System and method for guiding heading of a mobile robotic device

摘要

The present invention introduces a method for guiding or directing the heading of a mobile robotic device. A light pattern is projected from a light emitting unit disposed on a robotic device. The angle of the plane of the projection of the light pattern with respect to a heading of the robotic device is preset, but may be any angle as desired by a manufacturer or operator. A camera positioned in a plane parallel to the plane of the light pattern projection captures images of the projected light pattern on surfaces substantially opposite the light emitting unit. Images are processed to check for reflection symmetry about a vertical centerline of the images. Upon detecting an image that does not have reflection symmetry, the robotic device turns to adjust its heading with relation to the surfaces in the environment on which the light pattern is projected. Turning amounts and directions are provided to the controller and may be based on analysis of the last image captured.