Orientation adjustment system and robot using same

• US 4,815,008 A
• Filed: 05/16/1986
• Issued: 03/21/1989
• Est. Priority Date: 05/16/1986
• Status: Expired due to Fees

• Current Assignee: E.T.M. Realty Trust
• Original Assignee: Denning Mobile Robotics, Inc.
• Inventors: George, Robert W. II, Kadonoff, Mark B., Benayad-Cheriif, Faycal E., Maddox, James F.
• Primary Examiner(s): Gruber, Felix D.
• Application Number:
  US06/864,450
• Time in Patent Office: 1,040 Days
• Field of Search: 364/424, 364/513, 364/559, 180/167, 180/168, 180/169, 180/211, 180/212
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• 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: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

This invention features a mobile robot having a body which has an azimuthal angle that is optimally fixed in space and provides the basic reference for the robot to the outside world. The robot further includes a drive system having wheels for enabling movement of the robot, a synchronous steering mechanism which turns the wheels independently of the body, and a head which turns with the wheels. The robot further includes memory for storing the azimuthal angle of the body, a detector assembly disposed in the head for sensing a navigation beacon and resolving an angular deviation between the head and the beacon, and an element for incrementing the stored azimuthal angle by that angular deviation. A system for enabling orientation adjustment is also disclosed.

Claims

1. A mobile robot for operating in an environment comprising:

a body having an azimuthal angle which is generally fixed in relation to the environment;

means for storing the azimuthal angle of said body;

drive means including wheel means for enabling movement of said robot;

a synchronous steering mechanism which turns said wheel means independently of said body;

a head which turns with said wheel means;

detector means, disposed in said head, for sensing a navigation beacon;

means, responsive to said detector means, for resolving an angular deviation between said head and said beacon; and

means for incrementing said stored azimuthal angle by that angular deviation.

2. The mobile robot of claim 1 in which drive means includes a synchro-drive locomotion system which drives said wheel means and is responsive to said synchronous steering mechanism.

3. The mobile robot of claim 1 in which said robot includes means for recording and updating an angle representing angular turning of said head.

4. The mobile robot of claim 3 in which said means for incrementing includes means for combining said updated head angle with said angular deviation to increment said stored azimuthal angle.

5. The mobile robot of claim 1 in which said detector means includes:

a multisector sensor for sensing a signal emitted by the beacon; and

means, responsive to said multisector sensor sectors, for generating an angle data signal representative of the angle from said multisector sensor to said beacon in at least the azimuthal dimension.

6. The mobile robot of claim 5 in which said multisector sensor is a lateral effect photodiode.

7. The mobile robot of claim 5 in which said detector means further includes means, responsive to said azimuthal angle, for calculating the direction from the multisector sensor to the beacon.

8. The mobile robot of claim 1 further including means for initially supplying the azimuthal angle to said means for storing.

9. The mobile robot of claim 1 further including means for rotating said head with respect to said body by said angular deviation.

10. The mobile robot of claim 1 further including a navigation system which utilizes said stored azimuthal angle as a reference to the environment.

11. The mobile robot of claim 1 further including an intruder detection system which utilizes said stored azimuthal angle as a reference to the environment.

12. The mobile robot of claim 11 in which said intruder detection system includes intruder detection sensors disposed in said body.

13. An orientation adjustment system for use with a robot having a body which has an azimuthal angle that is generally fixed in relation to its environment and provides the basic reference to the outside world, a drive system including wheels for enabling movement of the robot, a synchronous steering mechanism which turns the wheels independently of the body, and a head which turns with the wheels, comprising:

means for storing the azimuthal angle of said body;

detector means disposed in the head for sensing a navigation beacon;

means, responsive to said detector means, for resolving an angular deviation between the head and the beacon; and

means for incrementing said stored azimuthal angle by that angular deviation.

14. A system for adjusting the azimuthal orientation reference of a vehicle having a movable portion which faces the direction of travel and a second portion which has azimuthal angle that is generally fixed in relation to the environment and provides the basic azimuthal reference to the environment, comprising:

at least one navigation beacon;

detector means for sensing said beacon;

means, responsive to said detector means, for resolving an angular deviation between the movable portion of the vehicle and the beacon;

means for storing the azimuthal angle of the second portion; and

means, responsive to said means for resolving, for incrementing said stored azimuthal angle by said angular deviation.

15. The orientation adjustment system of claim 14 in which said detector means faces the direction of travel of the vehicle.

16. The orientation adjustment system of claim 14 in which said detector means is disposed in the movable portion of the vehicle.

17. The orientation adjustment system of claim 14 further including means for rotating the movable portion with respect to said second portion by said angular deviation.

18. The orientation adjustment system of claim 14 in which said detector means includes:

a multisector sensor for sensing a signal emitted by said beacon; and

means, responsive to said multisector sensor, for generating an angle data signal representative of the angle from said multisector sensor to said beacon in at least the azimuthal dimension.

19. The orientation adjustment system of claim 18 in which said multisector sensor is a lateral effect photodiode.

20. The orientation adjustment system of claim 18 in which said detector means further includes means, responsive to said azimuthal angle, for calculating the direction from the multisector sensor to said beacon.

21. The orientation adjustment system of claim 14 further including means for initially supplying the estimated orientation of the second portion to said means for storing.

22. The orientation adjustment system of claim 14 in which said beacon includes means for emitting detectable energy.

23. The orientation adjustment system of claim 22 in which said beacon is a point source.

24. The orientation adjustment system of claim 22 in which said beacon includes means for producing said energy in a coded signal which uniquely identifies that beacon.

25. The orientation adjustment system of claim 22 in which said detector means includes:

a multisector sensor for sensing the signal emitted by said beacon;

means, responsive to said multisector sensor, for generating a code data signal representative of said coded signal; and

means responsive to said multisector sensor for generating an angle data signal representative of the angle from said sensor to said beacon in at least the azimuthal dimension.