi) effecting a job function by said mobile vehicle at said outdoor stationary points of interest located.