Navigation system and method for a mobile robot

• US 4,679,152 A
• Filed: 02/20/1985
• Issued: 07/07/1987
• Est. Priority Date: 02/20/1985
• Status: Expired due to Term

• Current Assignee: NEC Corporation
• Original Assignee: Heath Company
• Inventors: Perdue, Terry A.
• Primary Examiner(s): Fleming, Michael R.
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US06/703,354
• Time in Patent Office: 867 Days
• Field of Search: 364/424, 364/444, 364/460, 364/461, 364/513, 318/587, 180/167-169, 180/65.3, 901/1, 901/46, 901/47, 343/7 VM
• US Class Current: 701/23
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: H02J 7/00 Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries

Abstract

An opto/acoustic navigation system allows a mobile robot to detect and mate with a floating plug-equipped charging unit upon detection of the need for recharging of the robot'"'"'s storage battery. A plurality of infrared (IR) emitters and sensors located on the robot and adjacent to the charger in combination with the robot'"'"'s acoustic sensors allow the robot to locate the charger, move to within a predetermined distance of the charger, maneuver to a position directly in front of the charger, and then back into engagement with the charger'"'"'s floating plug.

Claims