Camera for vehicle vision system

[0001] The present application claims the filing benefits of U.S. provisional application Ser. No. 62/319,953, filed Apr. 8, 2016, which is hereby incorporated herein by reference in its entirety.

[0002] The present invention relates generally to a vehicle vision system for a vehicle and, more particularly, to a vehicle vision system that utilizes one or more cameras at a vehicle.

[0003] Use of imaging sensors in vehicle imaging systems is common and known. Examples of such known systems are described in U.S. Pat. Nos. 5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporated herein by reference in their entireties. Various cameras have been proposed for such imaging systems, including cameras of the types described in U.S. Pat. No. 7,965,336 and U.S. Publication No. US-2009-0244361, which are hereby incorporated herein by reference in their entireties.

[0004] The present invention provides a vision system or imaging system for a vehicle that utilizes one or more cameras (preferably one or more CMOS cameras) to capture image data representative of images exterior of the vehicle. The camera comprises an imager and a circuit board (or circuit boards) and a lens. The printed circuit board (PCB) is overmolded via a low pressure molding process to form an overmolded circuit board that is disposed at the lens and adjusted relative to the lens to focus and/or optically align the lens at the imager. The lens and overmolded circuit board construction is at least partially overmolded via a higher pressure molding process to form an outer shell for the camera, with the outer shell formed with a connector portion that provides the selected or desired shape or form for electrical connection to a connector end of a wire harness of the vehicle equipped with the camera. A particular type of connector element (such as a coaxial connector element or multi-pin connector element or the like) may be disposed at the connecting terminals of the overmolded circuit board prior to the overmolding process that forms the outer shell, whereby the connector portion is molded at and partially around the connector element to provide the selected or desired connector for the particular camera application.

[0005] The present invention thus provides a two shot overmolding process, and may allow for various electrical connecting elements to be used, with a simplistic PCB stacking structure to minimize configurations, and with a housing (either with or without electrical shielding). Optionally, the camera may have an adjustable focus, whereby the imager is adjustably positioned relative to the lens or lens assembly (and camera housing) to adjust the focus or focal length of the camera.

[0006] These and other objects, advantages, purposes and features of the present invention will become apparent upon review of the following specification in conjunction with the drawings.

[0042] A vehicle vision system and/or driver assist system and/or object detection system and/or alert system operates to capture images exterior of the vehicle and may process the captured image data to display images and to detect objects at or near the vehicle and in the predicted path of the vehicle, such as to assist a driver of the vehicle in maneuvering the vehicle in a rearward direction. The vision system includes an image processor or image processing system that is operable to receive image data from one or more cameras and provide an output to a display device for displaying images representative of the captured image data. Optionally, the vision system may provide display, such as a rearview display or a top down or bird's eye or surround view display or the like.

[0043] Referring now to the drawings and the illustrative embodiments depicted therein, a vehicle 10 includes an imaging system or vision system 12 that includes at least one exterior facing imaging sensor or camera, such as a rearward facing imaging sensor or camera 14a (and the system may optionally include multiple exterior facing imaging sensors or cameras, such as a forwardly facing camera 14b at the front (or at the windshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14d at respective sides of the vehicle), which captures images exterior of the vehicle, with the camera having a lens for focusing images at or onto an imaging array or imaging plane or imager of the camera (FIG. 1). Optionally, a forward viewing camera may be disposed at the windshield of the vehicle and view through the windshield and forward of the vehicle, such as for a machine vision system (such as for traffic sign recognition, headlamp control, pedestrian detection, collision avoidance, lane marker detection and/or the like). The vision system 12 includes a control or electronic control unit (ECU) or processor 18 that is operable to process image data captured by the camera or cameras and may detect objects or the like and/or provide displayed images at a display device 16 for viewing by the driver of the vehicle (although shown in FIG. 1 as being part of or incorporated in or at an interior rearview mirror assembly 20 of the vehicle, the control and/or the display device may be disposed elsewhere at or in the vehicle). The data transfer or signal communication from the camera to the ECU may comprise any suitable data or communication link, such as a vehicle network bus or the like of the equipped vehicle.

[0044] As shown in FIG. 2, a camera module comprises a lens or light gathering system (which may be disposed in a lens barrel or lens holder), an imager or device that converts light to electrical signals for data interpolation (such as disposed on a printed circuit board with associated circuitry), and an electrical connector for electrically connecting the circuitry and imager to a vehicle connector when the camera is disposed at the vehicle. Preferably, the vehicle camera should be compact in size with reduced components, and with reduced cost and short or reduced manufacturing cycle times. The vehicle camera should also provide scalable architecture and customer independent technology (such as direct connect, pigtail connector, brackets and/or the like) so that the camera is readily adaptable for different applications. The present invention provides a camera module that meets these criteria by providing a lower pressure molding over the circuit board and circuitry, and then a higher pressure injection molding over the low pressure molding and over part of the lens holder and over part of the connecting elements, as discussed below.

[0045] As shown in FIGS. 3-5, a camera module 14 of the present invention comprises a two shot molded housing, which includes an inner low pressure molding or first shot polymer 22 (that is molded over the circuit board 23 and circuitry and a portion of the lens holder) and an outer high pressure injecting molding or shell or second shot polymer 24 that is molded over the inner molding 22 and over a portion of the lens holder 26. The present invention thus utilizes advanced molding techniques coupled with traditional polymers modified as needed for increased thermal performance.

[0046] In the illustrated embodiment of FIGS. 3-5, the camera module outputs a digital signal and has a coaxial spring connector element 28 insert molded at a connector portion 24a of the outer molding 24. Optionally, and such as shown in FIG. 6, the camera module may output an analog signal and may have an analog or multi-pin connector element insert molded at the connector portion of the outer molding, as discussed below. Camera modules made for either application will use the same respective printed circuit board or PCB. For example, and as can be seen in FIGS. 7 and 8, an analog camera application may utilize an NTSC (National Television System Committee) version of the PCB (FIG. 7), which includes multiple connecting elements for electrically connecting to the pins of the multi-pin connector element, while a digital camera application may utilize a low voltage differential signaling (LVDS) version of the PCB (FIG. 8), which includes a coaxial connecting element for electrically connecting to the coaxial connector element.

[0047] During assembly of the camera module, the PCB (FIG. 10) with the imager disposed thereat, is positioned at the lens holder or lens barrel (FIG. 9), and a bead of adhesive 30 (FIG. 11) may be disposed at the PCB 23. The PCB and lens holder may be plasma treated before the adhesive is applied to provide the benefit of a cleaning the imager surface. As shown in FIGS. 12-14, the PCB is then adhered to the lens holder, and the lens is centered and optically aligned at the imager, and the adhesive is at least initially cured to hold the lens relative to the PCB and in optical alignment with the imager. The adhesive and aligning and curing processes may utilize aspects of the systems and methods described in U.S. Pat. Nos. 8,542,451 and 9,277,104, which are hereby incorporated herein by reference in their entireties.

[0048] After the lens is optically aligned with the imager and the adhesive is at least initially cured, the lens barrel and PCB construction (see FIGS. 12 and 13) is placed in a low pressure mold and the part is datumed in the tooling by the lens or lens barrel, whereby the first shot polymer 22 is insert molded onto and over and around the PCB, such as with a thermally conductive TECHNOMELT® (low pressure polyamide (PA) adhesive), such as is commercially available from Henkel Electronics Materials LLC of Irvine, Calif. Such a low pressure moldable polyamide may be moldable or applied at between around 200 degrees C. and 240 degrees C. The low pressure moldable polyamide comprises a low-viscosity material that allows for low injection pressures so as to mold over the circuitry without damaging the circuitry or PCB, and the selected material may adhere to the circuit board to form a bond all around the board and circuitry so as to seal the circuit board within the inner molded portion or first shot polymer.

[0049] Examples of suitable materials for the first shot mold material include TECHNOMELT® 646 and Raschig thermoset EPDXIDUR® series 3585, 3162, and 3581. The first shot mold material optionally and preferably molds at a pressure of less than about 500 psi, such as at a pressure less than about 300 psi, such as at a pressure between about 100 psi and about 300 psi, or optionally at a pressure of between about 50 psi and about 150 psi. For example, TECHNOMELT PA 646(e) provides a high performance thermoplastic polyamide that is designed to meet low pressure molding process requirements, and can be processed at low processing pressure due to its low viscosity, allowing encapsulation of fragile components without damage. This material produces no toxic fumes during the molding process and provides a good balance of low and high temperature performance.

[0050] The molded inner molding 22 has a rear portion or receiving portion 22a that is open to expose the connecting elements at the PCB (shown in FIG. 17 as multiple pads or connecting elements for a multi-pin connector). As shown in FIGS. 18 and 19, an electrical connector element 32 (such as an NTSC direct connect multi-pin element or a spring-loaded coaxial connector or a multi-pin pigtail connector element, depending on the particular application of the camera) is disposed at the opening so as to electrically connect to the connecting elements at the PCB and to have connecting elements or terminals disposed outside of the inner molding. The connector element may be plugged into the opening or receiving portion 22a of the inner molding 22 (and electrically connect to circuitry or a header connector at the PCB) after the inner molding is at least partially cured and before the outer shell is molded over the inner molding and connector element. Optionally, and such as shown in the illustrated embodiment of FIGS. 18 and 19, the multiple pins or terminals may comprise spring-loaded pins to allow for the pins to engage and be biased toward the connecting elements at the PCB when the connector is pressed into the aperture of the inner molding. Optionally and such as shown in FIGS. 20 and 21, a multi-pin pigtail connector element 32′ (optionally having spring-loaded pins) may be provided for a pigtail type connector for the camera module.

[0051] As shown in FIGS. 22 and 23, the outer shell or second shot polymer 24 is insert molded onto the first shot polymer and lens barrel, such as by using the same datums at the lens barrel as were used for the first shot molding. The molded camera housing thus has little or no packaging tolerances, and is formed with a hard or rigid outer plastic shell. As shown in FIG. 23, the outer shell includes a connector portion molded over and around the connecting element disposed at the aperture of the inner molding, with the connector portion providing the desired shape and connecting feature for electrically connecting the camera module to a wire harness of the vehicle or the like. Optionally, and such as shown in FIG. 24, an EMI shielding shell may be overmolded to provide a grounding terminal or shielding terminal 24b of the connector 24a. Optionally, and as shown in FIG. 25, the same process can form a pigtail connector with just a different rear half of the second shot tool or mold.

[0052] The outer shell material may comprise any suitable polymer, such as, for example, a thermally conductive polycarbonate, such as of the type available from Celanese. The outer shell material comprises a moldable polymeric material that, when cured or hardened, provides a durable hard or rigid outer plastic shell for the camera. The material or materials selected for the outer shell material are molded at a higher pressure than the inner or first shot polymer. For example, the outer shell material may be injection molded around the first shot polymer at pressure over around 4,000 psi, or greater than around 6,000 psi, such as, for example, around 8,000 psi.

[0053] Thus, the system and method of the present invention can provide various cameras with different electrical connectors at a molded body that provides reduced tolerances and smaller sizes for the cameras (FIG. 26 shows some exemplary dimensions of a camera module of the present invention). The PCB 23 is completely encased in the first shot polymer 22, and no air volume is around the PCB components and circuitry, which makes it difficult for moisture affects and for tin whiskers to grow. The second shot polymer 24 is injected into the tool and the hot polymer will melt a tip feature 26a (FIG. 27) of the lens barrel 26 to create a hermetic seal between the second shot polymer or shell 24 and the lens barrel 26.

[0054] The present invention thus provides enhanced processing and forming of the camera module. Exemplary processes for making cameras of the present invention are shown in FIGS. 28 and 29. As can be seen in FIGS. 28 and 29, the processes include an aligning station, where the lens barrel is attached at the PCB and the adhesive is cured, and include a first shot mold machine that molds the inner molding at the PCB, and include a second shot mold machine that molds the outer molding or shell over the inner molding. The connector element may be inserted into the receiving portion of the inner molding (to electrically connect to the circuitry of the circuit board) within the inner molding after the inner molding is molded and before the outer molding or shell is molded.

[0055] Thus, the system or process or camera of the present invention has a first shot material molded over the circuit board and circuitry and portion of the lens barrel that is at or adhered to the circuit board to fully encase the circuit board. For example, the first shot material may comprise a glass-fiber reinforced and inorganically filled epoxy molding compound, such as a low pressure molded thermoset material (such as Raschig's EPDXIDUR® EP 3581) that has good mechanical strength (when cured) and very good electrical isolation properties and dimensional stability even at high temperatures. The first shot material may be molded at a first molding pressure of less than around 1,000 psi, preferably less than around 500 psi, such as less than around 300 psi.

[0056] During the first shot molding process, the connector pads or circuitry or header at the circuit board (that are to electrically connect to the terminals of the connector element) are not molded over so that they are exposed after the first shot molding is completed. Such exposure can be provided by the mold itself, which may have a mold wall or insert element that is placed at and over the connector pads or header during the first shot molding process and then removed before the second shot molding process. The mold wall also forms the receiving portion at the rear of the inner molding so that the inner molding is configured to receive the electrical connector element therein prior to the second shot molding process.

[0057] The second shot molding process molds the second material over the electrical connector element that is disposed at the connector pads or header after the first shot molding process is completed, and over the first shot or inner molding and over an additional part of the lens holder. The second shot material provides a hard protective shell over the inner molding. The second shot material is molded at a second molding pressure that may be greater than around 5,000 psi, such as around 8,000 psi or thereabouts. The second shot material need not have good electrical isolation properties since it is not in contact with any electrical circuitry or the like.

[0058] By providing the electrical connector element after the first shot molding is completed, the mold for the first shot may comprise a universal mold that molds over various circuit boards and lens holders, such as a circuit board for connection to a multi-pin connector or to a pigtail connector. After the first shot molding is complete, the appropriate or selected connector element is plugged into the receiving portion of the first shot and electrically connected to the circuitry or header at the circuit board. The second shot molding then may provide the desired overmolding and connector portion for the particular application of that camera (e.g., multi-pin connector or pigtail connector or the like).

[0059] Optionally, it is envisioned that the camera may be formed by molding a single material over the circuit board and portion of the lens holder, with that single material providing the outer shell as well as the encapsulation of the circuit board. For example, the Raschig thermoset material may be used by itself to overmold the circuit board and to provide the outer shell of the camera. In such an application, the thermoset material is injection molded over and around the circuit board and portion of the lens holder, and may also be injection molded around a connector element protruding from electrical contacts at the circuit board. The molding is formed to provide the electrical connector for connecting to a connector of a vehicle wire harness. The connector element may be plugged into a header connector at the circuit board or may be soldered at the circuit board before the molding is injection molded over and around the circuit board and portion of the lens holder. The mold is configured to form the electrical connector (such as a plug or socket type connector) at and around the connector element, such as with a wall or portion of the mold engaging the outer end of the connector element to limit or preclude the molten material from intrusion at the connector during the low pressure molding process.

[0060] The single shot molding may be injection molded at a low pressure (such as less than 500 psi, such as less than 200 psi or thereabouts), and can rapidly cure (in about 45 seconds or less) to a hardened state, where the molding protects and encapsulates the circuit board and circuitry and that also provides a hard outer shell of the camera. Optionally, a second shot molding may be provided over the molding, where the second shot may comprise injection molding of a higher pressure material (such as discussed above) or may comprise injection molding of the same low pressure material or a different low pressure material to provide the desired outer surface and configuration of the camera module.

[0061] The present invention thus eliminates some processes, such as laser welding, screw installation, thermal paste dispensing, leak testing, bracket alignment, special end of arm tooling and cure tooling for side by side PCBs, and assembly of flex cable. The present invention adds some processes, such as low pressure molding, high pressure injection molding, assembly to a carrier for two or more PCBs, assembly of a pin connecting element, and assembly of a foam gasket to the camera (if the camera is for a sealed application). However, the additional processes provide benefits, such as reduced size and cost and processing time (by eliminating the other processes above), such that the present invention provides an improved camera module for vehicles.

[0062] For example, the camera module of the present invention provides reduced cost and has a reduced package density ratio—best use of camera space. Also, there is little or no risk of laser weld joint leaking, and there are little to no packaging tolerances—and no additional clearance needed around lens or rear cover. The camera module of the present invention does not require rigid flex for two-PCB cameras but can be used if desired in short C bend. The present invention eliminates the requirement of dispensing of thermal paste. The sub-assembly is protected from dust/debris/outgassing prior to molding. Capital costs for tooling are reduced, such as by up to about 50 percent. Also, the process of the present invention only requires one tool instead of separate tools for the lens holder and rear cover. With the process of the present invention, there is potential for full automated assembly, with significant reduction in labor costs. The process will works with any lens, any PCB, any connector, any exit direction, and both NTSC and LVDS. With careful design and forethought, the first shot tooling could be platform specific based on the PCB. There is no internal volume of air inside, which lowers pressure differentials and reduces moisture concerns and eliminates tin whisker concerns as well as the associated validation testing. The present invention provides for perfect or near perfect dimensional form, which allows for mounting features to be added to the camera housing for vehicle packaging. The molded camera module of the present invention also provides enhanced or optimal heat transfer.

[0063] Additionally, there will be lower warranty returns for the cameras, simplified quoting responses, fewer camera assemblies and parts for the suppliers to track. The technology of the two shot molded camera could be implemented for forward facing camera products as well. The cameras have common manufacturing architecture for easier implementation and control globally. All of the lens holders are opaque so there are little to no light bleeding issues. The cameras have the same dimensional performance for all cameras, and there is no need for a special polymer with laser transmission properties for the lens holder.

[0064] Optionally, the camera module may comprise two PCBs or a multi-board stack, whereby the inner molding is molded over and around and between two PCBs, such as shown in FIGS. 30-32. The processes and materials used to mold an inner lower pressure molding over and around and between the two PCBs and portion of the lens holder and to mold an outer shell over and around the inner molding and connector element and portion of the lens holder may be substantially similar to the processes and materials discussed above, such that a detailed discussion of the processes and materials need not be repeated herein.

[0065] Optionally, the camera module may include an adjustable focus feature, such as by utilizing a micro electro-mechanical system (MEMS). For example, the camera may include a control device in the housing that receives a controlling signal (such as responsive to a user input or an automatic control signal or the like) and adjusts a position of the imager relative to the lens to establish the desired or selected or appropriate focus or focal length of the camera, such as by utilizing aspects of the cameras described in U.S. Publication No. US-2017-0048463, which is hereby incorporated herein by reference in its entirety. Such a system is shown in FIGS. 33 and 34. Also, an exemplary process flow chart for manufacturing a two shot molded camera with MEMS is shown in FIG. 35. The result of such a camera would be a low cost camera with enhanced performance and with reduced mechanical and validation resources and with a mechanical platform fit for evolving through generations of electrical architecture evolution.

[0066] Optionally, the camera module may be formed with a smaller circular shaped PCB or PCBs, such as shown in FIGS. 36 and 37. Such a camera construction has smaller, round PCBs (such as having diameters of about 14 mm and 17 mm or thereabouts), and changes to voltage regulator and LVDS filter components. The circuit board is electrically connected to circuitry or conductive traces of the camera housing, with the conductive traces comprising molded interconnect (MID) devices. The MID electrically conductive elements or traces are board-to-board (B2B) connections, and electrical connection is from the side of the camera and in-line with the PCB structure. The image signal processing may be done outside of the camera. The camera may utilize aspects of the cameras described in U.S. Publication No. US-2016-0037028, which is hereby incorporated herein by reference in its entirety.

[0067] Thus, the present invention provides enhanced camera module manufacturing by using a two shot molding process, with a first low pressure molding to seal the PCB with the PCB aligned and fixed relative to the lens barrel, and a second higher pressure injection molding to surround or encase the inner molding with a rigid or hard plastic shell, which is formed with a desired electrical connector configuration for connecting to the connector end of a vehicle wire harness at the vehicle at which the camera will be installed.

[0068] The camera module may utilize aspects of the cameras and connectors described in U.S. Pat. Nos. 9,077,098; 8,994,878 and/or 7,965,336, and/or U.S. Publication Nos. US-2009-0244361; US-2013-0242099; US-2014-0373345; US-2015-0222795; US-2016-0243987 and/or US-2016-0268716, and/or U.S. patent application Ser. No. 15/467,246, filed Mar. 23, 2017 (Attorney Docket MAG04 P-2977), and/or Ser. No. 15/341,048, filed Nov. 2, 2016 (Attorney Docket MAG04 P-2870), and/or U.S. provisional application Ser. No. 62/403,456, filed Oct. 3, 2016, which are hereby incorporated herein by reference in their entireties.

[0069] The camera or sensor may comprise any suitable camera or sensor. Optionally, the camera may comprise a “smart camera” that includes the imaging sensor array and associated circuitry and image processing circuitry and electrical connectors and the like as part of a camera module, such as by utilizing aspects of the vision systems described in International Publication Nos. WO 2013/081984 and/or WO 2013/081985, which are hereby incorporated herein by reference in their entireties.

[0070] The system includes an image processor operable to process image data captured by the camera or cameras, such as for detecting objects or other vehicles or pedestrians or the like in the field of view of one or more of the cameras. For example, the image processor may comprise an image processing chip selected from the EyeQ family of image processing chips available from Mobileye Vision Technologies Ltd. of Jerusalem, Israel, and may include object detection software (such as the types described in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, which are hereby incorporated herein by reference in their entireties), and may analyze image data to detect vehicles and/or other objects. Responsive to such image processing, and when an object or other vehicle is detected, the system may generate an alert to the driver of the vehicle and/or may generate an overlay at the displayed image to highlight or enhance display of the detected object or vehicle, in order to enhance the driver's awareness of the detected object or vehicle or hazardous condition during a driving maneuver of the equipped vehicle.

[0071] The vehicle may include any type of sensor or sensors, such as imaging sensors or radar sensors or lidar sensors or ladar sensors or ultrasonic sensors or the like. The imaging sensor or camera may capture image data for image processing and may comprise any suitable camera or sensing device, such as, for example, a two dimensional array of a plurality of photosensor elements arranged in at least 640 columns and 480 rows (at least a 640×480 imaging array, such as a megapixel imaging array or the like), with a respective lens focusing images onto respective portions of the array. The photosensor array may comprise a plurality of photosensor elements arranged in a photosensor array having rows and columns. Preferably, the imaging array has at least 300,000 photosensor elements or pixels, more preferably at least 500,000 photosensor elements or pixels and more preferably at least 1 million photosensor elements or pixels. The imaging array may capture color image data, such as via spectral filtering at the array, such as via an RGB (red, green and blue) filter or via a red/red complement filter or such as via an RCC (red, clear, clear) filter or the like. The logic and control circuit of the imaging sensor may function in any known manner, and the image processing and algorithmic processing may comprise any suitable means for processing the images and/or image data.

[0072] For example, the vision system and/or processing and/or camera and/or circuitry may utilize aspects described in U.S. Pat. Nos. 9,233,641; 9,146,898; 9,174,574; 9,090,234; 9,077,098; 8,818,042; 8,886,401; 9,077,962; 9,068,390; 9,140,789; 9,092,986; 9,205,776; 8,917,169; 8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772, and/or U.S. Publication Nos. US-2014-0340510; US-2014-0313339; US-2014-0347486; US-2014-0320658; US-2014-0336876; US-2014-0307095; US-2014-0327774; US-2014-0327772; US-2014-0320636; US-2014-0293057; US-2014-0309884; US-2014-0226012; US-2014-0293042; US-2014-0218535; US-2014-0218535; US-2014-0247354; US-2014-0247355; US-2014-0247352; US-2014-0232869; US-2014-0211009; US-2014-0160276; US-2014-0168437; US-2014-0168415; US-2014-0160291; US-2014-0152825; US-2014-0139676; US-2014-0138140; US-2014-0104426; US-2014-0098229; US-2014-0085472; US-2014-0067206; US-2014-0049646; US-2014-0052340; US-2014-0025240; US-2014-0028852; US-2014-005907; US-2013-0314503; US-2013-0298866; US-2013-0222593; US-2013-0300869; US-2013-0278769; US-2013-0258077; US-2013-0258077; US-2013-0242099; US-2013-0215271; US-2013-0141578 and/or US-2013-0002873, which are all hereby incorporated herein by reference in their entireties. The system may communicate with other communication systems via any suitable means, such as by utilizing aspects of the systems described in International Publication Nos. WO/2010/144900; WO 2013/043661 and/or WO 2013/081985, and/or U.S. Pat. No. 9,126,525, which are hereby incorporated herein by reference in their entireties.

[0073] Changes and modifications in the specifically described embodiments can be carried out without departing from the principles of the invention, which is intended to be limited only by the scope of the appended claims, as interpreted according to the principles of patent law including the doctrine of equivalents.