# US 2014/0207326 A1 · Line projection system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0207326 A1 - Document ID: US20140207326A1 - Status: Published application - Kind: A1 - Application number: 13/746,870 - Filed: 2013-01-22 - Published: 2014-07-24 - Earliest claimed: 2013-01-22 - Assignees: Qunomic Virtual Technology, LLC - Inventors: Terry Murphy - Web page: https://patentgrep.com/patent/US20140207326A1 ## CPC - G05D 1/0236: {in combination with a laser (lasers per se H01S)} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A laser-based line projection system that is suitable for selectively placing lines on a floor surface, such as a factory floor. Several projectors are used in a typical installation. Each projector includes a laser directed through a diverging lens to create a planar projection of laser light. The planar projection creates a bright line when it falls on a surface. Each projector is optionally equipped with a movable mask that alters the angle of divergence for the laser light after it passes through the cylindrical lens. This component allows the projector to vary the length of the line projected. ## Claims ### Claim 1 A method for guiding an automatically guided vehicle along a floor, comprising: a. providing an automatically guided vehicle, said automatically guided vehicle including, i. a sensor for sensing a line on said floor, and ii. a steering, mechanism that uses information from said sensor to steer said automatically guided vehicle along said line on said floor; b. providing a plurality of line projectors, wherein each of said line projectors includes, i. a laser emitting a beam, ii. a diverging lens in the path of said beam, wherein said diverging lens creates a diverging fan of coherent light from said laser; c. mounting said plurality of line projectors so that said diverging fan of each of said line projectors is oriented toward said floor; d. switching on said plurality of line projectors, so that each of said diverging fans produces a projected line on said floor, with said projected lines joining to form a defined path; locating said automatically guided vehicle on said defined path so that said automatically guided vehicle may then follow said defined path; and activating said automatically guided vehicle so that said automatically guided vehicle travels along said defined path. ### Claim 2 (depends on 1) A method for guiding an automatically guided vehicle as recited in claim 1, wherein at least a portion of said line projectors further comprises a mask positioned to occlude at least a portion of said diverging fan. ### Claim 3 (depends on 2) A method for guiding an automatically guided vehicle as recited in claim 2, wherein said mask is movable with respect to said diverging lens. ### Claim 4 (depends on 2) A method for guiding an automatically guided vehicle as recited in claim 2, wherein: a. said diverging fan has a first diverging boundary and a second diverging boundary; b. said mask has a first side proximate said first diverging boundary and a second side proximate said second diverging boundary; said first side of said mask is movable with respect to said diverging lens; and d. said second side of said mask is movable with respect to said diverging lens, with a motion of said second side of said mask being independent of a motion of said first side of said mask. ### Claim 5 (depends on 1) A method for guiding an automatically guided vehicle as recited in claim 1, wherein said diverging lens is a cylindrical lens. ### Claim 6 (depends on 1) A method for guiding an automatically guided vehicle as recited in claim 1, wherein: a. said plurality of line projectors is divided into a first group and a second group; b. said first group projects a first defined path; c. said second group projects a second defined path; and d. selectively switching on said first group or said second group in order to send said automatically guided vehicle down said first defined path or said second defined path. ### Claim 7 (depends on 6) A method for guiding an automatically guided vehicle as recited in claim 6, further comprising a switching group of line projectors, wherein when said switching group is switched on a switch path is created, said switch path connecting said first and second defined paths. ### Claim 8 (depends on 1) A method for guiding an automatically guided vehicle as recited in claim 1, further comprising turning off said plurality of line projectors, thereby stopping said automatically guided vehicle. ### Claim 9 (depends on 3) A method for guiding an automatically guided vehicle as recited in claim 3, further comprising moving said mask with respect to said diverging lens in one of said line projectors thereby altering a length of said projected line produced by said line projector. ### Claim 10 (depends on 4) A method for guiding an automatically guided vehicle as recited in claim 4, further comprising moving said first side of said mask and said second side of said mask with respect to said diverging lens in one of said line projectors, thereby altering a length of said projected line produced by said line projector, altering a location of said first line boundary, and altering a location of said second line boundary. ### Claim 11 A method for guiding an automatically guided vehicle along a floor, comprising: a. providing an automatically guided vehicle, said automatically guided vehicle including, i. a sensor for sensing a line on said floor, and ii. a steering mechanism that uses information from said sensor to steer said automatically guided vehicle along said line on said floor; b. providing a first line projector, including, i. a laser emitting a beam, ii. a diverging lens in the path of said beam, wherein said diverging lens creates a diverging fan of coherent light from said laser; c. providing a second line projector, including, i. a laser emitting a beam, ii. a diverging lens in the path of said beam, wherein said diverging lens creates a diverging fan of coherent light from said laser; d. mounting said first and second line projectors so that said diverging fan of each of said line projectors is oriented toward said floor; e. switching on said first and second line projectors, so that each of said diverging fans produces a projected line on said floor, with said projected lines joining to form a defined path; f. locating said automatically guided vehicle on said defined path so that said automatically guided vehicle may then follow said defined path; and g. activating said automatically guided vehicle so that said automatically guided vehicle travels along said defined path. ### Claim 12 (depends on 11) A method for guiding an automatically guided vehicle as recited in claim 11, wherein at least one of said line projectors further comprises a mask positioned to occlude at least a portion of said diverging fan. ### Claim 13 (depends on 12) A method for guiding an automatically guided vehicle as recited in claim 12, wherein said mask is movable with respect to said diverging lens. ### Claim 14 (depends on 12) A method for guiding an automatically guided vehicle as recited in claim 12, wherein: a. said diverging fan for said at least one line projector has a first diverging boundary and a second diverging boundary; b. said mask for said at least one line projector has a first side proximate said first diverging boundary and a second side proximate said second diverging boundary; c. said first side of said mask is movable with respect to said diverging lens; and d. said second side of said mask is movable with respect to said diverging lens, with a motion of said second side of said mask being independent of a motion of said first side of said mask. ### Claim 15 (depends on 11) A method for guiding an automatically guided vehicle as recited in claim 11, wherein said diverging lens in each of said line projectors is a cylindrical lens. ### Claim 16 (depends on 11) A method for guiding an automatically guided vehicle as recited in claim 11, wherein: a. said first line projector projects a first defined path; b. said second line projector projects a second defined path; and c. selectively switching on said first line projector or said second line projector in order to send said automatically guided vehicle down said first defined path or said second defined path. ### Claim 17 (depends on 11) A method for guiding an automatically guided vehicle as recited in claim 11, further comprising turning off said first and second line projectors, thereby stopping said automatically guided vehicle. ### Claim 18 (depends on 13) A method for guiding an automatically guided vehicle as recited in claim 13, further comprising moving said mask with respect to said diverging lens in one of said line projectors, thereby altering a length of said projected line produced by said line projector. ### Claim 19 (depends on 14) A method for guiding an automatically guided vehicle as recited in claim 14, further comprising moving said first side of said mask and said second side of said mask with respect to said diverging lens in one of said line projectors, thereby altering a length of said projected line produced by said line projector, altering a location of said first line boundary, and altering a location of said second line boundary. ### Claim 20 (depends on 19) A method for guiding an automatically guided vehicle as recited in claim 19, wherein said location of said first or second line boundary is altered so that said projected lines from said first and second line projectors intersect.