Method and apparatus for allowing mobile robot to return to docking station
First Claim
1. A method of allowing a mobile robot to return to a designated location, wherein the designated location has a sound wave transmitter and the mobile robot has a sound wave receptor and the mobile robot automatically returns from a first location to the designated location, the method comprising:
- calculating a first direction angle of the mobile robot at a second location arrived at after the mobile robot travels a first distance from the first location;
determining whether the mobile robot approaches or moves away from the designated location, at a third location arrived at after the mobile robot rotates by the first direction angle and then travels a second distance; and
if the result of the determination indicates that the mobile robot approaches the designated location, controlling the mobile robot to travel according to the first direction angle, and if the result indicates the mobile robot moves away from the designated location, calculating a second direction angle of the mobile robot at the third location, and controlling the mobile robot to travel according to the second direction angle.
1 Assignment
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Accused Products
Abstract
A method and apparatus allowing a mobile robot to return to a designated location the method including: calculating a first direction angle of the mobile robot at a second location arrived at after the mobile robot travels a predetermined distance from the first location; determining whether the mobile robot approaches or moves away from the designated location, at a third location arrived at after the mobile robot rotates by the first direction angle and then travels a predetermined distance; and if the result of the determination indicates that the mobile robot approaches the docking station, controlling the mobile robot to travel according to the first direction angle, and if the result indicates the mobile robot moves away from the docking station, calculating a second direction angle of the mobile robot at the third location, and controlling the mobile robot to travel according to the second direction angle.
32 Citations
40 Claims
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1. A method of allowing a mobile robot to return to a designated location, wherein the designated location has a sound wave transmitter and the mobile robot has a sound wave receptor and the mobile robot automatically returns from a first location to the designated location, the method comprising:
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calculating a first direction angle of the mobile robot at a second location arrived at after the mobile robot travels a first distance from the first location;
determining whether the mobile robot approaches or moves away from the designated location, at a third location arrived at after the mobile robot rotates by the first direction angle and then travels a second distance; and
if the result of the determination indicates that the mobile robot approaches the designated location, controlling the mobile robot to travel according to the first direction angle, and if the result indicates the mobile robot moves away from the designated location, calculating a second direction angle of the mobile robot at the third location, and controlling the mobile robot to travel according to the second direction angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 38)
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13. An apparatus for allowing a mobile robot to automatically return to a designated location from a first location, the apparatus comprising:
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a sound wave transmitter installed on the designated location transmitting a sound wave;
a sound wave receptor installed in the mobile robot receiving the sound wave;
a distance calculator which calculates a distance between the designated location and the mobile robot, by using a time difference between times of transmission and reception of the sound wave transmitted by the sound wave transmitter to the sound wave receptor;
an encoder connected to at least one or more motors and measuring a travel distance and a travel direction of the mobile robot; and
a travel controller which by using the distance calculated in the distance calculator and the travel distance measured by the encoder, calculates a first direction angle at a second location arrived at after the mobile robot travels a first distance between the first location and the second location, determines whether the mobile robot approaches or moves away from the designated location, at a third location arrived at after the mobile robot is rotated by a first direction angle and travels a second distance between the second location and the third location, and controls the mobile robot to travel according to the result of the determination. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 39)
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26. A computer readable medium encoded with processing instructions for performing a method of allowing a mobile robot to return to a designated location, wherein the designated location has a sound wave transmitter and the mobile robot has a sound wave receptor and the mobile robot automatically returns from a first location to the designated location, the method comprising:
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calculating a first direction angle of the mobile robot at a second location arrived at after the mobile robot travels a first distance from the first location;
determining whether the mobile robot approaches or moves away from the designated location, at a third location arrived at after the mobile robot rotates by the first direction angle and then travels a second distance; and
if the result of the determination indicates that the mobile robot approaches the designated location, controlling the mobile robot to travel according to the first direction angle, and if the result indicates the mobile robot moves away from the designated location, calculating a second direction angle of the mobile robot at the third location, and controlling the mobile robot to travel according to the second direction angle. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 40)
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Specification