Method and device for determining position of an autonomous apparatus
First Claim
1. A method of determining the state of a carrier on a field of operation, the carrier having means comprising two oppositely disposed motive units for transporting it over the field of operation, comprising employing the actual track width of the motive units as a determinant, at least in part, of the state of the carrier, relating one or more potential driving modes for the carrier to the respective actual track widths that result when the carrier operates in those modes, determining the driving mode in which the carrier is operating at the time its state is to be determined, and applying the actual track width that corresponds to that driving mode in determining the state of the carrier.
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Accused Products
Abstract
A carrier, such as an autonomous surface treatment device, e.g., a robotic vacuum cleaner, has motive units, such as wheels, for transporting the carrier over a field of operation. The state of the carrier, which can be its position on the field of operation, is determined based, at least in part, on the actual track width of the motive units which will change depending on the carriers driving mode. For example, when the carrier is operating in a driving mode where it is turning, the actual track width of the motive units will be different from the actual track width of those units when the carrier is proceeding straight ahead. A determination is made of the driving mode in which the carrier is operating at the time its state is to be determined, and the actual track width of the motive units that corresponds to that driving mode is employed in determining the state of the carrier.
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Citations
37 Claims
- 1. A method of determining the state of a carrier on a field of operation, the carrier having means comprising two oppositely disposed motive units for transporting it over the field of operation, comprising employing the actual track width of the motive units as a determinant, at least in part, of the state of the carrier, relating one or more potential driving modes for the carrier to the respective actual track widths that result when the carrier operates in those modes, determining the driving mode in which the carrier is operating at the time its state is to be determined, and applying the actual track width that corresponds to that driving mode in determining the state of the carrier.
- 24. A carrier having means comprising two oppositely disposed motive units for transporting the carrier over a field of operation, the carrier having the capability of operating in one or more driving modes, means for determining the driving mode of the carrier, and means for calculating the position of the carrier on the field of operation based on the actual track width of the motive units that corresponds to the driving mode that has been determined and the respective distances the motive units have moved.
- 32. A position determination system for a carrier having two oppositely disposed motive units and capable of operating in one or more driving modes, comprising means for determining the driving mode of the carrier, and means for calculating the position of the carrier on a field of operation based on the actual track width of the motive units that corresponds to the driving mode that has been determined and the respective distances the motive units have moved.
- 35. A position calibration system for a carrier having two oppositely disposed motive units and capable of operating in one or more driving modes, comprising means for aligning the carrier in a known direction, means for causing the carrier to proceed in accordance with a selected driving mode, means for determining the angle through which the carrier turns as it proceeds in the selected driving mode, and means for calculating the actual track width for the selected driving mode as a function of the determined angle and the respective distances the motive units have travelled.
Specification