최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
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출원번호 | US-0415554 (2009-03-31) |
등록번호 | US-8594840 (2013-11-26) |
발명자 / 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
|
인용정보 | 피인용 횟수 : 48 인용 특허 : 654 |
An autonomous robot system including a transmitter disposed within a working area and a mobile robot operating within the working area. The transmitter includes an emitter for emitting at least one signal onto a remote surface above the working area. The mobile robot includes a robot body, a drive s
An autonomous robot system including a transmitter disposed within a working area and a mobile robot operating within the working area. The transmitter includes an emitter for emitting at least one signal onto a remote surface above the working area. The mobile robot includes a robot body, a drive system configured to maneuver the robot over a surface within the working area, and a navigation system in communication with the drive system. The navigation system includes a receiver responsive to the emitted signal as reflected off of the remote surface and a processor connected to the receiver and configured to determine a relative location of the robot within the working area in response to the receiver responding to the reflected signal.
1. An autonomous robot system comprising: a transmitter disposed within a working area and comprising first and second emitters for emitting respective first and second signals onto a ceiling above the working area; anda mobile robot moving within the working area relative to the transmitter, the mo
1. An autonomous robot system comprising: a transmitter disposed within a working area and comprising first and second emitters for emitting respective first and second signals onto a ceiling above the working area; anda mobile robot moving within the working area relative to the transmitter, the mobile robot comprising: a robot body;a drive system disposed on the robot body and configured to maneuver the robot over a surface within the working area; anda navigation system in communication with the drive system, the navigation system comprising: a receiver responsive to reflections of the first and second emitted signals from the ceiling; anda processor connected to the receiver and configured to determine a relative location of the robot within the working area in response to the receiver responding to the reflections of the first and second emitted signals;wherein the first and second emitted signals are directable onto the ceiling. 2. The autonomous robot system of claim 1, wherein the first and second emitted signals are directed toward the ceiling at an angle of about 30 degrees with respect to each other. 3. The autonomous robot system of claim 1, wherein the transmitter further comprises a collimator for focusing and directing the emitted signals. 4. The autonomous robot system of claim 1, wherein the first and second emitted signals each comprise a coded signal having a code as a unique identifier, the processor configured to identify the coded signal from the respective code. 5. The autonomous robot system of claim 4, wherein each emitted signal is modulated at about 10 kHz. 6. The autonomous robot system of claim 4, wherein the transmitter pulses the coded emitted signals according to a transmission cycle, the transmission cycle comprising: emitting the first coded signal and then stopping emission of the first coded signal;delaying transmission;emitting the second coded signal and then stopping emission of the second coded signal;and then delaying transmission. 7. The autonomous robot system of claim 6, wherein the transmission cycle further comprises emitting a synchronization signal prior to emitting the first coded signal. 8. The autonomous robot system of claim 6, wherein the transmission cycle further comprises emitting an end signal after emission of each coded signal and preceding each transmission delay. 9. The autonomous robot system of claim 1, wherein the receiver comprises a plurality of discrete photodiodes arranged angularly spaced adjacent to one another and substantially in a plane. 10. The autonomous robot system of claim 1, wherein the navigation system is configured to maneuver the robot according to a heading, and when only one of the emitted signals is detected by the receiver, the navigation system altering the heading to substantially coincide with detected signal at least until the other signal is detected by the receiver. 11. The autonomous robot system of claim 1, wherein when only one of the emitted signals is detected by the receiver, the navigation system is configured to maneuver the robot about the working area until the other signal is detected by the receiver. 12. The autonomous robot system of claim 1, wherein the receiver is configured to measure an amount of infrared energy present in a space about the robot and set a threshold energy value, and any subsequent energy measurements by the receiver above the threshold energy value triggering an event in the navigation system. 13. The autonomous robot system of claim 1, wherein the processor is configured to determine an azimuth angle of each received signal based at least in part on a ratio of signal amplitude values, wherein the signal amplitude values used in determining the azimuth angle comprises the two strongest signal amplitude values among the photodiodes. 14. The autonomous robot system of claim 1, wherein the processor is configured to determine an azimuth angle and elevation of the first and second signals on the ceiling based on the received reflected signals, the processor determining a location of the robot within the working area based on the azimuth angle and elevation of the respective first and second signals. 15. The autonomous robot system of claim 1, wherein the processor is configured to store the azimuth angle and elevation of the respective first and second signals in memory and produce a map of the working area based on the stored azimuth angle and elevation of the respective first and second signals. 16. The autonomous robot system of claim 1, further comprising: an obstacle sensor in communication with the navigation system and responsive to obstacles adjacent the robot, the navigation system configured to maneuver the robot based at least in part on an obstacle detection signal received from the obstacle sensor and indicating presence of an adjacent obstacle. 17. The autonomous robot system of claim 16, wherein the obstacle sensor comprises a bump sensor. 18. The autonomous robot system of claim 16, wherein the processor is configured to produce a map of working area based at least in part on an obstacle detection signal received from the obstacle sensor, the navigation system configured to maneuver the robot about the working area with the aid of the map to avoid mapped obstacles. 19. The autonomous robot system of claim 18, wherein the processor is configured to create a map of the working area based on the relative locations of the robot as the robot maneuvers about the working area. 20. The autonomous robot system of claim 16, wherein the robot further comprises: a floor cleaner disposed on the robot body; anda dirt sensor in communication with the navigation system, the navigation system maneuvering the robot at least in part in response to a signal from the dirt sensor, wherein the navigation system is configured to associate dirt location information within the working area with a received dirt sensor signal, the navigation system maneuvering the robot at least in part in response to the dirt location information.
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