MODE OF DEFINITION OF A SPATIAL POSITION AND AN ANGULAR ORIENTATION OF THE TROLLEY OF A TRANSPORT VEHICLE Russian patent published in 2007 - IPC G01C21/04 

FIELD: the invention refers to robotics and designated for definition of spatial position on the all three Cartesian coordinates and an angular orientation at its displacement along the surfaces close to horizontal for example along the floor coverings of manufacturing facilities.

SUBSTANCE: This information is necessary for identification of the position and the angular orientation of a robot. The mode is in installation of three static beacons on an area with the in parallel to the plane of prescribed absolute Cartesian system of coordinates in which two axles are directed in parallel to the plane of displacement of the trolley and one axle is perpendicular to it. Their centers with the known absolute coordinates are located in the plane of displacement of the trolley, on the trolley a local Cartesian system of coordinates with a center which is on the given height in relation to the flat surface is chosen and three sensors are installed on the trolley. The angles of declination relatively to the local plane of displacement of the trolley and the angles of the turn relatively to this plane of position of the beacons are defined, after that approximate absolute coordinates of the center of the trolley are calculated and the turning angle around the vertical axle at assumption that the sensors are located in the center of the trolley and then at initial approximation the refined absolute coordinates of the center of the trolley and the angles of the turn of the trolley around three axles are defined by the way of iterative numeric solution of the system of equations.

EFFECT: provides possibility of automated refinement of the spatial position on the all three Cartesian coordinates and the angle orientation on the all three possible directions of rotation around the axles of the trolley of a mobile robot.

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