Mobile robot indoor localization and navigation system and method
First Claim
1. An indoor localization and navigation system for a mobile robot, the system comprising:
- a. a projector comprising a plurality of pixels, the projector mounted on the mobile robot and configured to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector;
b. a stationary sensor node comprising a light sensor configured to detect the temporal projector light signal and generate a sensor signal and a transmitter configured to transmit a sensor node identifier and a position code generated based on the sensor signal;
c. a receiver mounted on the mobile robot and configured to receive the sensor node identifier and the position code from the transmitter; and
d. an onboard computer mounted on the mobile robot and operatively coupled to the projector and the receiver, wherein the onboard computer is configured to receive the sensor node identifier and the position code from the receiver and to determine a location information of the mobile robot based on the received sensor node identifier and the position code.
3 Assignments
0 Petitions
Accused Products
Abstract
An indoor localization and navigation system for a mobile robot, the system comprising: a projector mounted on the mobile robot and configured to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector; a stationary sensor node comprising a light sensor configured to detect the temporal projector light signal and generate a sensor signal and a transmitter configured to transmit a sensor node identifier and a position code generated based on the sensor signal; a receiver mounted on the mobile robot and configured to receive the sensor node identifier and the position code from the transmitter; and an onboard computer mounted on the mobile robot and operatively coupled to the projector and the receiver, wherein the onboard computer is configured to receive the sensor node identifier and the position code from the receiver and to determine a location information of the mobile robot based on the received sensor node identifier and the position code.
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Citations
20 Claims
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1. An indoor localization and navigation system for a mobile robot, the system comprising:
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a. a projector comprising a plurality of pixels, the projector mounted on the mobile robot and configured to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector; b. a stationary sensor node comprising a light sensor configured to detect the temporal projector light signal and generate a sensor signal and a transmitter configured to transmit a sensor node identifier and a position code generated based on the sensor signal; c. a receiver mounted on the mobile robot and configured to receive the sensor node identifier and the position code from the transmitter; and d. an onboard computer mounted on the mobile robot and operatively coupled to the projector and the receiver, wherein the onboard computer is configured to receive the sensor node identifier and the position code from the receiver and to determine a location information of the mobile robot based on the received sensor node identifier and the position code. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. An indoor localization and navigation method for a mobile robot, the method comprising:
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a. using a projector comprising a plurality of pixels, the projector mounted on the mobile robot to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector; b. using a stationary sensor node comprising a light sensor for detecting the temporal projector light signal and generate a sensor signal and a transmitter for transmitting a sensor node identifier and a position code generated based on the sensor signal; c. using a receiver mounted on the mobile robot to receive the sensor node identifier and the position code from the transmitter; and d. using an onboard computer mounted on the mobile robot and operatively coupled to the projector and the receiver, to receive the sensor node identifier and the position code from the receiver and to determine a location information of the mobile robot based on the received sensor node identifier and the position code. - View Dependent Claims (18, 19)
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20. A non-transitory computer-readable medium embodying a set of instructions implementing an indoor localization and navigation method for a mobile robot, the method comprising:
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a. using a projector comprising a plurality of pixels, the projector mounted on the mobile robot to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector; b. using a stationary sensor node comprising a light sensor for detecting the temporal projector light signal and generate a sensor signal and a transmitter for transmitting a sensor node identifier and a position code generated based on the sensor signal; c. using a receiver mounted on the mobile robot to receive the sensor node identifier and the position code from the transmitter; and d. using an onboard computer mounted on the mobile robot and operatively coupled to the projector and the receiver, to receive the sensor node identifier and the position code from the receiver and to determine a location information of the mobile robot based on the received sensor node identifier and the position code.
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Specification