Celestial navigation system for an autonomous robot
First Claim
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1. A navigational control system for a mobile robot operating within a working area, the navigational control system comprising:
- a transmitter disposed within a working area and comprising a stationary emitter configured to direct first and second signals, modulated to be different from one another, onto a remote surface above the working area, such that the first and second signals are reflected from spaced apart positions on the remote surface; and
a receiving subsystem disposed on the mobile robot and comprising;
a receiver installed at a top surface of the mobile robot and directed generally upward, the receiver including at least four discrete photodiodes arranged to face in different directions and configured to generate respective response signals responsive to the reflected signals; and
a processor connected to the receiver and configured todetermine a first angle associated with the first reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the first signal as reflected off of the remote surface, todetermine a second angle associated with the second reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the second signal as reflected off of the remote surface, and todetermine a location of the robot within the working area relative to the reflected signals, based on the first and second determined angles;
wherein the photodiodes are angularly spaced to face in different directions about the receiver so as to detect one or both of the reflected signals in various positions within the working area.
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Abstract
A navigational control system for an autonomous robot includes a transmitter subsystem having a stationary emitter for emitting at least one signal. An autonomous robot operating within a working area utilizes a receiving subsystem to detect the emitted signal. The receiver subsystem has a receiver for detecting the emitted signal emitted by the emitter and a processor for determining a relative location of the robot within the working area upon the receiver detecting the signal.
733 Citations
35 Claims
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1. A navigational control system for a mobile robot operating within a working area, the navigational control system comprising:
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a transmitter disposed within a working area and comprising a stationary emitter configured to direct first and second signals, modulated to be different from one another, onto a remote surface above the working area, such that the first and second signals are reflected from spaced apart positions on the remote surface; and a receiving subsystem disposed on the mobile robot and comprising; a receiver installed at a top surface of the mobile robot and directed generally upward, the receiver including at least four discrete photodiodes arranged to face in different directions and configured to generate respective response signals responsive to the reflected signals; and a processor connected to the receiver and configured to determine a first angle associated with the first reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the first signal as reflected off of the remote surface, to determine a second angle associated with the second reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the second signal as reflected off of the remote surface, and to determine a location of the robot within the working area relative to the reflected signals, based on the first and second determined angles; wherein the photodiodes are angularly spaced to face in different directions about the receiver so as to detect one or both of the reflected signals in various positions within the working area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 26, 27, 28, 29, 30, 31, 32)
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15. A method of control for a mobile robot operating within a working area, the method comprising:
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transmitting directed first and second signals, modulated to be different from one another, onto a remote surface above the working area, such that the first and second signals are reflected from spaced apart positions on the remote surface; detecting the first and second signals as reflected off of the remote surface using an upwardly directed receiver of the mobile robot, the receiver including at least four discrete photodiodes arranged to face in different directions and configured to generate respective response signals responsive to the reflected signals; determining a first angle associated with the first reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the first signal as reflected off of the remote surface; determining a second angle associated with the second reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the second signal as reflected off of the remote surface; and determining a location of the robot in the working area relative to the reflected signals, based on the first and second determined angles; wherein the photodiodes are angularly spaced to face in different directions about the receiver so as to detect one or both of the reflected signals in various positions within the working area. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 33, 34)
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35. A mobile robot comprising:
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drive components that move the robot within a working area; and a navigational control receiving subsystem comprising; a receiver installed at a top surface of the mobile robot, the receiver including at least four independent photodiodes arranged to face in different directions and each responsive to first and second reflected signals at spaced apart positions on a remote surface above the working area, the first and second signals modulated to be different from one another; and a processor connected to the receiver and configured to determine a first angle associated with the first reflected signal, by comparing signals from the four independent photodiodes in response to the first reflected signal, to determine a second angle associated with the second reflected signal, by comparing signals from the four independent photodiodes in response to the second reflected signal, and determine a location of the robot within the working area relative to the reflected signals, based on the first and second determined angles; wherein the at least four independent photodiodes are angularly spaced to face in different directions about the receiver so as to detect one or both of the reflected signals in various positions within the working area.
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Specification