Visual navigation system for mobile robots
First Claim
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1. A navigation system for navigating a mobile apparatus that is electrically controllable, comprising:
- means for locating the mobile apparatus to determine the present position of the mobile apparatus;
means for generating navigation commands to navigate the mobile apparatus from the present position of the mobile apparatus, to a desired position;
means for communicating the navigation commands to the mobile apparatus;
means for controlling the mobile apparatus in response to the navigation commands; and
wherein the means for locating the mobile apparatus comprises;
means for providing a predefined pattern of a plurality of lighted points mounted upon the mobile apparatus;
off-board means for obtaining an image of the plurality of lighted points;
and means for determining the present position of said mobile apparatus based on said image of the plurality of lighted points.
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Abstract
A visual navigation system navigates an electrically controllable apparatus such as a mobile robot. Navigation commands are generated to move the mobile apparatus based upon the location of the mobile apparatus. Once the location of the mobile apparatus is determined and the coordinates of a new position are provided, then the commands are transmitted to the mobile apparatus to relocate to the new position. The repetitive update of the location and move commands ensure the movement of the mobile apparatus without wire or rails.
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Citations
22 Claims
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1. A navigation system for navigating a mobile apparatus that is electrically controllable, comprising:
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means for locating the mobile apparatus to determine the present position of the mobile apparatus; means for generating navigation commands to navigate the mobile apparatus from the present position of the mobile apparatus, to a desired position; means for communicating the navigation commands to the mobile apparatus; means for controlling the mobile apparatus in response to the navigation commands; and wherein the means for locating the mobile apparatus comprises; means for providing a predefined pattern of a plurality of lighted points mounted upon the mobile apparatus; off-board means for obtaining an image of the plurality of lighted points; and means for determining the present position of said mobile apparatus based on said image of the plurality of lighted points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for navigating mobile apparatuses that are electrically controllable, comprising the steps:
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locating the mobile apparatus to determine its present position; generating navigation commands by a command generating means to navigate a mobile apparatus from its present position to a desired position; communicating the navigation commands to the mobile apparatus; controlling the mobile apparatus in response to the navigation commands; wherein the step of locating the mobile apparatus comprises; providing a predefined pattern of a plurality of lighted points mounted upon the mobile apparatus; obtaining off-board an image of the plurality of lighted points; and
determining the present position of said mobile apparatus based on said image of the plurality of lighted points. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification