Method for localization of beacons for an autonomous device

• US 5,682,313 A
• Filed: 06/05/1995
• Issued: 10/28/1997
• Est. Priority Date: 06/06/1994
• Status: Expired due to Fees

• Current Assignee: Aktiebolaget Electrolux
• Original Assignee: Aktiebolaget Electrolux
• Inventors: Berlin, Rolf, Davidsson, Charles R., Edlund, Leif
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/465,328
• Time in Patent Office: 876 Days
• Field of Search: 364/424.02, 364/443, 364/444, 364/447, 364/449, 364/456, 364/460, 364/451, 364/424.027, 364/424.028, 364/424.031, 364/423.098, 364/444.1 , 364/449.4, 340/903, 340/904, 342/47, 342/53, 342/127, 342/146, 342/150, 342/357, 342/385, 342/450, 342/455, 356/3, 356/141.1, 356/141.2, 367/99, 367/103, 367/118, 367/127, 180/167, 180/169
• US Class Current: 342/127
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G01S 11/16 using difference in transit time between electrical and acoustic signals
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 13/881 for robotics
• 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 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• 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 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

The present invention provides an improved method for determining a coarse direction in an orientation system of a an autonomous device (10), for instance a dust cleaning robot together with a system of active beacons or transponders. A transmitter (20) for transmitting sensing signals is displaced in relation to the rotational center (25) of the the device (10). When the device is rotated around a vertical rotational axis in the rotational center, a minimum in the distance to the respective transponder or beacon is obtained when the transmitter of the device is positioned immediate to a point lying on a straight line between the rotational center of the device and a respective transponder, whereby an immediate coarse determination of the direction to each transponder is directly obtained. From such an immediate direction determination direct better starting values are obtained for a position calculation by means of for example Kalman filtering, by which successively from the signals obtained by these transponder responses an orientation basis is achieved for the area where the device should be acting.

Claims

1. A method for faster measurement of a direction to orientation beacons for an autonomous device, which is provided with a pair of wheels and driving motor means which will make said autonomous device rotate in its entirety at least one turn around a rotational center of said autonomous device, said autonomous device comprising a microprocessor system for the orientation and guidance of the autonomous device, an orientation system comprising at least a transmitter means and a receiver means, and in the area in which the autonomous device should act a number of transponders are arranged, which said microprocessor system utilizes for its orientation in the area for performing a function, wherein

said transmitting means of said autonomous device is arranged in a position being different from said rotational center of the autonomous device;

comprising the steps of,

rotating said autonomous device in its entirety at least one turn around said rotational center when said autonomous device leaves a docking position having a first known transponder of beacon, while measuring distances to all available transponders;

registering for each transmitted sensing signal the rotational angle of the device related to a position when the rotation was started;

calculating a distance minimum to a respective transponder when the transmitting means of said autonomous device is in a position immediate to a straight line between the rotational center of said autonomous device and a respective transponder; and

determining an immediate coarse of a direction to each available transponder.

2. The method according to claim 1, wherein the rotation around said rotational center is repeated at least once when said autonomous device has traveled a predetermined distance from the starting point of the travel.

3. The method according to claim 2, wherein the measurement of the direction and distance to a transponder utilizes two different frequencies, one of which having a relatively slow propagation and the other frequency having a high propagation speed, whereby a first frequency is constituted by an acoustic wave and a second frequency is constituted by an electromagnetic wave.

4. The method according to claim 3, wherein said first frequency is constituted by an ultra sound wave, while said second frequency is constituted by an IR light signal or a radio signal.

5. The method according to claim 4, wherein said first frequency having the slow propagation is omnidirectionally transmitted from the transmitting means of said autonomous device.

6. The method according to claim 5, wherein a response on said second frequency of fast propagation is delayed from a transponder by a predetermined period of time to give said autonomous device time to process reflections received on said first frequency for the sensing of the distance and direction to a transponder.

7. The method according to claim 6, wherein each transponder is identified by the microprocessor from the content of a response on said second frequency in which is stated the unique identity of the transponder.

8. The method according to claim 7, wherein after transmission of a first response from each transponder indicating a reception of a signal on said first frequency, an additional signal is transmitted after a predetermined time interval, which is different and unique for each transponder, to thereby separate transponders, the first response of which being simultaneously received by the receiving means in said autonomous device.

9. The method according to claim 8, wherein one of the additional transponders always is positioned along the same wall as along which the docking position of the first and known transponder is found.

10. A method for measurement of direction between orientation transponders and an autonomous device, said autonomous device having (a) wheels and driving means for moving said autonomous device relative to said transponders and for rotating said autonomous device in its entirety at least one turn around a rotational center of said autonomous device, (b) a microprocessor system for orienting and guiding said autonomous device relative to said transponders, and (c) an orientation system comprising transmitter and receiver, said transmitter being at an offset position relative to said rotational center, comprising the steps of:

(i). moving said autonomous device from a docking position and rotating said autonomous device in its entirety, from a starting position, at least one turn around said rotational center, said rotating of said autonomous device simultaneously rotating said transmitter around said rotational center at said offset position;

(ii). transmitting first signals from said transmitter to all receptive transponders during said rotating;

(iii). transmitting responsive second signals from each respective receptive transponder to said autonomous device;

(iv). measuring and registering distances between said autonomous device and each receptive transponder based upon respective first signals and respective second signals;

(v). measuring and registering rotational turning angle of said autonomous device relative to said starting position and each receptive transponder; and

(vi). processing respective measured and registered distance of step (iv) and rotational turning angle of step (v) to obtain a respective minimum in distance between said autonomous device and each respective receptive transponder when said transmitter is situated at a position on a straight line between said rotational center and a respective receptive transponder, and obtaining an immediate coarse determination of a direction between said autonomous device and said respective receptive transponder.