Patent US3072809A successfully refreshed from Google Patents.
Patent EP0247014A2 successfully refreshed from Google Patents.
EP0247014A2
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Position sensing system for a moving object
Assignee: Electrolux AB
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Filing: 1987-05-18
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Granted: —
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Expires: 2007-05-18
Abstract
Abstract In an electrooptic position sensing system for an object (11) moving in a plane at least one light source (10) is fixedly disposed such that the radiation field of the light source covers the area within which the object (11) is intended to move. The object, for instance being a mobile robot, is provided with a matrix (18) of light-sensitive elements intended to receive radiation from the light source (10). A lens arrangement (12) focuses the incident radiation to a light spot on the matrix (18) which then emits corresponding electric signals. Means (20,21) are arranged to sense the matrix (18) to determine the position of the light spot from the element which most unambiguously reacts on the incident radiation. Further, means (24) are provided to calculate the coordinates of the position of the moving object in the plane of movement from the position of the most heavily reacting element.
Inventors
- 👤 Carl Gustav Öhman
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-26 22:30
CPC Classifications
G; G01; G01S; G01S3/00; G01S3/78; G01S3/782; G01S3/783; G01S3/784; G01S5/00; G01S5/16
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
201 words
Electrooptic position system for an object (11) moving in a plane, preferably a mobile robot, at least one light source (10) being fixedly mounted and arranged to emit light which is received by a light receiver disposed on the object via a lens arrangement (12), means (24) being provided for calculating the position of the object in relation to the light source, characterized in that the light source (10) is arranged such that the radiation field of the source covers the complete area within which the object is intended to move and that the light receiver comprises a matrix (18) of radiation-sensitive elements, the lens arrangement (12) focusing incident light from the light source to a light spot on the matrix, those of the elements thus illuminated responding by emitting corresponding electric signals, means (20,21) being provided for sensing the matrix (18) to determine the position of the light spot from the element which most unambiguously reacts on the incident light, said means (24) for calculating the position of the object being arranged to calculate the coordinates of the position of the object (11) in the plane of movement from the position of said unambiguously reacting element in the matrix (18).
Claim 2
Dependent Claim
201 words
Electrooptic position system for an object (11) moving in a plane, preferably a mobile robot, at least one light source (10) being fixedly mounted and arranged to emit light which is received by a light receiver disposed on the object via a lens arrangement (12), means (24) being provided for calculating the position of the object in relation to the light source, characterized in that the light source (10) is arranged such that the radiation field of the source covers the complete area within which the object is intended to move and that the light receiver comprises a matrix (18) of radiation-sensitive elements, the lens arrangement (12) focusing incident light from the light source to a light spot on the matrix, those of the elements thus illuminated responding by emitting corresponding electric signals, means (20,21) being provided for sensing the matrix (18) to determine the position of the light spot from the element which most unambiguously reacts on the incident light, said means (24) for calculating the position of the object being arranged to calculate the coordinates of the position of the object (11) in the plane of movement from the position of said unambiguously reacting element in the matrix (18).
Claim 3
Dependent Claim
38 words
System according to Claim 1, characterized in that the plane of movement is the floor in a room in which the light source (10) is disposed in or at a distance from the ceiling (13) of the room.
Claim 4
Dependent Claim
22 words
System according to Claim 1 or Claim 2, characterized in that the light source (10) is a light-emitting diode of the IR-type.
Claim 5
Dependent Claim
19 words
System according to any of the preceding claims, characterized in that the matrix (18) of light-sensitive elements is CCD-array.
Claim 6
Dependent Claim
25 words
System according to any of the preceding claims, characterized in that the means (24) for calculating the position coordinates of the object is a microcomputer.
Claim 7
Dependent Claim
77 words
System according to any of the preceding claims, characterized in that the means (24) for calculating the position coordinates of the object are arranged to present these in the polar form, means being provided which during the movement of the object in a predetermined direction repeatedly compares each value of the polar angle A coordinate with the immediately preceding value in order to detect and correct a possible turning of the object relative to the predetermined direction.
Claim 8
Dependent Claim
122 words
System according to Claim 1, characterized in that the plane of movement of the object is situated in a room or the like having a ceiling (13), the matrix (18) of the light-sensitive elements being arranged to receive radiation from several light sources (L1,L2,L3) disposed in the room, the system comprising storing means for storing of the image (A1,A2,A3) on the matrix caused by the light sources when the object is in a reference position and further means which during the movement of the object in the plane of movement is arranged to compare each instantaneous image (B1,B2,B3) of the light sources on the matrix with the image (A1,A2,A3) initially stored and from the comparison determine the instantaneous position of the object.
Claim 9
Dependent Claim
65 words
System according to Claim 7, characterized in that it comprises means arranged to compare the instantaneous image (B1,B2,B3) of the light sources (L1,L2,L3) with the image (A1,A2,A3) initially stored by displacement and turning of the instantaneous image into agreement with the image initially stored, means being arranged to determine the instantaneous position of the object from the required distance of displacement and turning angle, respectively.
Claim 10
Dependent Claim
23 words
System according to Claim 7 or Claim 8, characterized in that the light sources are those intended for the lighting of the room.
References Cited (Backward Citations)
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