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Method for determining the position of a self-propelled device

A technology of automatic movement and equipment, applied in two-dimensional position/course control, positioning, vehicle position/route/altitude control, etc., can solve the problems of positioning contribution, low mass weighting, etc., and achieve the effect of increasing the quantity

Active Publication Date: 2012-08-01
VORWERK & CO INTERHOLDING GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Impossible particles thus get low weighting and make it almost impossible to contribute to the localization

Method used

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  • Method for determining the position of a self-propelled device
  • Method for determining the position of a self-propelled device
  • Method for determining the position of a self-propelled device

Examples

Experimental program
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Embodiment Construction

[0021] first with the help of figure 1 The device 1 is shown and described in the form of a vacuuming and / or sweeping machine, further in the form of an autonomously mobile household vacuuming robot. The device has a chassis, the underside of which faces the floor 2 to be cleaned, with motorized travel wheels 3 and likewise motorized brushes which preferably protrude beyond the lower edge of the underside of the chassis. The device cover 4 is snapped onto the chassis, the device having a circular plan view. With regard to the design of the device 1 as a vacuum and / or sweeper, see, for example, DE 10 242 257 A1 cited at the outset.

[0022] Furthermore, although not shown, the device 1 has a suction opening as an addition or alternative to the brush. In this case, an electric fan motor is additionally provided in the device 1 .

[0023] The electrical components of the device 1 are supplied by means of rechargeable accumulators, not shown, for example, the electric motors fo...

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Abstract

The invention relates to a method for determining the position of a self-propelled device. The device preferably comprises an electric movable wheel and also an obstacle recognition unit. An assumed first position of the device is calculated in advance, then a lot of possible positions and orientations (particles 6) are further calculated, and after the device moves correspondingly, by a measurement result of an optical unit, one of the generated particles is assumed as a new location of the device based on the occupied second position, according to the predetermined probability-considered selection algorithm. Particles are evaluated such that a large expansion of a computed particle cloud is supported at a first coordinate axis of a coordinate system. A deviation of the particles is detected along a direction of a second coordinate axis. The particles are collectively projected into the first coordinate axis, so that detected particle distribution with a distribution curve is supported. A maximum of the distribution curve is evaluated as approximation of an actual position of the apparatus.

Description

technical field [0001] The invention relates to a method for determining the position of an automatically movable device, in particular an automatically movable floor dust collection device, preferably with motorized travel wheels, wherein the device has an optical transmitter and receiver unit Obstacle detection device in which, starting from a precalculated assumed first position of the device, a further number of possible positions and orientations (mass points) are further calculated and, after a corresponding movement of the device, is based on the second position occupied at the time by means of the measurement results of the optical unit One of the previously generated mass points is assumed as the new position of the device according to a predefined selection algorithm which takes into account the probability. Background technique [0002] Methods of this type are known, for example, in connection with self-moving vacuuming and / or cleaning devices for cleaning floors...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/06G05D1/02
CPCG01S17/42G01S17/936G05D1/0238G05D1/0274G01S5/0278G01S5/16G01S17/931
Inventor A·索尔瓦尔德M·瓦尔梅耶
Owner VORWERK & CO INTERHOLDING GMBH
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