Recognition system for class II robots

• US 4,081,669 A
• Filed: 02/20/1976
• Issued: 03/28/1978
• Est. Priority Date: 10/26/1973
• Status: Expired due to Term

• Current Assignee: Edwin E. Klingman III
• Original Assignee: Edwin E. Klingman III
• Inventors: Klingman, Edwin E. III
• Primary Examiner(s): Murray, Richard
• Application Number:
  US05/659,829
• Time in Patent Office: 767 Days
• Field of Search: 250/199, 356/152, 343/106 R, 343/102, 343/113 R, 340/16 R, 340/25
• US Class Current: 356/139.04
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

A recognition system for robots is responsive to encoded information from a plurality of sources for enabling a robot to recognize and identify the sources. A receiver located on the robot detects incoming signals and decodes them. The decoded signal is compared with information stored in the robot memory to provide source identification. A direction determining sub-system incorporated into the receiver provides source direction information. The system may utilize either digital or analog techniques.

Claims

1. A system for enabling a Class II robot to recognize, identify and locate individula ones of plurality of objects in an environment comprising:

(a) a transmitter physically adjacent each object for transmitting a coded signal that is unique for each object enabling it to be identified;

(b) a receiver in the vicinity of the objects;

(c) decoding means at the receiver responsive to a coded signal from an object for decoding the signal and identifying the object; and

(d) locating means at the receiver responsive to the spatial position of the transmitter relative to the receiver for receiving the same coded signal as the decoding means and determining therefrom the position of the object with respect to the receiver.

2. A system according to claim 1 wheren each transmitter comprises a pulse-rate coded light source.

3. A system according to claim 2 wherein the decoding means includes a plurality of active filters each tuned to pass a different one of the frequencies of the pulse rate codes of the object, and means for converting a light signal from an object into an electrical code signal which is applied to the filters whereby that filter passing an electrical code signal serves to identify the object whose light signal is received.

4. A system according to claim 2 wherein the decoding means includes means for converting a light signal from an object into an electrical code signal in the form of a pulse train whose repetition rate is the code associated with an object, a counter for counting the pulses in the electrical code signal, and a clock connected to the counter for gating the code signal into the counter for a predetermined time interval so that the contents of the counter at the end of such interval represents the repetition rate of the pulse train and hence the code associated with an object whose light signal is received.

5. A system according to claim 4 wherein the decoding means includes a plurality of comparators each of which has two inputs, one input representing the contents of the counter and one input representing one of the codes associated with the objects whereby that comparator having an output serves to identify the object whose light signal is received.

6. A system according to claim 2 wherein said locating means includes a photodetector array with an aperture-mask.

7. A system according to claim 1 wherein the coded signal is a light signal.

8. A system according to claim 7 wherein the light is visible.

9. A system according to claim 7 wheren the light is ultraviolet.

10. A system according to claim 7 wherein the light is infrared.