MOBILE ROBOT HAVING SELF-CONTAINED NAVIGATION SYSTEM (VERSIONS) Russian patent published in 2012 - IPC B25J5/00 

FIELD: physics, robotics.

SUBSTANCE: invention relates to robotics. The mobile robot has a self-contained navigation system for movement in an environment with navigation marker elements, a platform, thee wheels, three wheel prongs mounted on the platform, wherein the wheel prong of the third wheel is a 'royal' type prong, two electric motors, a power supply unit and an on-board computer network. When using navigation marker elements in form of light-emitting beacons installed on the bearing surface, the self-contained navigation system is configured to carry out circular scanning of space, and the on-board computer network is configured to collect and process data from turning angle sensors and rotation speed sensors of the first and second wheels and generating and transmitting control signals to the electric motors of the first and second wheels. When using navigation marker elements in form of light-contrast strips on the bearing surface, the self-contained navigation system is configured to determine deviation of the projection of middle point of the front edge of the robot platform onto the bearing surface from the midline of the light-contrast strip and deviation of the longitudinal axis of the robot platform from the tangent to the midline of the light-contrast strip at said point.

EFFECT: high manoeuvrability of the mobile robot.

8 cl, 11 dwg