Method and apparatus for guiding a machine
First Claim
1. A method for automatically guiding a self-propelled carpet cleaning machine moving within a room and including the steps of:
- transmitting an airborne trigger signal of electromagnetic radiation from the moving machine to a stationary base module and, simultaneously with such transmitting, starting a counter on the machine;
propagating, in response to the trigger signal, an acoustic locating signal from the base module to the machine;
computing the distance between the base module and the machine; and
using the computed distance to adjust the course of the machine along a raster path.
2 Assignments
0 Petitions
Accused Products
Abstract
The disclosure involves a method for guiding a machine within an area. Such method includes the steps of triggering an acoustic locating signal from a stationary "beacon-type" base module to a receiver on the machine. The method is applicable for one-beacon, two-receiver and two-beacon, one-receiver applications. A related apparatus also includes a device for emitting a trigger signal and a device for determining the time elapsed between transmission and reception of the locating signal. An operating principle involves computing the module-to-machine distance by determining the "time of flight" of such signal. The machine is steered along a path, the locus of which is defined by an equation.
48 Citations
17 Claims
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1. A method for automatically guiding a self-propelled carpet cleaning machine moving within a room and including the steps of:
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transmitting an airborne trigger signal of electromagnetic radiation from the moving machine to a stationary base module and, simultaneously with such transmitting, starting a counter on the machine; propagating, in response to the trigger signal, an acoustic locating signal from the base module to the machine; computing the distance between the base module and the machine; and using the computed distance to adjust the course of the machine along a raster path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An apparatus for automatically guiding a self-propelled carpet cleaning machine moving within a room, such apparatus including:
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a trigger device on the machine for emitting an airborne trigger signal of electromagnetic radiation; a stationary base module for receiving the trigger signal and responsively transmitting an acoustic airborne locating signal; a receiver on the machine for receiving the locating signal; and a measuring device on the machine for determining the time elapsed between transmitting the locating signal and receiving such locating signal. - View Dependent Claims (15, 16)
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17. In combination, a carpet cleaning machine and an apparatus for guiding the machine, the apparatus including:
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a trigger device for emitting a trigger signal; a base module for receiving the trigger signal and transmitting a locating signal; a receiver receiving the locating signal; and a measuring device for determining the time elapsed between transmitting the locating signal and receiving such locating signal; and wherein; the trigger device, the receiver and the measuring device are mounted on the machine; and the receiver comprises a cone-shaped reflector having an apex and a signal sensor mounted at the apex for receiving signals from the reflector.
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Specification