Method and system for determining the position of a mobile device with respect to a stationary device, especially a robot dust collector battery powered with respect to a battery charger.

摘要

Procedure for determining the position and optionally the so derived therefrom to set a path of at least one mobile device, especially a dust collector powered self-propelled battery, with respect to a stationary apparatus, particularly a battery charger robot with the use of broadcast signals transmitted by the stationary apparatus with a transmission characteristic rotating at least once, and with use of a reference signal emitted by the stationary apparatus, with respect to which is fixed the position of the transmission signals mentioned, being known in the mobile device the relationship between the orientation of the signals individual emission and the reference signal and determining in the mobile apparatus position relative to the stationary unit from the time difference between the time of signal reception rotating transmission with maximum field strength and the emission the reference signal, characterized in that the mobile appliance (RO) one idle signal as an ultrasound signal (US) to the stationary apparatus (BS), because the stationary apparatus is emitted first (BS) is then output as reference signal a light signal omnidirectional (GL) extending over the entire rotating transmission characteristic at the reception of the respective ultrasonic signal (US) after a period of time set in the reception of the ultrasonic signal ( US) mentioned, because by the stationary apparatus (BS) then individual light signals (EL) are output in a sequence temporarily set as transmission signals with the rotating transmission characteristic after a fixed period of time in the emission of the respective signal omnidirectional light (GL) and that from the time difference between transmission of the ultrasound signal (US) by the mobile appliance (RO) and the reception ng the light signal omnidirectional (GL) in the mobile appliance (RO) the distance of the mobile appliance (RO) is determined with respect to the stationary apparatus (BS) and from the time difference between the light signal omnidirectional (GL) received in the mobile device (RO) and individual light signal (for example L11) then received in the mobile appliance (RO) with maximum intensity of individual light signals (EL) emitted correspondingly to the rotating transmission characteristic is determines the position (angular position) of the mobile appliance (RO) with respect to the stationary apparatus (BS) with consideration of the known relationship between the orientation of individual light signals (EL) and the omnidirectional light signal (GL).