Robot positioning system

  • US 9,939,529 B2
  • Filed: 08/23/2013
  • Issued: 04/10/2018
  • Est. Priority Date: 08/27/2012
  • Status: Active Grant
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First Claim
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1. A method of positioning a robot comprising:

  • illuminating a space with at least a first line laser projecting vertical laser beams within a field of view of a camera;

    recording, with the camera, a recorded picture of the space illuminated by the vertical laser beams;

    generating an extracted line by extracting, from the recorded picture, image data representing a line formed by the vertical laser beams being reflected against objects located within the space;

    comparing the image data of the extracted line of the recorded picture with image data of a previously extracted line of at least one previously recorded picture;

    generating an adjusted extracted line by adjusting the extracted line on the basis of the comparison by using dead reckoning; and

    creating, from the adjusted extracted line, a representation of the illuminated space along the projected laser beams, and an estimate of a position of the robot in relation to the illuminated space.

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