Method for docking an autonomous mobile unit with the use of a light beam
US6278917A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | May 12, 2000 |
| Grant date | Aug 21, 2001 |
| Priority date | — |
| Expiry date | May 12, 2020 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0272
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The invention includes a method for docking autonomous mobile units. Travel maneuvers are specified with which constricted space conditions can be taken into consideration. Further, different motion paths are recited that are to be sequentially traversed in order to locate a guide beam and in order to be able to dock reliably and dependably at a docking device. Preferably, a slot-shaped guide beam residing perpendicular to a travel surface of the unit is provided, and position-sensitive detectors for this guide beam are present on the unit, these being arranged parallel to the travel surface of the unit. The exact rotation (beta) of the unit relative to the docking device can be identified on the basis of the guide beam and the detectors, whereby the unit knows its approximate configuration in the space on the basis of ultrasound and odometry measurements. The invention can particularly be utilized in household robots or industrial robots.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.