| 摘要 |
A system and a method for positioning an autonomous mobile unit for docking, wherein a slot-shaped light beam which stands perpendicular to the drive surface of the unit is provided, which beam is emitted by a docking device, and position-sensitive detectors for this light beam are present on the unit, these being arranged parallel to the drive surface of the unit. With the aid of the light beam and of the detectors, the precise rotation (beta) of the unit relative to the docking device can be determined, whereby the unit learns its approximate configuration in space by means of ultrasound or odometry measurements. With this guidance, the unit can dock very precisely at a docking device in order to be able to take on goods or to drive into a garage, for example. Position-sensitive detectors, or photodiodes are provided as receptors for the light beam. The present invention preferably can be used in household robots or in industrial cleaning robots.
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