Mobile robot which utilizes inertial navigation to calculate shortest return distance
First Claim
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1. A mobile robot, comprising:
- a robot body;
a plurality of wheels rotatably secured to said body;
drive means for driving one of said wheels;
turning means for turning one of said wheels to change a travel direction of said body by a predetermined angle;
inertial navigation means for detecting said predetermined angle;
means for establishing an initial start position of said robot body;
means for measuring a moved distance of said body; and
control means for controlling said turning means in response to input from said inertial navigation means and for calculating a shortest return distance so as to allow said body to be returned to said initial start position along said shortest distance.
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Abstract
A mobile robot with a navigation system using inertia includes a cylindrical reflecting plate disposed on the periphery of a compass for indicating a fixed direction regardless of the flow of the robot. A microcomputer determines the difference between the waveforms sensed by an optical sensor displaced on the compass and compensates precisely the moving path of the robot. The robot can be returned along the shortest return distance obtained in a vector, thereby greatly increasing the efficiency of the robot.
18 Citations
9 Claims
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1. A mobile robot, comprising:
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a robot body; a plurality of wheels rotatably secured to said body; drive means for driving one of said wheels; turning means for turning one of said wheels to change a travel direction of said body by a predetermined angle; inertial navigation means for detecting said predetermined angle; means for establishing an initial start position of said robot body; means for measuring a moved distance of said body; and control means for controlling said turning means in response to input from said inertial navigation means and for calculating a shortest return distance so as to allow said body to be returned to said initial start position along said shortest distance. - View Dependent Claims (2, 3, 4, 6, 7, 8, 9)
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5. The mobile robot according to claim 5, wherein said detecting means comprises:
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a cylindrical reflecting plate inside of which said compass needle is positioned; a first light generating device disposed on said compass needle for emitting a light toward said reflecting plate; and a first optical sensor disposed on said compass needle for sensing the emitted light reflected by said reflecting plate wherein the reflecting pattern of said reflecting plate is variable such that the waveform of the sensed light changes upon rotation of said compass needle.
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Specification