US 4,119,900 A · Method and system for the automatic orientation and control of a robot

Abstract

The present method and system for the automatic orientation and control of a robot in a space or on a surface to be worked by the robot, for example an area to be vacuum-cleaned or a lawn to be mowed, employs a plurality of distance measuring devices, which continuously and repeatedly measure distances from the robot to points or small surface areas defining the surface to be worked. Electro-optical distance measuring devices are effective in a far range. Electro-acoustical distance measuring devices are effective in a close range. Electro and/or mechanical means are effective in a contact range. The distance measuring devices continuously ascertain scalar values which by means of data processing are transformed into digital control signals for the drive means and for the tools carried by the robot, whereby the robot plans its own driving and working strategies as the result of said continuous distance measurements. The drive means include wheels which constitute simultaneously digitally controllable drive motors for the robot. The wheels are tiltable about vertical axes for steering the robot.

Claims39

Dependent claims

A method for automatically orienting and controlling a robot system in a space for performing work on a defined surface in said space as a result of said orientation, said robot system travelling on said surface, comprising measuring scalar values on all sides of the system representing said surface or space, supplying said scalar values to data processing means including mathematical models and performing mathematical transformations to produce characteristic data for said surface or space which characteristic data geometrically define said surface or space, to provide a basis for said orienting, processing said characteristic data with the aid of a mathematical optimization model to form operation instructions for said robot system, said operation instructions comprising a sequence of steps for moving and working, and supplying said operation instructions to said robot system, said scalar values being ascertained predominantly during the orientation and/or working.

A robot system including work performing means for working a defined surface comprising:

(a) first means (E1) including distance measuring means, data reduction means and adapter means, second means (E2) including computer means operatively connected to said first means, third means (E3) including memory means, fourth means (E4) including further computer means, said third and fourth means being operatively connected to said second means for cooperation therewith;
(b) fifth means (E5) including additional computer means operatively connected to the first, second, third and fourth means for complex cooperation therewith, sixth means (E6) including control means and data processing means operatively connected to said fifth means, seventh means (E7) including electronic power means and electronic control means operatively connected to said fifth means;
(c) eighth means (E8) including drive means and respective position indicator means operatively connected to said fifth means for supplying angular steering data to said fifth means;
(d) ninth means (E9) operatively connected to the said first through eighth means including self-checking means for continuously checking the operational status of the system, and self-charging means operatively connected to said self-checking means, said ninth means further including means for an operator responsive overriding remote control operation, and
(e) a plurality of battery means and power supply means operatively connected to said work performing means.

2 more elements

Dependencies are inferred from the claim text.

Method and system for the automatic orientation and control of a robot

Life of this patent

Method and system for the automatic orientation and control of a robot

Life of this patent

Abstract

Claims39