TWI409605B - Electronic apparatus capable of automatic location and moving, and automatic homing method for moving element thereof - Google Patents

Electronic apparatus capable of automatic location and moving, and automatic homing method for moving element thereof Download PDF

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Publication number
TWI409605B
TWI409605B TW99123158A TW99123158A TWI409605B TW I409605 B TWI409605 B TW I409605B TW 99123158 A TW99123158 A TW 99123158A TW 99123158 A TW99123158 A TW 99123158A TW I409605 B TWI409605 B TW I409605B
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TW
Taiwan
Prior art keywords
distance
portion
identification
moving
base
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Application number
TW99123158A
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Chinese (zh)
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TW201202880A (en
Inventor
Chih Feng Lai
zhi jia Chen
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Qisda Corp
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Publication date
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Priority to TW99123158A priority Critical patent/TWI409605B/en
Publication of TW201202880A publication Critical patent/TW201202880A/en
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Publication of TWI409605B publication Critical patent/TWI409605B/en

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Abstract

An electronic apparatus capable of automatic location and moving is provided. The electronic apparatus includes a base and a moving element. The base has a first recognizable part, a second recognizable part and a third recognizable part. The first recognizable part and the second recognizable part are located at a same reference plane. The third recognizable part is located outside the reference plane and between the first recognizable part and the second recognizable part. The moving element has an image capture device for capturing images of the base. Moving paths for the moving element are calculated according to relative positions of the first recognizable part, the second recognizable part and the third recognizable part of each image captured by the image capture device. The moving element returns to the base according to the moving paths. Moreover, an automatic homing method for the moving element is also provided.

Description

Method for automatically locating a moving electronic device and automatically homing its moving parts

The present invention relates to an electronic device having a moving member and a base, and more particularly to a method for automatically positioning a moving electronic device and automatically homing the moving member.

With the development of technology, smart electronic products are increasingly being introduced, making human life more convenient. For example, the sweeping robot can perform cleaning work and can be automatically started even at a set time, so that the convenience of human life can be improved.

The sweeping robot includes a base and a moving member. The moving parts can be moved around for cleaning, and the base can be used to charge the moving parts. When the power of the moving parts is insufficient, the moving parts will automatically return to the base for charging. Therefore, how to make the moving parts accurately recognize the relative position between the moving parts and the base, so that the moving parts return to the base will be an important technology of such intelligent electronic products.

The invention provides an electronic device capable of automatically locating a movement, the moving part of which can be automatically and automatically returned.

The present invention further provides a method for automatically displacing a moving member so that the moving member can be automatically and automatically returned.

In order to achieve the above advantages, the present invention provides an electronic device capable of automatically positioning and moving, including a base and a moving member. The pedestal has a first identification portion, a second identification portion, and a third identification portion. The first identification part and the second identification part are located on the same reference plane, and the third identification part is located between the first identification part and the second identification part and is located outside the reference plane. The moving component has an image capturing component for capturing an image of the pedestal, wherein the moving component is based on a relative position of the first identifying part, the second identifying part and the third identifying part in each image captured by the image capturing component To calculate the movement path to move to the base.

In an embodiment of the invention, the connection between the first identification unit, the second identification unit and the third identification unit forms an isosceles triangle, and the third identification unit is located at an apex angle of the isosceles triangle.

In an embodiment of the invention, the pedestal has a concave surface that is concave from the reference plane, and the third identification portion is disposed on the concave surface.

In an embodiment of the invention, the distance from the third identification portion to the bottom surface of the base is equal to the distance from the image capturing member to the bottom surface of the moving member.

In an embodiment of the invention, the distance between the first identifying portion and the bottom surface of the base is equal to the distance between the second identifying portion and the bottom surface of the base, and the distance between the first identifying portion and the bottom surface of the base is not equal to the first The distance between the three identification parts and the bottom surface of the base.

In an embodiment of the invention, the first identification unit, the second identification unit and the third identification unit respectively comprise at least one light-emitting element or an identification pattern.

In an embodiment of the invention, the center line of view of the image capturing element is perpendicular to the reference plane.

In an embodiment of the invention, the base has a first engaging portion, and the moving member has a second engaging portion, and the moving member is adapted to move toward the base to engage the first engaging portion with the second engaging portion. The parts are joined.

The invention further provides a method for automatically homing a moving member, which is suitable for the above-mentioned electronic device capable of automatically locating and moving. The method for automatically displacing the moving parts is to first capture the image of the pedestal by the image capturing component, and then according to the relative positions of the first identifying part, the second identifying part and the third identifying part in each image. The movement path is calculated to move the moving member to the base.

In an embodiment of the invention, the connection between the first identification part, the second identification part and the third identification part forms an isosceles triangle, and the third identification part is located at an apex angle of the isosceles triangle, first a first spacing exists between the identification portion and the second identification portion, and a second spacing is stored between the third identification portion and the reference plane, and the first identification portion and the second identification portion of each image are located on the first line. The third identification portion is located on a second straight line perpendicular to the first straight line. The method for calculating a movement path to move the moving member to the pedestal includes: calculating a first distance between the first identification portion and the second line in each image and between the second identification portion and the second line a second distance; calculating an angle between the third line passing through the image capturing element and the third identifying portion and the reference plane according to the first distance, the second distance, the first spacing, and the second spacing; according to the first distance, the second The distance and the angle are used to calculate the moving path to move the moving member to the central position, wherein when the moving member is at the central position, the first distance in the image captured by the image capturing element is equal to the second distance, and the angle is equal to 90 And moving the moving member along a linear path perpendicular to the reference plane to the pedestal.

In an embodiment of the invention, the step of moving the moving member along the linear path perpendicular to the reference plane to the base further comprises calculating the distance between the moving member and the base.

In an embodiment of the present invention, the distance between the third identification portion and the bottom surface of the base is equal to the distance between the image capturing member and the bottom surface of the moving member, and the method for calculating the distance between the moving member and the base is, for example, When the moving component is at the central position, calculating a third distance between the third identifying portion of the image captured by the image capturing component and the first straight line, and multiplying the third distance by the preset coefficient to calculate the moving component The distance from the base.

In an embodiment of the invention, the method for obtaining the preset coefficient comprises: positioning the moving member at a central position and separating the moving member from the base by a fourth distance; and causing the image capturing component to capture the image The shortest distance between the third identification portion and the first straight line is a fifth distance; and the fourth distance is divided by the fifth distance to obtain a preset coefficient.

In the method for automatically locating the moving electronic device and automatically homing the moving member of the present invention, since the third identification portion is outside the reference plane where the first identification portion and the second identification portion are located, it is advantageous for the moving member. The movement path is calculated according to the relative positions of the first identification portion, the second identification portion, and the third identification portion to accurately move to the pedestal.

The above and other objects, features and advantages of the present invention will become more <RTIgt;

1 is a schematic diagram of an electronic device capable of automatically locating a movement according to an embodiment of the invention. Referring to FIG. 1 , the electronic device 100 capable of automatically positioning and moving in this embodiment may be a sweeping robot or an entertainment device, etc., but is not limited thereto. The electronic device 100 capable of automatically positioning the movement includes a base 110 and a moving member 120. The susceptor 110 has a first identification portion 112, a second identification portion 114, and a third identification portion 116. The first identification part 112 and the second identification part 114 are located on the same reference plane P, and the third identification part 116 is located between the first identification part 112 and the second identification part 114 and outside the reference plane P. The moving member 120 has an image capturing component 122 for capturing an image of the susceptor 110. The moving member 120 calculates a moving path based on the relative positions of the first identifying portion, the second identifying portion, and the third identifying portion in each image captured by the image capturing device 122 to move to the susceptor 110.

In the present embodiment, the susceptor 110 has, for example, a concave surface 111 recessed from the reference plane P, and the third identification portion 116 is disposed on the concave surface 111 such that the third identification portion 116 is located outside the reference plane P. The center line C of the viewing angle θ of the image capturing element 122 is, for example, perpendicular to the reference plane P. That is, the viewing angle center line C of the image capturing element 122 is parallel to the normal vector of the reference plane P. In addition, the connection between the first identification unit 112, the second identification unit 114, and the third identification unit 116 is, for example, an isosceles triangle T, and the third identification unit 116 is located at the vertex of the isosceles triangle. Therefore, the distance between the first identification portion 112 and the third identification portion 116 is equal to the distance between the second identification portion 114 and the third identification portion 116, which is advantageous for calculating the movement path. In addition, the distance between the first identification portion 112 and the bottom surface 113 of the susceptor 110 is, for example, equal to the distance between the second identification portion 114 and the bottom surface 113 of the susceptor 110, and the distance between the first identification portion 112 and the bottom surface 113 of the susceptor 110 is, for example, It is not equal to the distance from the third identification portion 116 to the bottom surface 113 of the susceptor 110. In this way, it is not only advantageous to distinguish the first identification part 112, the second identification part 114 and the third identification part 116, but also prevent the third identification part 116 and the first identification part 112 from appearing in some captured images. The case where the two identification sections 114 overlap.

The first identification unit 112, the second identification unit 114, and the third identification unit 116 may be light-emitting elements or identification patterns for distinguishing the relative positions of the first identification unit 112, the second identification unit 114, and the third identification unit 116. . The illuminating element can be a visible light illuminating element, an infrared light illuminating element or other suitable illuminating element. In another embodiment, the light-emitting elements or the identification patterns of the first identification part 112, the second identification part 114, and the third identification part 116 may include a plurality, and each of the first identification part 112 and the second identification part 114 and The light-emitting elements or the identification patterns of the third identification unit 116 are oriented in different directions, so that the image capturing unit 122 captures the images of the first identification unit 112, the second identification unit 114, and the third identification unit 116.

A method of how to automatically homing the above-described moving member 120 will be described in detail below.

2 is a flow chart of a method for automatically moving a moving member according to an embodiment of the present invention, and FIG. 3 is a schematic diagram of a moving object captured by an electronic device capable of automatically positioning and moving according to an embodiment of the present invention, and FIG. 4 is a schematic diagram of FIG. A schematic diagram of an image captured by the moving member of FIG. Referring to FIG. 2 to FIG. 4, the method for automatically homing the moving member in the embodiment is as shown in step S110, and the image M of the susceptor 110 is continuously captured by the image capturing component 122 of the moving component 120. That is, an image M is captured by the image capturing component 122 every predetermined period of time (e.g., a few seconds).

Next, as shown in step S120, the moving path is calculated according to the relative positions of the first identifying portion 112', the second identifying portion 114', and the third identifying portion 116' in each image M, so that the moving member 120 is moved to Base 110. In more detail, a first pitch V1 exists between the first identifying portion 112 and the second identifying portion 114, and a second pitch V2 exists between the third identifying portion 116 and the reference plane P, and the number in each image M An identification portion 112' and the second identification portion 114' are located on the first straight line L1, and the third identification portion 116' is located on the second straight line L2 perpendicular to the first straight line L1. The method for calculating the movement path to move the moving member 120 to the base 110 is, for example, first calculating the first distance D1 and the second identification between the first identification portion 112' and the second line L2 in each image M. A second distance D2 between the portion 114' and the second line L2.

Next, an angle ω between the third straight line L3 passing through the image capturing element 122 and the third identifying portion 116 and the reference plane P is calculated according to the first distance D1, the second distance D2, the first pitch V1, and the second pitch V2. More specifically, as shown in FIG. 5, in the calculation, the fourth straight line L4 may be regarded as a parallel third straight line L3, and the third straight line L3 and the fourth straight line L4 may be perpendicular to the image M, respectively. Since the third straight line L3 and the fourth straight line L4 are parallel to each other, and the first distance D1 and the second distance D2 are known, the distance E1 and the distance E2 can be calculated according to the first distance D1 and the second distance D2. The distance E1 is equal to the first distance V1, and the distance from the third identification portion 116 to the first identification portion 112 is equal to the distance between the third identification portion 116 and the second identification portion 114. Therefore, the distance E3 is equal to (V1/2). )-E1. Further, since the distance E3 and the second pitch V2 are known, the angle ω can be calculated. In this manner, the movement path can be calculated based on the first distance D1, the second distance D2, and the angle ω to move the moving member 120 to the center position. The central position referred to herein is that when the moving member 120 is located at the central position, the first distance D1 in the image M captured by the image capturing element 122 is equal to the second distance D2, the angle ω is equal to 90 degrees, and the third The straight line L3 overlaps the angle of view center line C.

It should be noted that during the movement of the moving member 120, the image capturing component 122 still captures an image M for each predetermined period of time for correcting the moving path. Further, after the moving member 120 is moved to the center position, the moving member 120 is then moved to the susceptor 110 along a linear path perpendicular to the reference plane P.

In an embodiment, the distance between the moving member 120 and the base 110 may be calculated before the moving member 120 is moved to the base 110 along a linear path perpendicular to the reference plane P, and then moved according to the calculated distance. The member 120 moves along a linear path perpendicular to the reference plane P to return to the pedestal 110. In an embodiment in which the distance from the third identification portion 116 to the bottom surface 113 of the susceptor 110 is equal to the distance between the image capturing member 122 and the bottom surface 121 of the moving member 120, the method of calculating the distance between the moving member and the pedestal is, for example, When the moving member 120 is at the center position, the image capturing component 122 captures the image M (as shown in FIG. 6), and calculates the third identification portion 116' of the captured image M between the third identifying portion 116' and the first straight line L1. The third distance D3 is multiplied by the third distance D3 by a preset coefficient to calculate the distance between the moving member 120 and the base 110.

The preset coefficient is set in the electronic device 100 capable of automatically positioning and moving after the manufacturing is completed. Referring to FIG. 7 and FIG. 8, the method for obtaining the preset coefficient is, for example, first placing the moving member 120 at a central position and separating the moving member 120 from the base 110 by a fourth distance D4. Next, the shortest distance between the third identification portion 116' and the first straight line L1 in the image M captured by the image capturing element 122 is the fifth distance D5. Thereafter, the fourth distance D4 is divided by the fifth distance D5 to obtain a preset coefficient.

Figure 9 is a schematic illustration of the return of the moving member to the base in another embodiment of the present invention. Referring to FIG. 9 , the base 110 has, for example, a first engaging portion 118 , and the moving member 120 has, for example, a second engaging portion 124 , and moves to the first engaging portion 118 and the second when the moving member 120 moves toward the base 110 . When the engaging portions 124 are engaged, the moving member 120 stops moving. The first joint portion 118 and the second joint portion 124 may be charging terminals to enable the base 110 to pass through the first joint portion 118 and the second joint portion 124 to charge the rechargeable battery in the moving member 120. However, the present invention does not limit the first joint portion 118 and the second joint portion 124 to be charging terminals. The first engaging portion 118 and the second engaging portion 124 may also be interfitting engaging portions or matching holes and pins, but not limited thereto.

In the above, in the method for automatically locating the moving electronic device 100 and automatically homing the moving member, the third identifying portion 116 is located in the first identifying portion 112 and the second identifying portion 114. The reference plane P is located outside, so that the moving member 120 can calculate the moving path according to the relative positions of the first identifying portion 112, the second identifying portion 114 and the third identifying portion 116 to accurately move to the base 110.

Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the invention, and it is intended to be a part of the invention. The scope of protection of the present invention is therefore defined by the scope of the appended claims.

100. . . Automatic positioning of mobile electronic devices

110. . . Pedestal

111. . . Concave surface

112. . . First identification unit

112’. . . First identification part in the image

113, 121. . . Bottom

114. . . Second identification unit

114’. . . Second identification part in the image

116. . . Third identification department

116’. . . Third identification part in the image

118. . . First joint

120. . . Moving parts

122. . . Image capture component

124. . . Second joint

C. . . Perspective centerline

D1. . . First distance

D2. . . Second distance

D3. . . Third distance

D4. . . Fourth distance

D5. . . Fifth distance

E1, E2, E3. . . distance

L1. . . First straight line

L2. . . Second straight line

L3. . . Third straight line

L4. . . Fourth straight line

M. . . image

P. . . Reference plane

T. . . Isosceles triangle

V1. . . First spacing

V2. . . Second spacing

θ. . . Perspective

ω. . . Angle

S110, S120. . . step

1 is a schematic diagram of an electronic device capable of automatically locating a movement according to an embodiment of the invention.

2 is a flow chart of a method for automatically moving a moving member in accordance with an embodiment of the present invention.

FIG. 3 is a schematic diagram of a moving object captured by an electronic device capable of automatically positioning and moving according to an embodiment of the present invention.

4 is a schematic diagram of an image captured by the moving member of FIG. 3.

FIG. 5 is a schematic diagram of calculating an angle between a third straight line and a reference plane in an embodiment of the present invention.

Figure 6 is a schematic illustration of an image captured by a moving member at a central location in accordance with an embodiment of the present invention.

FIG. 7 is a schematic diagram showing the relative positions of the moving member and the base when the preset coefficient is set according to an embodiment of the present invention.

FIG. 8 is a schematic diagram of an image captured by a moving member when a preset coefficient is set according to an embodiment of the present invention.

Fig. 9 is a schematic view showing a state in which a moving member is returned to a base in an embodiment of the present invention.

100. . . Automatic positioning of mobile electronic devices

110. . . Pedestal

111. . . Concave surface

112. . . First identification unit

113. . . Bottom

114. . . Second identification unit

116. . . Third identification department

120. . . Moving parts

121. . . Bottom

122. . . Image capture component

C. . . Perspective centerline

P. . . Reference plane

T. . . Isosceles triangle

θ. . . Perspective

Claims (12)

  1. An electronic device capable of automatically locating a movement, comprising: a pedestal having a first identification portion, a second identification portion and a third identification portion, wherein the first identification portion and the second identification portion are located on a same reference plane The third identification portion is located between the first identification portion and the second identification portion and located outside the reference plane, wherein the base has a concave surface concave from the reference plane, and the third identification portion is disposed And a moving member having an image capturing component for capturing an image of the pedestal, wherein the moving component is the first identifying portion of each image captured by the image capturing component And a relative position of the second identification part and the third identification part calculates a movement path to move to the base.
  2. The electronic device capable of automatically locating and moving according to the first aspect of the invention, wherein the first identification portion, the connection between the second identification portion and the third identification portion form an isosceles triangle, and the The three identification portions are located at a top corner of the isosceles triangle.
  3. The electronic device capable of automatically locating the movement according to the first aspect of the invention, wherein the distance from the third identification portion to the bottom surface of the base is equal to the distance from the image capturing member to a bottom surface of the moving member.
  4. The electronic device capable of automatically locating the movement according to the first aspect of the invention, wherein the distance from the first identification portion to the bottom surface of the base is equal to the distance from the second identification portion to the bottom surface of the base, and The distance from the first identification portion to the bottom surface of the base is not equal to the distance from the third identification portion to the bottom surface of the base.
  5. The electronic device capable of automatically locating the movement according to the first aspect of the invention, wherein the first identification portion, the second identification portion and the third identification portion respectively comprise at least one light-emitting element or an identification pattern.
  6. Electronic equipment capable of automatically positioning and moving as described in claim 1 The center line of the viewing angle of one of the image capturing elements is perpendicular to the reference plane.
  7. The electronic device capable of automatically positioning and moving as described in claim 1, wherein the base has a first engaging portion, and the moving member has a second engaging portion, and the moving member is adapted to approach the base The direction of the seat is moved to engage the first engaging portion with the second engaging portion.
  8. A method for automatically locating a moving part, which is applicable to an electronic device capable of automatically locating and moving according to claim 1, wherein the first identification part, the second identification part and the third identification part are The connecting line forms an isosceles triangle, and the third identifying portion is located at a top corner of the isosceles triangle. The method includes: continuously capturing an image of the base by the image capturing component; The first identification portion, the relative position of the second identification portion and the third identification portion calculate a movement path to move the moving member to the base.
  9. The method for automatically homing a moving member according to the eighth aspect of the invention, wherein a first spacing exists between the first identifying portion and the second identifying portion, and the third identifying portion is between the reference portion and the reference plane Storing a second spacing, the first identifying portion and the second identifying portion in each image are located on a first line, and the third identifying portion is located on a second line perpendicular to the first line, and calculating the movement a method for moving the moving member to the base: calculating a first distance between the first identifying portion and the second line in each image, and the second identifying portion and the second straight line a second distance between the first distance, the second distance, the first spacing, and the second spacing, and a third line passing through the image capturing component and the third identifying portion and the reference plane An angle between the two; the movement path is calculated according to the first distance, the second distance, and the angle to move the moving member to a central position, wherein the moving member is located at the center Positioning, the first distance in the image captured by the image capturing component is equal to the second distance, and the angle is equal to 90 degrees; and moving the moving member along a straight path perpendicular to the reference plane to The pedestal.
  10. The method for automatically homing a moving member according to claim 9, wherein the moving member is further configured to calculate the moving member and the base before moving the linear path perpendicular to the reference plane to the base. the distance between.
  11. The method for automatically homing a moving member according to claim 10, wherein a distance from the third identifying portion to a bottom surface of the base is equal to a distance from the image capturing member to a bottom surface of the moving member, The method for calculating the distance between the moving component and the base includes: calculating the third identifying portion of the image captured by the image capturing component and the first straight line when the moving component is located at the central position A third distance between the third distance is multiplied by a predetermined coefficient to calculate a distance between the moving member and the base.
  12. The method for automatically homing a moving member according to claim 11, wherein the method for obtaining the preset coefficient comprises: positioning the moving member at the central position and separating the moving member from the base by a fourth a distance between the third identification portion and the first line in the image captured by the image capturing component is a fifth distance; and dividing the fourth distance by the fifth distance To get the preset coefficient.
TW99123158A 2010-07-14 2010-07-14 Electronic apparatus capable of automatic location and moving, and automatic homing method for moving element thereof TWI409605B (en)

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TW99123158A TWI409605B (en) 2010-07-14 2010-07-14 Electronic apparatus capable of automatic location and moving, and automatic homing method for moving element thereof

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TWI409605B true TWI409605B (en) 2013-09-21

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Citations (6)

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Publication number Priority date Publication date Assignee Title
US4933864A (en) * 1988-10-04 1990-06-12 Transitions Research Corporation Mobile robot navigation employing ceiling light fixtures
TW542739B (en) * 2001-05-25 2003-07-21 Interlego Ag System for transmitting and receiving information about the orientation of a robot and information about the distance between the system and a robot
US6957712B2 (en) * 2001-04-18 2005-10-25 Samsung Gwangju Electronics Co., Ltd. Robot cleaner, system employing the same and method for re-connecting to external recharging device
TW200736871A (en) * 2006-03-28 2007-10-01 Univ Nat Chiao Tung Mark-assisted positioning system and method
EP1706797B1 (en) * 2004-01-21 2008-07-02 IRobot Corporation Method of docking an autonomous robot
US7684894B2 (en) * 2003-03-14 2010-03-23 Panasonic Electric Works Co., Ltd. Autonomously moving robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4933864A (en) * 1988-10-04 1990-06-12 Transitions Research Corporation Mobile robot navigation employing ceiling light fixtures
US6957712B2 (en) * 2001-04-18 2005-10-25 Samsung Gwangju Electronics Co., Ltd. Robot cleaner, system employing the same and method for re-connecting to external recharging device
TW542739B (en) * 2001-05-25 2003-07-21 Interlego Ag System for transmitting and receiving information about the orientation of a robot and information about the distance between the system and a robot
US7684894B2 (en) * 2003-03-14 2010-03-23 Panasonic Electric Works Co., Ltd. Autonomously moving robot
EP1706797B1 (en) * 2004-01-21 2008-07-02 IRobot Corporation Method of docking an autonomous robot
TW200736871A (en) * 2006-03-28 2007-10-01 Univ Nat Chiao Tung Mark-assisted positioning system and method

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