Light detection apparatus
First Claim
1. Light detection apparatus for determining the location of a body within an area, the apparatus comprising:
- at least two light detecting devices for mounting on the body and capable of receiving light from the environment in which the body is located, the devices being located at respective detecting points which are angularly spaced about a vertical axis, means for supplying information representative of the levels of at least two different light types received at each detecting point, and means for comparing information received from the light detection apparatus with information previously received from the light detection apparatus and stored in a memory so as to identify when the light detected by the light detection apparatus is the same or substantially the same as light previously detected by the light detection apparatus.
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Accused Products
Abstract
Light detection apparatus for determining the location of a body within a predetermined area comprises at least two light detecting devices (10,10′,10″), supported on the body and capable of receiving light at points which are spaced about a central axis (8). The apparatus further includes means for supplying information representative of the level of light detected by each light detecting device (10, 10′, 10″). Information received from the light detection apparatus is compared with information previously received from the light detection apparatus and stored in a memory so as to identify when the light detected by the light detection apparatus is the same or substantially the same as light previously detected by the light detection apparatus. When used on an autonomous vehicle, this can allow the vehicle to determine when it has returned to a similar position in an area. The received light signals can be filtered or processed to derive information representative of different types of light (natural, incandescent) or colours of light.
134 Citations
28 Claims
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1. Light detection apparatus for determining the location of a body within an area, the apparatus comprising:
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at least two light detecting devices for mounting on the body and capable of receiving light from the environment in which the body is located, the devices being located at respective detecting points which are angularly spaced about a vertical axis, means for supplying information representative of the levels of at least two different light types received at each detecting point, and means for comparing information received from the light detection apparatus with information previously received from the light detection apparatus and stored in a memory so as to identify when the light detected by the light detection apparatus is the same or substantially the same as light previously detected by the light detection apparatus. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method of determining the location of a body within an area comprising:
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using at least two light detecting devices mounted on the body to receive light from the environment in which the body is located, the devices being located at respective detecting points which are angularly spaced about a vertical axis, deriving information representative of the levels of at least two different light types received at each detecting point, and comparing information received from the light detection apparatus with information previously received from the light detection apparatus and stored in a memory so as to identify when the light detected by the light detection apparatus is the same or substantially the same as light previously detected by the light detection apparatus.
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22. An autonomous floor cleaning device for cleaning a floor area comprising:
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power operated means for moving the vehicle around the floor area and a navigation system for identifying the location of the vehicle and for controlling movement of the cleaning device, wherein the navigation system includes a light detection apparatus comprising;
at least two light detecting devices mounted on the body and capable of receiving light from the environment in which the cleaning device is located, the detecting devices being located at respective light detecting points which are angularly spaced about a vertical axis, means for supplying information representative of the levels of at least two different light types received at each detecting point, and means for comparing information received from the light detection apparatus with information previously received from the light detection apparatus and stored in a memory so as to identify when the light detected by the light detection apparatus is the same or substantially the same as light previously detected by the light detection apparatus, indicative of the cleaning device returning to a similar position in the area. - View Dependent Claims (23, 24, 25, 26, 27)
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28. A method of operating an autonomous floor cleaning device to clean a floor area, the cleaning device comprising power operated means for moving the vehicle around the floor area and a navigation system for identifying the location of the vehicle and for controlling movement of the cleaning device and wherein the navigation system includes a light detection apparatus, the method comprising:
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using at least two light detecting devices mounted on the body to receive light from the environment in which the cleaning device is located, the detecting devices being located at respective light detecting points which are angularly spaced about a deriving information representative of the levles of at least two different light types recived at each detecting point, and comparing information received from the light detection apparatus with information previously received from the light detection apparatus and stored in a memory so as to identify when the light detected by the light detection apparatus is the same or substantially the same as light previously detected by the light detection apparatus, indicative of the cleaning device returning to a similar position in the area.
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Specification