MOBILE APPARATUS WITH LOCAL POSITION REFERENCING ELEMENTS

• US 20140144376A1
• Filed: 11/28/2012
• Published: 05/29/2014
• Est. Priority Date: 11/28/2012
• Status: Abandoned Application

• Current Assignee: Eastman Kodak Company
• Original Assignee: Gregory Michael Burke
• Inventors: BURKE, GREGORY MICHAEL
• Application Number:
  US13/686,986
• Publication Number:
  US 20140144376A1
• Time in Patent Office: Days
• US Class Current: 118/323
• CPC Class Codes: B26D 5/007 Control means comprising cameras, vision or image processing systems
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10T 83/533 With photo-electric work-sensing means

Abstract

A position-referenced mobile system includes a mobile apparatus having: a chassis having a first edge and a second edge opposite the first edge; a first wheel rotatably mounted proximate the first edge of the chassis; a second wheel rotatably mounted proximate the second edge of the chassis; a first motor for rotating the first wheel; a second motor for rotating the second wheel; a first encoder for monitoring an amount of rotation of the first motor; a second encoder for monitoring an amount of rotation of the second motor; a laser mounted on the chassis; and a photo detector mounted on the chassis; a controller for interpreting signals provided by the photo detector; and a plurality of reflective elements disposed at a corresponding plurality of locations that are observable by the photo detector when the mobile apparatus is located within a position detection region.

Claims

1. A position-referenced mobile system comprising:

a mobile apparatus including;

a chassis having a first edge and a second edge opposite the first edge;

a first wheel rotatably mounted proximate the first edge of the chassis;

a second wheel rotatably mounted proximate the second edge of the chassis;

a first motor for rotating the first wheel;

a second motor for rotating the second wheel;

a first encoder for monitoring an amount of rotation of the first motor;

a second encoder for monitoring an amount of rotation of the second motor;

a laser mounted on the chassis; and

a photo detector mounted on the chassis;

a controller for interpreting signals provided by the photo detector; and

a plurality of reflective elements disposed at a corresponding plurality of locations that are observable by the photo detector when the mobile apparatus is located within a position detection region.

2. The position-referenced mobile system of claim 1, wherein the plurality of locations of the plurality reflective elements are proximate to but outside of the position detection region.

3. The position-referenced mobile system of claim 1, wherein the photo detector is disposed within a hollow tube.

4. The position-referenced mobile system of claim 1, wherein a color filter is disposed proximate the photo detector.

5. The position-referenced mobile system of claim 1, wherein a reflective surface of at least one of the reflective elements is cylindrical.

6. The position-referenced mobile system of claim 1, wherein the laser includes a cylindrical package.

7. The position-referenced mobile system of claim 1, wherein the photo detector is disposed within a hollow tube and the laser is oriented along a direction that is parallel to the hollow tube.

8. The position-referenced mobile system of claim 7, wherein the laser is adjacent to the hollow tube.

9. The position-referenced mobile system of claim 7, wherein the hollow tube is perpendicular to or substantially perpendicular to a line joining a central portion of the first wheel and a central portion of the second wheel.

10. The position-referenced mobile system of claim 1, wherein the controller is configured to provide instructions to the first motor and the second motor.

11. The position-referenced mobile system of claim 10, wherein the first motor and the second motor are configured to drive the first wheel and the second wheel independently of each other in either a forward direction or a reverse direction.

12. The position-referenced mobile system of claim 1, wherein the mobile apparatus includes a device for performing an operation directed by the controller as a function of a detected position of the mobile apparatus.

13. The position-referenced mobile system of claim 12, wherein the device includes a marking device.

14. The position-referenced mobile system of claim 12, wherein the device includes an array of nozzles for ejecting drops of liquid.

15. The position-referenced mobile system of claim 12, wherein the device includes a cutting device.

16. The position-referenced mobile system of claim 12, wherein the device is configured to perform the operation on a medium with which the first wheel and the second wheel are in contact.

17. The position-referenced mobile system of claim 1, wherein the mobile apparatus further includes a power source.

18. The position-referenced mobile system of claim 1, wherein the controller is mounted on the mobile apparatus.

19. A position-referenced mobile system comprising:

a mobile apparatus including;

a chassis having a first edge and a second edge opposite the first edge;

a first wheel rotatably mounted proximate the first edge of the chassis;

a second wheel rotatably mounted proximate the second edge of the chassis;

at least a first motor for rotating the first wheel and the second wheel;

at least a first encoder for monitoring an amount of rotation of either a shaft of the first motor or the first wheel; and

a photo detector mounted on the chassis;

a controller for interpreting signals provided by the photo detector; and

a plurality of light providing elements disposed at a corresponding plurality of locations that are observable by the photo detector when the mobile apparatus is located within a position detection region.