WO2009136856A1

WO2009136856A1 - Image generation system

Info

Publication number: WO2009136856A1
Application number: PCT/SE2009/050496
Authority: WO
Inventors: Viktor Kaznov; Mattias Seeman
Original assignee: Rotundus Ab
Priority date: 2008-05-09
Filing date: 2009-05-07
Publication date: 2009-11-12

Abstract

Image generation system comprising a unitary rolling vehicle provided with at least one image registration unit arranged to register spatial parameters for each image that is registered, and a mosaic image generator arranged to combine registered images to a stabilized mosaic image using the spatial parameters.

Description

IMAGE GENERATION SYSTEM

Background of the invention

The present invention relates to an image generation system for an autonomous or controlled unitary rolling vehicle capable of moving in various environments, including indoors, outdoors as well as the planetary bodies such as planets and the Moon.

A unitary rolling vehicle is defined as a vehicle with a rolling member arranged for rolling movement, comprising a drive system supported by the rolling member and arranged to drive the rolling member for rotation, wherein the centre of mass of the drive system is lower compared to the centre of the rolling member in the vertical direction at rest and the drive system is further arranged to displace a drive mass with respect to the rolling member thereby moving the mass centre of the vehicle to achieve a driving force. The main rolling member may be of any suitable shape that allows a rolling movement, such as a sphere or a ball, an ellipsoid, a torus or a wheel, combinations thereof or the like.

Such vehicles may be used for surveillance and may autonomously patrol large areas. It may also be operated at a distance for tele-operated surveillance. A further use is for inspecting dangerous or remote sites. An image generation system is then an important feature of the vehicle to be able to perform surveillance and inspection.

Images taken from an image registration unit incorporated in the vehicle often become shaky because of the dynamic movement pattern of the unitary rolling vehicle. The vehicle is easily influenced by, for example, the ground condition and continuously has to compensate for this. The images are therefore often hard to interpret. There is thus a need to process the images taken to produce good quality images.

There are several published documents showing examples of image processing systems. For example US 4,855,822 is showing a human engineered remote driving system that uses a sensor on the vehicle for providing snapshot images of the environment. The vehicle includes motion detection means for position and attitude, and combines the snapshot images and the motion describing information into a display for driving the vehicle from a remote control station. Upon designing an image generator system for a unitary rolling vehicle, one difficulty for the system is to compensate for random changes of the position and/or angle of an image registration system, e.g. one or several cameras. Due to the movability of the unitary rolling vehicle and its sensitivity to environmental conditions, the image system has to be able to rapidly adapt to new circumstances to produce the desired view.

In the prior art document WO 2006/049559 an example of a ball robot is shown where at least one camera is mounted inside a hollow axle in the robot.

The prior art unitary rolling vehicles can be divided into two major groups:

• Pendulum type comprising a main axis connected diametrically to a rolling member and supporting a drive mechanism arranged to drive a ballast pendulum for rotation around the main axis.

• Shell drive type with a drive mechanism that is supported by and moveable along the rolling member inner surface.

The image generation system may be used together with all kinds of unitary rolling vehicles, but for illustrative purposes the invention is exemplified with a spherical unitary rolling vehicle of pendulum type.

Due to the displacement of the pendulum centre of mass when driven for rotation about the main axis, the unitary rolling vehicle is put into motion. Moreover, the unitary rolling vehicle may comprise additional equipment in the form of analysis, monitoring, or actuator systems. The rolling member may be of a perfect spherical shape, and/or multi- facetted rolling member formed by a shell with from a minimum of 10 to 30 sides or more. The rolling member can be elongated or shaped in any way as long as one main axis that is suitable for rotation around is preserved. The outer surface of the rolling member can further be provided with a pattern to prevent the unitary rolling vehicle from slipping, sliding sideways or the like.

Summary of the invention

The object of the present invention is to provide an image generator system for a unitary rolling vehicle that continuously produces a desired, stable image view of the environment of the unitary rolling vehicle. This is achieved by the image generating system comprising a unitary rolling vehicle as defined by the appended claims. In one embodiment, the image generation system comprises a unitary rolling vehicle provided with at least one image registration unit arranged to register spatial parameters for each image that is registered, and a mosaic image generator arranged to combine registered images to a mosaic image using the spatial parameters. The unitary rolling vehicle is thus provided with at least one image registration unit, and by combining the registered images using the spatial parameters, a good quality image may be formed by contribution from several images.

In a further embodiment, the mosaic image is continuously updated by introduction of fresh images. Accordingly, a good quality image may be formed that is continuously updated.

In a still further embodiment, the image plane of the mosaic image is adapted to the movement of the unitary rolling vehicle. Thus, when the vehicle moves, the image plane is changed in the same scope as the vehicle. It is thus possible to create a correct continuous image of the environment of the vehicle.

In one embodiment, the spatial parameters are retrieved from the vehicle control system and comprise geographic location parameters and vehicle state parameters. Thus, the stabilizing image generating system may use parameters retrieved from the control system of the vehicle.

In a further embodiment, the vehicle state parameters are derived from dynamic state sensors in the vehicle. Thus, the dynamic state sensors used in the control system are also used for the stabilizing image generating system.

In one embodiment, at least one of said sensors comprises a gyroscope. In a further embodiment, at least one of the sensors comprises an accelerometer. In a still further embodiment, at least one of the sensors comprises a rotational sensor for sensing of rotational speed of the motor(s). Thus, the dynamic state of the vehicle is sensed.

In one further embodiment, the image registration unit is moveable with respect to the unitary rolling vehicle. Thus, the image registration unit may not be dependent on the direction of the unitary rolling vehicle.

In a still further embodiment, the vehicle state parameters comprises position parameters defining the relative position of the image registration unit with respect to the vehicle. Accordingly, it is possible to relate the position of the image registration unit with a reference system of the vehicle.

In one embodiment, the system comprises calibration spots for calibration of the reference system of the unitary rolling vehicle. Thus it is possible to calibrate the reference system of the vehicle.

In a further embodiment, the remote image registration system is a surveillance system. Thus, it is possible to use the system for surveillance.

In one embodiment, the mosaic image generator is arranged in the vehicle. In another embodiment, the mosaic image generator is remote to the vehicle and registered images with associated spatial parameters are transmitted from the vehicle to the mosaic image generator. It is thus possible to process the images either in the vehicle or remote from the vehicle.

In one embodiment, the remote mosaic image generator is arranged to display the mosaic image on a display device of a graphical user interface with remote control means. Accordingly, an operator may remotely control the vehicle with feedback from the mosaic image on the display.

In a further embodiment, the mosaic image is analysed for essential deviations such as new objects, moving objects and the like. Thus, the mosaic image generator may detect objects and movements in the image. This may be extra notified on a display.

In a still further embodiment, the vehicle control system is arranged to analyze the mosaic image and to control the motion of the vehicle accordingly. Thus, the vehicle may for example steer clear of obstacles or follow a moving object.

In one embodiment, the image registration unit is arranged to register electromagnetic radiation of different wavelength, such as in the visual, infra red or ultraviolet range, or radioactive radiation, radar, magnetic fields or combinations thereof. Accordingly, the vehicle may react on various detections to control its motion or give feedback to an operator. In one embodiment, a unitary rolling vehicle is provided with at least one image registration unit arranged to register spatial parameters for each image that is registered. Thus, a unitary rolling vehicle may incorporate at least one image registration unit.

In a further embodiment, the unitary rolling comprises a transmitter unit arranged to transmit images and associated spatial parameters to a remote mosaic image generator arranged to combine registered images to a stabilized mosaic image using the spatial parameters. Accordingly, a stable good quality image of the environment of the vehicle may be formed.

In a further embodiment, the vehicle is adapted to navigate from positioning data retrieved from images taken by the image registration unit. It is thus possible to control the motion of the vehicle in dependence of positioning data retrieved from an image. Combined with an inclinometer, and GPS (other positioning system), the unitary rolling vehicle is able to navigate autonomously over long distances while performing science, surveillance, etc.

In one embodiment, the drive system comprises one or several electric drive motors for rotating a spherical main body about a telescopic/spring relieved axis. The steering system is made in such a way that it provides a possibility of motion in any direction from any single point of rotation.

Short description of the figures

Fig. 1 shows an embodiment of the image generating system according to the present invention.

Fig. 2 illustrates mapping of generated images according to an embodiment of the invention. Fig. 3 illustrates change of focus plane according to one embodiment of the invention.

Fig. 4 schematically shows an embodiment of a calibration system according to the present invention.

Figs. 5a to 5c schematically show an embodiment of a unitary rolling vehicle according to the present invention. Fig. 6 schematically shows an embodiment of a unitary rolling vehicle according to the present invention.

Fig. 7 schematically shows an embodiment of a unitary rolling vehicle according to the present invention. Fig. 8 illustrates one embodiment of a complete unitary rolling vehicle system according to the present invention.

Detailed description of the invention.

An embodiment of the image generation system is exemplified in fig. 1. The image generation system comprises a unitary rolling vehicle provided with at least one image registration unit arranged to register spatial parameters for each image that is registered. The spatial parameters may be retrieved from the vehicle control system and comprises geographical location parameters and vehicle state parameters. According to one embodiment, the image registration unit comprises a dedicated internal spatial parameter registration system separate from the vehicle systems, but it may also be partially integrated. The geographical parameters may be derived from a geographic positioning system such as a GPS or the like, rotational sensors for sensing of rotational speed of the at least one driving motor(s) or the like.

In one embodiment, the unitary rolling vehicle comprises a rolling member, a drive system supported by the rolling member and arranged to drive the rolling member for rotation, the centre of mass of the drive system being lower compared to the centre of the rolling member in the vertical direction at rest, and a control system for controlling the drive system, wherein the control system comprises dynamic state sensors arranged to detect the instant dynamic state of the vehicle and the drive system. This means that sensor data is gathered and the unitary rolling vehicle is controlled in dependence of the detected instant dynamic state of the rolling vehicle.

In the following illustrated embodiments the rolling member is formed by a shell. This is for illustrative purposes only, and should not be seen as limiting.

The control system comprises dynamic state sensors for detecting the instant dynamic state of the vehicle and the drive system. The dynamic state sensors may include at least a gyroscope, at least an accelero meter and/or at least a rotational sensor for sensing of rotational speed. The sensor(s) are located at appropriate places inside the unitary rolling vehicle, and their respective sensed variables are transmitted to the control unit, either wired or wirelessly. It is also possible to transmit the sensed variables to a remote computer outside the vehicle for further processing. In one embodiment, the control system includes three gyroscopes, three accelerometers and one rotational sensor for each motor. The gyroscopes are arranged to detect rotation about different axes of rotation and the accelerometers are arranged to detect acceleration/retardation in three different directions. According to one embodiment, the three gyroscopes are arranged to detect rotation about three orthogonal axes of rotation and the accelerometers are arranged to detect acceleration in three orthogonal directions. Hence the control system is capable of detecting any change in dynamic state, such as a sudden change in direction, speed, altitude etc.

The registered images are transferred together with their respective spatial parameters to a mosaic image generator. The mosaic image generator is arranged to combine registered images to a mosaic image using the spatial parameters. As can be seen from fig. 2, a mosaic image 300 with a great scope, a panorama image, may be created by possibly overlapping images 310. The image area from the latest image is used, i.e. where images overlap, the image area from the latest taken image is used. The mosaic image generator may then build up a new greater image with better quality than the images each by themselves. This merging of images is accomplished by using the spatial parameters associated with each picture, and as is illustrated in fig. 2 the images 310 are more or less registered in a random pattern at non fix positions By continuously updating the mosaic image with fresh images, a continuous view of the environment of the vehicle may be made with a correct perspective view. This is illustrated in figure 3, and as the vehicle 350 moves in the direction indicated by the arrow 360 it encounters the house 370 in the picture, the perspective may thus be maintained by zooming. When the vehicle moves, the perspective seen from the vehicle changes. In one embodiment, the images surrounding the latest taken image in the continuously generated mosaic image may adjust their perspectives according to the latest taken image by zooming in the mosaic image or the like.

In one embodiment, the image plane of the mosaic image is adapted to the movement of the unitary rolling vehicle. Thus, when the vehicle moves, the image plane is changed in the same scope as the movement of the vehicle, for example by zooming in the mosaic image or the like. In a further embodiment, the image registration unit is moveable with respect to the unitary rolling vehicle. Thus, the image registration unit may not be dependent on the direction of the unitary rolling vehicle and may move when the vehicle keep still.

In a still further embodiment, the vehicle state parameters comprise position parameters defining the relative position of the image registration unit with respect to the vehicle. It may thus be possible to control the image registration unit to generate images from a desired view and relate the position of the registration unit to the vehicle coordinate system. According to one embodiment there may be provided calibration spots for calibration of the reference system of the unitary rolling vehicle, where vehicle coordinate system may be calibrated and reset. The spot may be a recharge station for the vehicle, or other appropriate spot with a well known location. This is exemplified in fig. 4.

In a further embodiment, the remote image registration system is a surveillance system. The vehicles may be used for surveillance and may autonomously patrol large areas. It may also be operated at a distance for tele-operated surveillance. A further use is for inspecting dangerous or remote sites.

In one embodiment, the mosaic image generator is arranged in the vehicle. In another embodiment, the mosaic image generator is remote to the vehicle and registered images with associated spatial parameters are transmitted from the vehicle to the mosaic image generator. In both cases, the image registration unit transmits images and their associated spatial data to the mosaic image generator for further processing.

When the mosaic image generator is remote to the vehicle, the mosaic image generator may be arranged to display the mosaic image on a display device of a graphical user interface with remote control means. The mosaic image may be presented as a bended 3D panorama image together with a virtual image of the vehicle with a point of view close behind the vehicle. It is also possible to generate a virtual ground on which the vehicle moves. In one embodiment, some information of the movement of the vehicle is gives as feedback from a stabilization control system of the vehicle to the operator, to give feedback to the operator about the true movement pattern of the vehicle, for example if the vehicle traverse very rough ground, if the vehicle is wobbling, heels etc. An operator may also remotely control the vehicle with feedback from the mosaic image on the display. In a further embodiment, the mosaic image is analysed for essential deviations such as new objects, moving objects and the like. Thus, the mosaic image generator may detect objects and movements in the image. This may be extra notified to an operator via the display and/or an alarm. The operator may then control the vehicle via the remote control means. In a still further embodiment, the vehicle control system is arranged to analyze the mosaic image and to control the motion of the vehicle accordingly. The vehicle may then for example steer clear of obstacles or follow a moving object. The image system may continuously report via the display means which control actions the control system is making.

In one embodiment, the image registration unit is arranged to register electromagnetic radiation of different wavelength, such as in the visual, infra red or ultraviolet range, or radioactive radiation, radar, magnetic fields or combinations thereof. Accordingly, the vehicle may react on various detections to control its motion or give feedback to an operator. For example the image registration unit may register if a person is present by detecting radiation from the person. The system may also detect radiation from a radioactive source and depending on the detection control the motion of the vehicle to, for example, encircle a radioactive area.

One example of a unitary rolling vehicle of the unitary rolling vehicle system according to the present invention comprises one or more of the following features:

• an encapsulating shell with a hollow main axis;

• a mechanical driving unit situated inside the shell;

• a battery power supply system inside or outside the shell; • a wireless communication unit including one or several antennas for transmitting and receiving data to and from one or several base stations.

• a computer processing unit for storing, receiving and transmitting data,

• a house keeping sensor unit for sensing, collecting and transmitting measurable physical quantities/changes inside the shell. • a sensor system unit for sensing, collecting and transmitting measurable physical quantities/changes on or outside the shell. • an actuator system unit for controlling the mechanical driving device and other actuators such as loudspeakers, video projectors, and other passive and active sensors (ultrasound, laser, sonar,...).

• a sensor signal processing unit for signal processing of the sensor data delivered by the sensor systems.

• one or several control modules for analyzing collected data and regulate the unitary rolling vehicle based on the analyzed data.

Further, an external battery charging device of the unitary rolling system according to the present invention may comprise one or more of the following features:

• a wireless communication unit.

• an inductive charging device.

• a docking mechanism.

• a calibration unit.

Still further, an external navigation and monitoring base station of the unitary rolling vehicle system according to the present invention may comprise one or more of the following features:

• a transmission and receiving unit that communicated with the vehicle apparatus platform (its wireless communication unit).

• a display unit that continuously processes and visualizes significant data transmitted from the vehicle apparatus platform.

• a navigation unit comprising a conventional joy stick connected to one of several antennas that communicates with the vehicle apparatus platform and its mechanical control system unit.

• an action unit that allows a manual operator activate the different actuators onboard the unitary rolling vehicle platform.

• one or several analyzing modules for analyzing collected data.

• one or several control modules for control of the unitary rolling vehicle based on the analyzed data.

Specific embodiments of the above features will be described below. In figure 5 a and 5b is shown an example of a unitary rolling vehicle in the form of a ball robot 10 comprising a rolling member of spherical shape and a drive system including two mechanical drive units. The drive system is supported by the rolling member, in this example by a diametric main axis.

The drive mechanism 30 comprises a primary motor 50 driving the drive mechanism 30 for rotation about the diametric main axis 40. As mentioned above, the primary motor 50 is arranged at the lower portion of a primary pendulum 60, in the vicinity of the inner surface of the shell 20 in order to lower the CM. The primary pendulum 60 is rotatably supported by the diametric main axis 20 at the upper end, and the primary motor 50 is arranged to drive the primary pendulum for rotation about the main axis 20 by a primary transmission arrangement 70. The primary motor 50 may be an electric motor and the primary transmission arrangement 70 can be any suitable transmission arrangement, such as a belt, a chain, or an axis arrangement and the like. Further, the transmission arrangement 70 can be a hydraulic transmission arrangement or the like. The primary motor 50 is the main power source for driving the ball robot 10 for rotation in the forward and backwards direction.

The drive mechanism further comprises a secondary pendulum 80 and a secondary motor 90 for driving the secondary pendulum 80 for rotation about a secondary axis 100 transverse to the main axis 40 and attached to the primary pendulum 60. The secondary pendulum 80 is mainly utilized as a steering means, as rotation in either direction will make the robot 10 ball turn in that direction as the CM will move in that direction. The possibilities for the secondary pendulum 80 to influence the movement of the robot ball 10, depends on the weight and the centre of mass for the secondary pendulum 80, hereafter referred to as torque (where high torque for a pendulum is equal to high weight and low CM at rest). Preferably, the secondary pendulum 80 has as high torque as possible, compared to the primary pendulum 60, whereby optimal controllability is achieved. In order to increase the torque of the secondary pendulum 80, the secondary motor 90 is arranged at the lower portion of the secondary pendulum 80, in the vicinity of the inner surface of the shell 20. The secondary motor 90 is arranged to drive the secondary pendulum 80 for rotation about the secondary axis 100 by a secondary transmission arrangement 110. The second transmission arrangement 110 can be of any type as described for the primary transmission arrangement. Preferably, the secondary pendulum 80 is formed such that it can be rotated 360 degrees around the secondary axis 100. By controlling the primary and secondary motors 50, 90, it is possible to place the centre of mass (CM) at any angle around the vertical line passing through the centre of the robot 10 and the point of contact with the ground.

Fig. 5c shows a more detailed example of the embodiment of the unitary rolling vehicle according to the present invention as disclosed in figs. 5a and 5b.

There are a plurality of different alternatives for arranging the pendulums and the drive system, and they give the unitary rolling vehicle a great flexibility in its ability to move. Some examples are shown in the prior art document WO 2006/049559, hereby incorporated as reference.

According to one embodiment, the control system for controlling the drive system comprises a control unit that is arranged in or external to the unitary rolling vehicle. In a unitary rolling vehicle of pendulum type as is disclosed in figs. 5a to 5c, the control unit and other parts may be arranged close to the vicinity of the inner surface of the vehicle, for example at the lower part of one of the pendulums, in order to increase the torque of the pendulum. In another type of unitary rolling vehicle, the control unit and other parts may be located in order to lower the centre of mass to further stabilize the vehicle.

The control system further comprises dynamic state sensors for detecting the instant dynamic state of the vehicle and the drive system. The dynamic state sensors may include at least a gyroscope, at least an accelerometer and/or at least a rotational sensor for sensing of rotational speed. The sensor(s) are located at appropriate places inside the unitary rolling vehicle, and their respective sensed variables are transmitted to the control unit, either wired or wirelessly. It is also possible to transmit the sensed variables to a remote computer outside the vehicle for further processing.

In one embodiment, the control system includes three gyroscopes, three accelerometers and one rotational sensor for each motor. The gyroscopes are arranged to detect rotation about different axes of rotation and the accelerometers are arranged to detect acceleration/retardation in three different directions. According to one embodiment, the three gyroscopes are arranged to detect rotation about three orthogonal axes of rotation and the accelerometers are arranged to detect acceleration in three orthogonal directions. Hence the control system is capable of detecting any change in dynamic state, such as a sudden change in direction, speed, altitude etc.

In one embodiment, the control system is arranged to analyse the detected instant dynamic state over time and to control vehicle motion by feedback of the instant dynamic state. The analysis may be made in an analyse module in the control unit, or in an analyse module in a control unit at a remote place.

The stable system of the unitary rolling system easily becomes unstable when it is on irregular ground, and the control system has to compensate for theses disturbances in a fast and reliable way. By using the sensed instant dynamic state, the control system may compensate for instabilities and return to a desired state. The control system of the unitary rolling vehicle is further explained below.

In one embodiment, the control system comprises at least one analyse module for analysing of sensed data, wherein the analysis is based on multivariate methods. To be able to control the complex and complicated situation of a unitary rolling vehicle system, a control system has been developed that utilizes multivariate control methods to analyze data in real-time from a plurality of sensors. Based on these data, the drive unit(s) of the drive system is/are controlled in order to obtain desired movement.

In a further embodiment, the control system of the unitary rolling vehicle comprises one control module comprising at least one controller. This gives the possibility to control the movement pattern of the unitary controlled vehicle in accordance with a desired state.

Additional input variables are filtered sensor readings from various forms of sensors such as mine sensors, gas sensors, cameras, IR sensors, UV detectors, ultrasound transducers, noise detectors, mass spectrometer etc.

In a further embodiment, the unitary rolling vehicle is adapted to independently navigate in an essentially unknown environment, only knowing a starting position and an end position, by continuously sensing the dynamic state of the unitary rolling vehicle and controlling the vehicle motion in dependence on the deviation from a desired route. In one embodiment, the unitary rolling vehicle is adapted to navigate from positioning data retrieved from images taken by a camera system incorporated in the rolling vehicle system.

The control system may consist of one or several subparts/modules organized in a parallel and/or hierarchical manner.

1) Stable realization of robust path following for e.g. surveillance tasks

2) Stable and improved recognition performance for objects and humans.

3) User-friendly access to obstacle avoidance. 4) Robust localization of vehicle based on a combination of GPS sensor readouts and local sensor input features.

5) Concrete possibilities to obtain various degrees of autonomous behaviour that will be perceived as intelligent behaviour by a human observer (like in autonomous search and recognition of objects and humans).

The vehicle may be navigated in a variety of ways. It may be controlled by a joystick controlled by an operator, by reference to an internal map of the environment, by knowing a starting point and an end point etc. It may randomly traverse a certain area.

According to one embodiment, shown in figure 7, at least one camera is mounted inside the hollow axis with internal and external optics. Full field of view can be acquired by mounting mirrors at the end of or in the hollow axis, however outside the shell and thereby reflecting light into the hollow axis and to the camera optics. In the embodiment, shown in fig. 7, the mirror 250 at the end of the axis 40 is designed as a cone and can therefore provide 360° full field of view to the camera/s 260 mounted in the hollow axis 40. Full field of view can also be enabled using fish eye lenses or any other wide field of view optics that is reflected into the hollow axis to the camera optics. At least one camera can also be fixed mounted on the end or in the hollow axis outside of the shell, with a fixed field of view, i.e. facing forward or in any direction of user choice. Stereoscopic vision can be achieved by mounting one camera on each end of the main axis.

According to one embodiment, disclosed in fig. 6 , the image registration units or cameras 260 are arranged under a protective transparent cover 400 at one or both ends of the axis of rotation 40 of the unitary rolling vehicle. The image registration unit 260 may be controlled for movement about the axes of rotation by a rotation actuator 410, or it may be preserved in a more or less horizontal position by a pendulum arrangement (not shown). The image registration unit 260 may be controlled to sweep in the radial direction by a radial actuator 420. In combination with the dynamic vehicle related movements of the vehicle, sweeping the image registration unit in both the axial and radial directions will result in a more or less random registration of images over the image plane, and all sections of the mosaic image will be updated at a reasonable rate.

Fig. 8 illustrates one embodiment of a complete unitary rolling vehicle system, with a data/monitoring control station, a recharge station, Robot Transceiver Station, and unitary rolling vehicles (here called robots). The transfer of information between the RTS, data/monitoring station, charging station is made over a secure line using optical transmission, and/or LAN and/or WLAN at available speeds. The data/monitoring station monitors and controls both the charging station and the RTS. Recharging of the vehicles is made autonomously, where two modes are possible; the vehicle determines autonomously that a threshold limit has been reached and returns to the charging station. The second option is that the data/monitoring station either autonomously or on active command tells any or all of the available vehicles to return to the charging station.

The data/monitoring station have a Graphical User Interface (GUI) for control/monitoring of the complete system. An internet connection can be added to the data/monitoring station and in that mode the data/monitoring station can act as a web server for remote service of the unitary rolling vehicle system. The data/monitoring station will have firewall functions to protect the system from intrusion or un-authorized access. Connecting of the internet to the data/monitoring station allows the internal network to utilize the full set of IP -numbers, (that is with IP version 6, 1021 numbers/m2 of the surface of the Earth).

RTS and/or charging stations can be added to the system through the internal LAN/WLAN switch. Additional switches can be added to the internal LAN/WLAN switch to fulfil the connection need of RTS and/or charging stations.

According to one embodiment, the unitary rolling vehicle is provided with at least one image registration unit arranged to register spatial parameters for each image that is registered. In a further embodiment, the unitary rolling vehicle comprises a transmitter for transmitting images and associated spatial parameters to a remote mosaic image generator arranged to combine registered images to a stabilized mosaic image using the spatial parameters. According to one embodiment, the unitary rolling vehicle comprises a mosaic image generator arranged to combine registered images to a stabilized mosaic image using the spatial parameters.

The present invention is not limited to the above-described preferred embodiments. Various alternatives, modifications and equivalents may be used. Therefore, the above embodiments should not be taken as limiting the scope of the invention, which is defined by the appending claims.

Claims

1. Image generation system comprising a unitary rolling vehicle (10) provided with at least one image registration unit arranged to register spatial parameters for each image that is registered, and a mosaic image generator arranged to combine registered images to a stabilized mosaic image using the spatial parameters.

2. Image generation system according to claim 1, wherein the stabilized mosaic image is continuously updated by introduction of fresh images.

3. Image generation system according to any of the preceding claims, wherein the image plane of the stabilized mosaic image is adapted to the movement of the unitary rolling vehicle (10).

4. Image generation system according to any of the preceding claims, wherein the spatial parameters are retrieved from the vehicle control system and comprises geographic location parameters and vehicle state parameters.

5. Image generation system according to claim 4, wherein the vehicle state parameters are derived from dynamic state sensors in the vehicle.

6. Image generation system according to claim 5, wherein at least one of said sensors comprises a gyroscope.

7. Image generation system according to any of claims 5-6, wherein at least one of said sensors comprises an accelerometer.

8. Image generation system according to any of claims 5-7, wherein at least one of said sensors comprises a rotational sensor for sensing of rotational speed of the motor(s).

9. Image generation system according to any of the preceding claims, wherein the image registration unit is moveable with respect to the unitary rolling vehicle.

10. Image generation system according to any of the preceding claims, wherein the vehicle state parameters comprises position parameters defining the relative position of the image registration unit with respect to the vehicle.

11. Image generation system according to any of the preceding claims, wherein the system comprises at least one calibration spot for calibration of the reference system of the unitary rolling vehicle.

12. Image generation system according to any of the preceding claims, wherein the remote image registration system is a surveillance system

13. Image generation system according to any of the preceding claims, wherein the mosaic image generator is arranged in the vehicle.

14. Image generation system according to any of the preceding claims, wherein the mosaic image generator is remote to the vehicle and registered images with associated spatial parameters are transmitted from the vehicle to the mosaic image generator.

15. Image generation system according to the preceding claim, wherein the remote mosaic image generator is arranged to display the mosaic image on a display device of a graphical user interface with remote control means.

16. Image generation system according to claim 12, wherein the mosaic image is analysed for essential deviations such as new objects, moving objects and the like

17. Image generation system according to claim 13, wherein the vehicle control system is arranged to analyze the mosaic image and to control the motion of the vehicle accordingly.

18. Image generation system according to any of the preceding claims, wherein the image registration unit is arranged to register electromagnetic radiation of different wavelength, such as in the visual, infra red or ultraviolet range, or radioactive radiation, radar, magnetic fields or combinations thereof.

19. Unitary rolling vehicle provided with at least one image registration unit arranged to register spatial parameters for each image that is registered.

20. Unitary rolling vehicle according to claim 19, comprising a transmitter for transmitting images and associated spatial parameters to a remote mosaic image generator arranged to combine registered images to a stabilized mosaic image using the spatial parameters.

21. Unitary rolling vehicle according to claim 19, comprising a mosaic image generator arranged to combine registered images to a stabilized mosaic image using the spatial parameters.