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
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First Claim
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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, whereinsaid 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.

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