US6463368B1
Expired / Lapsed
US
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Method and device for determining a path around a defined reference position
Assignee: Siemens AG
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Filing: 1999-07-01
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Granted: 2002-10-08
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Expires: 2019-07-01
Abstract
Abstract A path is determined in the following iterative way: An arcuate path around the reference position having a predetermined spacing is determined step-by-step. The existence of an obstacle along the arcuate path is checked. The arcuate path is lengthened as long as no obstacle is found. When an obstacle is found, the spacing is enlarged by a prescribable value and the method is continued in a new iteration with the enlarged spacing.
Inventors
- 👤 Wendelin Feiten
- 👤 Jörg Illmann
- 👤 Werner Neubauer
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 22:48
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0227; G05D1/0268; G05D1/0274; A; A47; A47L; A47L2201/00; A47L2201/04
Claims Analysis
Total Claims: 27
Claim 1
Independent Claim
82 words
A method for computer-supported determination of a path in a proximity of a predetermined reference position, comprising the iteratively repeated steps of: determining step-by-step an arcuate path in a proximity of said reference position having a predetermined spacing; checking for an existence of an obstacle along said arcuate path; lengthening said arcuate path if no obstacle is found; enlarging said spacing, when an obstacle is found, by a prescribable value; and continuing said method in a new iteration with said enlarged spacing.
Claim 2
Independent Claim
82 words
A method for computer-supported determination of a path in a proximity of a predetermined reference position, comprising the iteratively repeated steps of: determining step-by-step an arcuate path in a proximity of said reference position having a predetermined spacing; checking for an existence of an obstacle along said arcuate path; lengthening said arcuate path if no obstacle is found; enlarging said spacing, when an obstacle is found, by a prescribable value; and continuing said method in a new iteration with said enlarged spacing.
Claim 3
Dependent Claim
28 words
The method according to claim 1 , further comprising the steps of: storing an electronic map of said path; and entering every identified obstacle into said electronic map.
Claim 4
Dependent Claim
20 words
The method according to claim 2 , wherein said map describes an identified path in the form of a progression.
Claim 5
Dependent Claim
79 words
The method according to claim 1 , further comprising the steps of: checking, in every iteration after detecting an obstacle, as to whether an already-contained path that is already contained in an identified path would be determined given a shortening of an interval; determining an increased-interval path with an increased interval if said determined path is already contained; and determining a shortened-interval path with a shortened interval if said determination path is not already contained in a new iteration.
Claim 6
Dependent Claim
17 words
The method according to claim 1 , wherein said obstacle is a wall of said determined path.
Claim 7
Dependent Claim
25 words
The method according to claim 1 , further comprising the step of determining an obstacle path along said obstacle given a lengthening of an interval.
Claim 8
Dependent Claim
15 words
The method according to claim 1 , wherein said reference position is an electrical terminal.
Claim 9
Dependent Claim
19 words
The method according to claim 7 , further comprising the step of: steering an arrangement along an identified path.
Claim 10
Dependent Claim
19 words
The method according to claim 8 , wherein said arrangement is connected to said electrical terminal via a cable.
Claim 11
Dependent Claim
26 words
The method according to claim 9 , wherein said cable length is designed to be variable and an interval is determined based on said cable length.
Claim 12
Dependent Claim
11 words
A robot that utilizes the method according to claim 8 .
Claim 13
Dependent Claim
12 words
A vacuum cleaner that utilizes the method according to claim 8 .
Claim 14
Dependent Claim
94 words
An arrangement for determining a path in a proximity of a predetermined reference position, comprising: a processor that is configured to implement the following steps in an iterative manner: determining step-by-step an arcuate path in a proximity of said reference position having a predetermined spacing; checking for an existence of an obstacle along the arcuate path is checked; lengthening said arcuate path if no obstacle is found; enlarging said spacing, when an obstacle is found, by a prescribable value; and implementing a continuation of said steps in a new iteration with said enlarged spacing.
Claim 15
Dependent Claim
94 words
An arrangement for determining a path in a proximity of a predetermined reference position, comprising: a processor that is configured to implement the following steps in an iterative manner: determining step-by-step an arcuate path in a proximity of said reference position having a predetermined spacing; checking for an existence of an obstacle along the arcuate path is checked; lengthening said arcuate path if no obstacle is found; enlarging said spacing, when an obstacle is found, by a prescribable value; and implementing a continuation of said steps in a new iteration with said enlarged spacing.
Claim 16
Dependent Claim
15 words
The arrangement according to claim 13 comprising at least one sensor for determining an obstacle.
Claim 17
Dependent Claim
29 words
The arrangement according to claim 13 , comprising a memory in which an electronic map of a path can be stored, every identified obstacle being entered within said map.
Claim 18
Dependent Claim
26 words
The arrangement according to claim 15 , wherein said processor is configured to implement said map describing an identified path in a form of a progression.
Claim 19
Dependent Claim
80 words
The arrangement according to claim 13 wherein said processor is configured to: check, in every iteration after detecting an obstacle, as to whether an already contained path that is already contained in an identified path would be determined given a shortening of an interval; determine an increased-interval path with an increased interval if said determined path is already contained; and determine a shortened-interval path with a shortened interval if said determination path is not already contained in a new iteration.
Claim 20
Dependent Claim
17 words
The arrangement according to claim 13 , wherein said obstacle is a wall of said identified path.
Claim 21
Dependent Claim
24 words
The arrangement according to claim 13 wherein said processor is configured to determine a path along an obstacle given a lengthening of an interval.
Claim 22
Dependent Claim
15 words
The arrangement according to claim 13 , wherein said reference position is an electrical terminal.
Claim 23
Dependent Claim
22 words
The arrangement according to claim 20 , further comprising a steering mechanism with which said arrangement is steered along an identified path.
Claim 24
Dependent Claim
21 words
The arrangement according to claim 21 , further comprising a cable by which said arrangement is connected to said electrical terminal.
Claim 25
Dependent Claim
25 words
The arrangement according to claim 22 , wherein said cable length is designed variable and said interval can be determined based on said cable length.
Claim 26
Dependent Claim
13 words
The arrangement according to claim 21 , wherein said arrangement is a robot.
Claim 27
Dependent Claim
13 words
The arrangement according claim 21 , wherein said arrangement is a vacuum cleaner.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-10-07 | 2006-04-08 | 2006-10-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-10-07 | 2010-04-08 | 2010-10-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-10-07 | 2014-04-08 | 2014-10-08 | $7700.00 | Window Closed / Lapsed |