초록 ▼

An opto/acoustic navigation system allows a mobile robot to detect and mate with a floating plug-equipped charging unit upon detection of the need for recharging of the robot\s storage battery. A plurality of infrared (IR) emitters and sensors located on the robot and adjacent to the charger in comb

An opto/acoustic navigation system allows a mobile robot to detect and mate with a floating plug-equipped charging unit upon detection of the need for recharging of the robot\s storage battery. A plurality of infrared (IR) emitters and sensors located on the robot and adjacent to the charger in combination with the robot\s acoustic sensors allow the robot to locate the charger, move to within a predetermined distance of the charger, maneuver to a position directly in front of the charger, and then back into engagement with the charger\s floating plug.

대표청구항 ▼

In a mobile robot having a rechargeable storage battery, a method for guiding said robot to a charger positioned adjacent to a wall following detection of a low charge state in said storage battery, said method comprising: transmitting from the robot a first narrow beam infrared (IR) signal in a 360

In a mobile robot having a rechargeable storage battery, a method for guiding said robot to a charger positioned adjacent to a wall following detection of a low charge state in said storage battery, said method comprising: transmitting from the robot a first narrow beam infrared (IR) signal in a 360°scan about the robot; detecting said first IR signal at the charger and transmitting a second generally omnidirectional IR signal from the charger in response to receipt of said first IR signal thereat; detecting said second IR signal at the robot and displacing said robot in a generally linear first direction toward the charger until the robot is within a predetermined distance from the charger; displacing the robot in a generally circular second direction when the robot is within said predetermined distance from the charger, wherein said second direction is initially transverse to said first direction and the charger is positioned at the center of the robot\s circular displacement path; transmitting a third narrow beam IR signal from the robot in the direction of the charger during the circular displacement thereof; reflecting said third IR signal back to the robot when the robot is positioned directly in front of the charger; detecting the reflected third IR signal at the robot when the robot is positioned directly in front of the charger; displacing the robot in a third linear direction generally transverse to said second direction and toward the charger following detection of the reflected third IR signal at the robot to permit the robot to engage the charger for the recharging of its storate battery wherein the steps of transmitting the first and third IR signals includes directing the first and third IR signals through a generally vertically oriented narrow slot in a lateral portion of the robot.