The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 11, 1999
Filed:
Sep. 25, 1997
Applicant:
Inventor:
Yuichi Kawakami, Itami, JP;
Assignee:
Minolta Co., Ltd, Osaka, JP;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B64C / ;
U.S. Cl.
CPC ...
318587 ; 31856811 ; 31856812 ;
Abstract
When a running vehicle moves backward and a right back portion of the robot, which is one end of it touches a wall, the robot is rotated to the left until a left back portion of the robot touches the wall. The angle of rotation .beta. at this time is measured and the value .beta./2 is represented by .alpha.. The robot is rotated to the right by the angle .beta.-.alpha.. Therefore, the robot is positioned perpendicular to the wall. Thereafter, the robot is moved backward until the back portion of the robot touches the wall. As a result, an apparatus for positioning the running robot relative to the wall is provided.