Mobile robot sensor system

• US 5,819,008 A
• Filed: 06/14/1996
• Issued: 10/06/1998
• Est. Priority Date: 10/18/1995
• Status: Expired due to Fees

• Current Assignee: Rikagaku Kenkyusho
• Original Assignee: Rikagaku Kenkyusho
• Inventors: Arai, Yoshikazu, Kaetsu, Hayato, Suzuki, Shoji, Endo, Isao, Asama, Hajime, Kotosaka, Shin-ya
• Primary Examiner(s): Davis, George B.
• Application Number:
  US08/663,908
• Time in Patent Office: 844 Days
• Field of Search: 395/90, 395/93, 901/1, 901/46, 364/461, 364/423.098, 364/424.037, 318/568.12, 318/568.16, 318/587
• US Class Current: 700/255
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93

Abstract

An object of the present invention is to provide a sensor system which can effect local communications suitable for exchanging information to avoid collisions between mobile robots. The sensor system also prevents collisions between the mobile robots and obstacles. The system is well-suited for a multi-robot environment where multiple mobile robots operate. The system includes infrared signal transmitters installed in each of the multiple mobile robots for sending transmission data via infrared signals. The system further includes infrared signal receivers installed in each of the multiple mobile robots for receiving the transmission data sent by the infrared signal transmitters. Each mobile robot includes a control unit. The control unit prepares transmission information which includes mobile robot identification information unique to the mobile robot. The transmission information is included in the transmission data sent from the infrared signal transmitter. The control unit also extracts transmission information which is received by the infrared signal receiver.

Claims

1. A mobile robot system comprising:

a plurality of mobile robots, each mobile robot including;

an infrared transmitter for transmitting data;

a infrared receiver for receiving data; and

a controller for preparing data to be transmitted by said infrared transmitter and for interpreting data received by said infrared receiver, wherein said data includes identification information unique to the mobile robot transmitting said data.

2. The mobile robot system of claim 1, wherein said data also includes travel information descriptive of movements for the mobile robot transmitting said data.

3. The mobile robot system of claim 2, wherein said travel information includes a direction of travel and a speed of travel for the mobile robot transmitting said data.

4. The mobile robot system of claim 3, wherein said data are in binary, each bit of said data being represented as either an "on" pulse representing a "1" or an "off" pulse representing a "0", and each bit of said data being preceded by an "on" pulse, having a width equal to a width of a bit of data, and being used for synchronization, and each bit of said data being followed by an "off" pulse, having a width equal to the width of a bit of data, and being used for detecting interference.

5. The mobile robot system of claim 3, wherein each mobile robot is capable of moving and stopping arbitrarily.

6. The mobile robot system of claim 5, wherein said transmitter, of each mobile robot, is a luminous element for transmitting infrared signals and said receiver, of each mobile robot, is a photoreceptive element for receiving infrared signals.

7. The mobile robot system of claim 3, wherein said transmitter, of each mobile robot, is a luminous element for transmitting infrared signals and said receiver, of each mobile robot, is a photoreceptive element for receiving infrared signals.

8. The mobile robot system of claim 2, wherein said data are in binary, each bit of said data being represented as either an "on" pulse representing a "1" or an "off" pulse representing a "0", and each bit of said data being preceded by an "on" pulse, having a width equal to a width of a bit of data, and being used for synchronization, and each bit of said data being followed by an "off" pulse, having a width equal to the width of a bit of data, and being used for detecting interference.

9. The mobile robot system of claim 2, wherein each mobile robot is capable of moving and stopping arbitrarily.

10. The mobile robot system of claim 9, wherein said transmitter, of each mobile robot, is a luminous element for transmitting infrared signals and said receiver, of each mobile robot, is a photoreceptive element for receiving infrared signals.

11. The mobile robot system of claim 2, wherein said transmitter, of each mobile robot, is a luminous element for transmitting infrared signals and said receiver, of each mobile robot, is a photoreceptive element for receiving infrared signals.

12. The mobile robot system of claim 1, wherein said data are in binary, each bit of said data being represented as either an "on" pulse representing a "1" or an "off" pulse representing a "0", and each bit of said data being preceded by an "on" pulse, having a width equal to a width of a bit of data, and being used for synchronization, and each bit of said data being followed by an "off" pulse, having a width equal to the width of a bit of data, and being used for detecting interference.

13. The mobile robot system of claim 12, wherein each mobile robot is capable of moving and stopping arbitrarily.

14. The mobile robot system of claim 12, wherein said transmitter, of each mobile robot, is a luminous element for transmitting infrared signals and said receiver, of each mobile robot, is a photoreceptive element for receiving infrared signals.

15. The mobile robot system of claim 1, wherein each mobile robot is capable of moving and stopping arbitrarily.

16. The mobile robot system of claim 15, wherein said transmitter, of each mobile robot, is a luminous element for transmitting infrared signals and said receiver, of each mobile robot, is a photoreceptive element for receiving infrared signals.

17. The mobile robot system of claim 1, wherein said transmitter, of each mobile robot, is a luminous element for transmitting infrared signals and said receiver, of each mobile robot, is a photoreceptive element for receiving infrared signals.

18. The mobile robot system of claim 1, wherein said transmitter, of each mobile robot, includes a plurality of transmitters spaced around a periphery of the mobile robot, and said receiver, of each mobile robot, includes a plurality of receivers spaced around the periphery of the mobile robot.

19. The mobile robot system of claim 18, wherein said plurality of transmitters equals eight and said plurality of receivers equals eight.

20. The mobile robot system of claim 18, wherein each of said plurality of receivers is capable of receiving a data transmission from each of said plurality of transmitters, of another mobile robot.