US7912633B1
Active / In Force
US
⏱️ 0.1 years remaining
Mobile autonomous updating of GIS maps
Assignee: ActivMedia Robotics/MobileRobots
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Filing: 2006-11-30
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Granted: 2011-03-22
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Expires: 2026-11-30
Abstract
Abstract A method for mobile autonomous updating of GIS maps is provided. In the method, an autonomous mobile data collecting platform is provided with a map identifying one or more GIS features. The platform has at least one data collecting sensor for collecting data for at least one of the GIS features and patrols at least a portion of a region included in the map while updating its GIS position as it patrols. The autonomous mobile data collecting platform applies the at least one data collecting sensor during patrolling to collect data for at least one of the GIS features and updates the GIS map to reflect differential data collected for at least one GIS feature.
Inventors
- 👤 Jeanne Dietsch
- 👤 William Kennedy
- 👤 Matthew LaFary
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 09:58
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/20; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0238; G05D1/024; G05D1/0268; G05D1/0274; G05D1/0259; G05D1/0261; G05D1/0272; G05D1/0276; G05D1/0278
Claims Analysis
Total Claims: 32
Claim 1
Independent Claim
129 words
A method for mobile autonomous updating of GIS maps, the method comprising: a) providing an autonomous mobile data collecting platform with a map identifying one or more GIS features, the platform having at least one data collecting sensor for collecting data for at least one of the GIS features; b) patrolling at least a portion of a region included in the map by the autonomous mobile data collecting platform, the autonomous mobile data collecting platform updating its GIS position as it patrols; c) applying of the at least one data collecting sensor during patrolling by the autonomous mobile data collecting platform to collect data for at least one of the GIS features; and d) updating the GIS map to reflect differential data collected for at least one GIS feature.
Claim 2
Independent Claim
129 words
A method for mobile autonomous updating of GIS maps, the method comprising: a) providing an autonomous mobile data collecting platform with a map identifying one or more GIS features, the platform having at least one data collecting sensor for collecting data for at least one of the GIS features; b) patrolling at least a portion of a region included in the map by the autonomous mobile data collecting platform, the autonomous mobile data collecting platform updating its GIS position as it patrols; c) applying of the at least one data collecting sensor during patrolling by the autonomous mobile data collecting platform to collect data for at least one of the GIS features; and d) updating the GIS map to reflect differential data collected for at least one GIS feature.
Claim 3
Dependent Claim
22 words
The method of claim 1 , wherein the data collecting sensor is applied at discrete locations on the GIS map during patrolling.
Claim 4
Dependent Claim
16 words
The method of claim 1 , wherein the data collecting sensor is applied continuously throughout patrolling.
Claim 5
Dependent Claim
21 words
The method of claim 1 , wherein time delineated routes are provided to the autonomous mobile data collecting platform to patrol.
Claim 6
Dependent Claim
36 words
The method of claim 1 , wherein the data collected by the at least one data collecting sensor is linked to a time that the data was collected and a location of the mobile autonomous platform.
Claim 7
Dependent Claim
15 words
The method of claim 5 , wherein the time is determined by a GPS receiver.
Claim 8
Dependent Claim
23 words
The method of claim 5 , wherein the time is determined by an onboard clock that is calibrated to a global time reference.
Claim 9
Dependent Claim
15 words
The method of claim 5 , wherein the location is determined by a GPS receiver.
Claim 10
Dependent Claim
26 words
The method of claim 5 , wherein the location is determined using Monte-Carlo/Markov localization to determine the location of the mobile autonomous platform on the map.
Claim 11
Dependent Claim
34 words
The method of claim 1 , wherein the at least one GIS feature has one or more attributes, in addition to location, that can be determined by the at least one data collecting sensor.
Claim 12
Dependent Claim
16 words
The method of claim 10 , wherein the one or more attributes includes a unique identifier.
Claim 13
Dependent Claim
28 words
The method of claim 11 , wherein updating the GIS map includes noting a change in location of the at least one GIS feature having a unique identifier.
Claim 14
Dependent Claim
24 words
The method of claim 11 , wherein updating the GIS map includes noting the addition of a new GIS feature having a unique identifier.
Claim 15
Dependent Claim
28 words
The method of claim 10 , wherein updating the GIS map includes noting the absence of the at least one GIS feature from its location on the map.
Claim 16
Dependent Claim
18 words
The method of claim 10 , wherein the at least one data collecting sensor includes an RED sensor.
Claim 17
Dependent Claim
29 words
The method of claim 15 , wherein the attributes of the feature include an identifier from which physical features of the feature can be looked up in a database.
Claim 18
Dependent Claim
18 words
The method of claim 10 , wherein the at least one data collecting sensor includes an imaging sensor.
Claim 19
Independent Claim
156 words
A method for recording differential data on a map indexed in a uniform universal reference frame, the method comprising: a) providing an autonomous mobile data collecting platform with a map identifying plurality of features in the reference frame, the platform having at least one data collecting sensor for collecting data for at least one of the features and at least one positioning sensor for determining the autonomous mobile platform's location on the map; b) patrolling at least a portion of a region included in the map by the autonomous mobile data collecting platform, the autonomous mobile data collecting platform applying the at least one positioning sensor to update its position on the map as it patrols; c) applying of the at least one data collecting sensor during patrolling by the autonomous mobile data collecting platform to collect data for at least one feature; and d) updating the map to reflect differential data collected for the feature.
Claim 20
Independent Claim
156 words
A method for recording differential data on a map indexed in a uniform universal reference frame, the method comprising: a) providing an autonomous mobile data collecting platform with a map identifying plurality of features in the reference frame, the platform having at least one data collecting sensor for collecting data for at least one of the features and at least one positioning sensor for determining the autonomous mobile platform's location on the map; b) patrolling at least a portion of a region included in the map by the autonomous mobile data collecting platform, the autonomous mobile data collecting platform applying the at least one positioning sensor to update its position on the map as it patrols; c) applying of the at least one data collecting sensor during patrolling by the autonomous mobile data collecting platform to collect data for at least one feature; and d) updating the map to reflect differential data collected for the feature.
Claim 21
Dependent Claim
21 words
The method of claim 18 , wherein the universal uniform spatial reference frame is GIS with positions recorded using GPS coordinates.
Claim 22
Dependent Claim
17 words
The method of claim 18 , wherein the differential data reflects a different position for the feature.
Claim 23
Dependent Claim
22 words
The method of claim 20 , wherein the differential data reflects that the feature has been removed from a prior recorded location.
Claim 24
Dependent Claim
19 words
The method of claim 18 , wherein the differential data reflects a change in an attribute of the feature.
Claim 25
Dependent Claim
34 words
The method of claim 18 , wherein updating the map to reflect differential data collected for the feature includes recording the time at which the data collecting sensor was applied to collect the data.
Claim 26
Dependent Claim
34 words
The method of claim 23 , wherein updating the map to reflect differential data collected for the feature includes recording the location at which the data collecting sensor was applied to collect the data.
Claim 27
Dependent Claim
29 words
The method of claim 24 , wherein the at least one positioning sensor includes a range finding sensor for determining the location of features relative to the mobile platform.
Claim 28
Dependent Claim
17 words
The method of claim 25 , wherein the at least one positioning sensor includes an odometry sensor.
Claim 29
Dependent Claim
18 words
The method of claim 25 , wherein the at least one positioning sensor includes an inertial navigation sensor.
Claim 30
Dependent Claim
17 words
The method of claim 24 , wherein the at least one positioning sensor includes a GPS sensor.
Claim 31
Dependent Claim
20 words
The method of claim 18 , wherein the sensor for determining an attribute of the feature is an image sensor.
Claim 32
Dependent Claim
20 words
The method of claim 18 , wherein the sensor for determining an attribute of the feature is an RFID sensor.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2014-03-21 | 2014-09-20 | 2015-03-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2018-03-21 | 2018-09-20 | 2019-03-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2022-03-21 | 2022-09-20 | 2023-03-22 | $7700.00 | Window Closed / Lapsed |