Alexander D. Kleiner,Nikolai Romanov,Frederic D. Hook
申请号：
US14799319
公开号：
US10379172B2
申请日:
2015.07.14
申请国别(地区):
US
年份:
2019
代理人:
摘要：
A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.
