US 5,682,313 AGranted

Method for localization of beacons for an autonomous device

AssigneeAktiebolaget Electrolux

InventorsLeif Edlund, Rolf Berlin, Charles R. Davidsson

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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.

Claims10

Dependent claims

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.

3 more elements

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.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 08/465,328Filed 5 Jun 1995
Priority: SE 94019436 Jun 1994
Granted: 28 Oct 1997
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

A47L 11/4061
Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles,…: steering…
G01S 11/16
Systems for determining distance or velocity not using reflection or reradiation: using difference in transit time between electrical and acoustic…
G01S 13/876
Combinations of radar systems, e.g. primary radar and secondary radar: combination of several spaced transponders or reflectors of known location…
G05D 1/0234
Using optical position detecting means: using optical markers or beacons