Large area movement robot

• US 5,467,273 A
• Filed: 01/11/1993
• Issued: 11/14/1995
• Est. Priority Date: 01/12/1992
• Status: Expired due to Term

• Current Assignee: Rafael Limited
• Original Assignee: State of Israel--Ministry of Defence Armament Development Authority Rafael
• Inventors: Faibish, Sorin, Yahav, Giora, Djerassi, Shlomo
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/003,230
• Time in Patent Office: 1,037 Days
• Field of Search: 364/424.02, 364/449, 364/460, 364/456, 364/448, 364/561, 364/559, 318/587, 356/3, 356/5, 356/17, 250/203.1, 250/203.2, 180/167, 180/168, 180/169
• US Class Current: 701/23
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/0244 using reflecting strips
• 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

A large area movement robot including a chassis, controllable apparatus for displacement of the chassis, navigation apparatus for controlling the operation of the controllable apparatus, the navigation apparatus comprising a scanning range finder mounted on the chassis, apparatus associated with the scanning range finder for determining the azimuthal orientation of a retroreflecting object whose range is simultaneously determined by the scanning range finder and apparatus responsive to the sensed range and angular orientation of the retroreflecting object for providing operating instructions to the controllable apparatus.

Claims

1. A large area movement robot for displacement within a region delimited by a plurality of retroreflecting objects, the robot comprising:

a chassis;

a controllable apparatus operative to displace the chassis within the region delimited by the plurality of retroreflecting objects;

a learning navigator operative to control the operation of the controllable apparatus, said navigator comprising;

a scanning range finder mounted on the chassis and operative to measure initial azimuthal orientations and ranges of a plurality of retroreflecting objects;

an azimuth and range matching device associated with the scanning range finder operative to determine the current azimuthal orientation of the plurality of retroreflecting objects whose ranges are determined by the scanning range finder and matching the azimuthal orientations and ranges with initial azimuthal orientations and ranges of said plurality of retroreflecting objects; and

a self-position computation unit responsive to the output of the azimuth and range matching device and operative to provide operating instructions to the controllable apparatus.

2. The large area movement robot according to claim 1 and wherein said scanning range finder includes apparatus for range finding according to time of flight of a laser pulse.

3. A large area movement robot comprising:

a chassis;

controllable apparatus operative to displace the chassis within a region;

a learning navigator operative to control the operation of the controllable apparatus, said navigator comprising;

a plurality of selectably placeable retroreflectors delimiting a region;

a scanning range finder mounted on the chassis and operative to measure initial azimuthal orientations and ranges of the plurality of retroreflectors;

an azimuth and range matching device associated with the scanning range finder and operative to determine the azimuthal orientation of the plurality of retroreflectors whose ranges are determined by the scanning range finder and matching the azimuthal orientations and ranges with initial azimuthal orientations and ranges of said plurality of retroreflecting objects; and

a self-position computation unit responsive to the output of the azimuth and range matching device and operative to provide operating instructions to the controllable apparatus.

4. The large area movement robot according to claim 3 and wherein said scanning range finder includes apparatus for range finding according to time of flight of a laser pulse.

5. A navigation apparatus operative to control the operation of a chassis displacement device, said navigation apparatus comprising:

a scanning range finder mounted on the chassis;

an azimuth and range matching device associated with the scanning range finder and operative to determine the azimuthal orientation of a plurality of retroreflecting objects whose ranges are simultaneously determined by the scanning range finder and matching the azimuthal orientations and ranges with learned azimuthal orientations and ranges of said plurality of retroreflecting objects; and

a self-position computation unit responsive to the output of the azimuth and range matching device and operative to provide operative instructions to the chassis displacement device.

6. A navigation apparatus comprising:

a reference template memory operative to store a reference template comprising range and angular azimuthal orientation data for a plurality of retroreflective objects at an initial time t0;

a ranging device for providing current range and angular orientation values of the plurality of retroreflective objects; and

a self-position computing device operative to repeatedly receive the current range and angular orientation values of the plurality of retroreflective objects and to repeatedly compute the position and angular orientation of the navigation apparatus by comparing the received ranges and angular orientations to the reference template.

7. The navigation apparatus according to claim 6 and wherein said ranging device comprises:

a laser source emitting pulsed light comprising a sequence of light pulses;

a scanner operatively associated with the laser and operative to direct the pulsed light toward a plurality of locations;

a photodiode operative to detect light reflected back from the plurality of retroreflective objects;

a range finder operative to determine ranges of the plurality of retroreflective objects; and

an angle sensor operative to measure the angular orientation of an individual retroreflective object encountered by a pulse at the time the pulse returns to the photodiode.