Free ranging robot for movement in two=dimensional space

摘要

A free ranging robot unit has a wheel mounted chassis (12). Mounted on top of the carriage, an optical navigation head has a periscope type rotary reflector (28) mounted on a tube (24). The reflector is set at an angle such that a transmitter (46) or receiver (46) can communicate vertically through the tube with a beam deflection through 90 degrees. Optical beams are directed to an reflected back from reference pillars positioned at space boundary points. Information is interpreted to generate movement commands.