CN104025796B - Vehicle fitting - Google Patents
Vehicle fitting Download PDFInfo
- Publication number
- CN104025796B CN104025796B CN201410077000.1A CN201410077000A CN104025796B CN 104025796 B CN104025796 B CN 104025796B CN 201410077000 A CN201410077000 A CN 201410077000A CN 104025796 B CN104025796 B CN 104025796B
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- China
- Prior art keywords
- working face
- analysis
- reflecting properties
- plane
- independent equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 244000025254 Cannabis sativa Species 0.000 claims abstract description 4
- 238000004458 analytical method Methods 0.000 claims description 40
- 238000005259 measurement Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000005670 electromagnetic radiation Effects 0.000 description 7
- 238000001228 spectrum Methods 0.000 description 7
- 230000005855 radiation Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 235000019738 Limestone Nutrition 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 238000009408 flooring Methods 0.000 description 2
- -1 lawn Substances 0.000 description 2
- 239000006028 limestone Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- 238000005211 surface analysis Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000306 recurrent effect Effects 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2201/00—Features of devices classified in G01N21/00
- G01N2201/02—Mechanical
- G01N2201/021—Special mounting in general
- G01N2201/0216—Vehicle borne
Abstract
Working face is at least used for the present invention is based on a kind of（14）Processing independent equipment（12）Vehicle fitting（10）, it is especially used for independent grass trimmer, there is at least one sensor unit（18）, set for detecting the working face（14）At least reflecting properties.It herein proposes, the sensor unit（18）With at least one plane of reference（20）And it sets and is used for while detecting the working face（14）With the plane of reference（20）At least reflecting properties.
Description
Background technique
A kind of vehicle fitting at least for the independent equipment of the processing of working face is proposed, especially for independently cutting
Careless machine has at least one sensor unit, sets at least reflecting properties for detecting the working face.
Summary of the invention
The present invention is based on a kind of vehicle fittings at least for the independent equipment of the processing of working face, especially for independent
Grass trimmer has at least one sensor unit, sets at least reflecting properties for detecting the working face.
It herein proposes, the sensor unit, which has at least one plane of reference and sets, to be used for while detecting the work
At least reflecting properties in face and the plane of reference." independent equipment " should be especially interpreted as to a kind of device, setting is used for,
At least partially automatically complete at least one work.Especially the independent equipment setting is for automatically beginning to work, ending automatically
Work and/or automatically select at least one parameter.Especially the parameter designing is section parameter and/or recurrent point.Especially should
Independent equipment setting is for leaving working face and especially processing work face.For example, it can be set to independent equipment for sweep,
Suction and/or cleaning face.Especially independent equipment setting is for gathering in the lawn being located on working face and/or being located at
Meadow on working face.It is different herein to be as significant corresponding independent equipment for those skilled in that art
It is contemplated that, such as automatic sweeping machine, automatic cleaner or automatic swimming pond cleaner.Alternatively, in addition for this field
It is contemplated that for interior technical staff as significant corresponding independent equipment.Especially independent equipment is by automatic mower
It is formed." working face " should be especially interpreted as to a face, limit working region.It especially should be by " sensor unit "
It is interpreted as a unit comprising at least one sending module and at least one receiving module.Especially " it should will send mould
Block " is interpreted as the unit for generating and/or issuing electromagnetic radiation.Especially " receiving module " should be interpreted as a list
Member is used to receive the electromagnetism that the sum issued by sending module is reflected by least one face especially working face and/or the plane of reference
Radiation.Especially vehicle fitting has at least one analysis and processing unit, and setting handles the reflection at least detected for analysis
Performance." analysis and processing unit " should be especially interpreted as to the unit at least one analysis processing electronic device.
Especially analysis and processing unit setting is for analyzing processing by the received electromagnetic radiation of receiving module." it should will especially divide
Analysis processing electronic device " is interpreted as a unit comprising processor unit, storage unit and stores in the memory unit
Run program.It especially should be by wording：" analysis and processing unit setting handles the reflecting properties at least detected for analysis " reason
Solution is that analysis and processing unit setting is at least compared and/or based on by establishing at least one by the reflecting properties using detection
Calculate at least one characteristic variable.Especially " plane of reference " should be interpreted as the face with known parameters.It is set with particular reference to face
It is fixed to be used at least for obtaining at least one fiducial value especially by analysis and processing unit.Especially fiducial value is designed as instead
Penetrate performance.Such as the plane of reference can have known reflecting properties, wherein fiducial value is designed as known reflecting properties.Especially
Plane of reference setting is for detecting especially for measuring especially unknown reflecting properties, and wherein fiducial value is designed as the spy of detection
It is not unknown reflecting properties.The especially wavelength that " reflecting properties " in one face should be especially interpreted as to the face has
The reflectance of pass, incident electromagnetic radiation of the face at least one wavelength of electromagnetic radiation.Especially it is different face difference
Specifically there are for corresponding face the reflecting properties of feature with one.Such as different faces can be designed as water, lawn, stone
Lime stone, the road surface paved, the forest in autumn, sandy beach and/or new snow, wherein water, lawn, lime stone, the road surface paved, Qiu Zhisen
Woods, sandy beach and/or new snow are respectively provided with the reflecting properties different from the reflecting properties of other faces of feature.Especially analysis is handled
Unit is set for distinguishing different faces according to its different reflecting properties.Especially " reflectance " should be interpreted as electromagnetism spoke
Ratio between the energy density of the reflection and incidence penetrated." setting " should be especially interpreted as technically programming, design and/
Or it is equipped with." setting the object for determining function " should be especially interpreted as to the object at least one application and/or fortune
Meet and/or realize the determination function under row state.
By the design scheme according to the invention of vehicle fitting can advantageously according to the physical boundary of working face by
The working face robustly, at low cost and is reliably identified in reflecting properties.It is possible thereby to advantageously ensure that the complete of working face
Full processing.Furthermore can advantageously with known solution so far --- wherein limit work by means of acquisition conducting wire
Face --- comparison in save acquisition conducting wire and therefore reduce for user installation cost.
Moreover, it is proposed that vehicle fitting has at least one chassis, the plane of reference is arranged on the chassis.Especially join
It examines face and chassis is the component of two separate designs, they are especially connected with each other in the assembled condition.Alternatively separated in one
The plane of reference of ground and chassis design is it is contemplated that chassis itself at least partially constitutes the plane of reference.Alternatively in the plane of reference on chassis
On setting, in addition be apparently used as the setting of the significant plane of reference also, it is contemplated that example for those skilled in that art
As the plane of reference can be set on sensor unit and/or in." chassis " should be especially interpreted as to a kind of vehicle frame and/or spy
It is not the vehicle body of independent equipment.The especially chassis at least bearing part that includes independent equipment.Especially chassis is established in function
Component is for example such as the connection between knife and/or the processing unit and actuator such as wheel of reaping hook.It especially should be by wording " ginseng
Face " setting " is examined on chassis " it is interpreted as the plane of reference and is especially directly and/or indirectly fixed on chassis.Especially sensor list
Member is arranged on chassis under at least one operating status.Especially should by wording " sensor unit at least one operation
It is arranged on chassis under state " to be interpreted as sensor unit especially directly and/or indirectly solid under at least one operating status
It is scheduled on chassis.It is possible thereby to be beneficial to help safely be arranged in the visual field of sensor unit the plane of reference safety and
Accurately detect reflecting properties.
Furthermore it proposes, the analysis and processing unit setting is for by means of the reference surface analysis at least environment light.Especially
It is wording " the analysis and processing unit setting is for by means of the reference surface analysis at least environment light " to be interpreted as institute
Analysis and processing unit setting is stated for analyzing processing by at least spectrum of the received environment light of sensor unit and/or according to spectrum
Conspicuousness check at least environment light.The spectrum of environment light should be especially interpreted as to the especially wavelength of the feature of environment light
Related composition.The spectrum of especially environment light illustrates the phase of the wavelength for accordingly including in environment light and/or wave-length coverage
To frequency.The conspicuousness of spectrum should be especially interpreted as at least one wavelength and/or wavelength model in the spectrum of environment light
One enclosed is especially high and/or low parts compared to white light and/or daylight and different from representative condition.Such as spectrum
Conspicuousness can occur in sunset clouds and/or jungle.It is possible thereby to advantageously accurately divide under each type of environment light
Analyse working face.Furthermore the illumination of working face can be advantageously dispensed with, so as to the related spectrum analysis of implementation environment light, thus
Low cost, low-complexity and the low-power consumption of sensor unit may be implemented.
Moreover, it is proposed that analysis and processing unit setting is used for, the working face is obtained extremely according at least described reflecting properties
A few working face boundary.Especially analysis and processing unit setting is in order to compare on the working face boundary for obtaining the working face
Such as at least one phase of the reflecting properties of the measurement of working face and/or the face adjacent with working face such as roof and the working face
The reflecting properties of prestige.The especially described analysis and processing unit setting is used for, in order to obtain work described in the working face feature modeling
Make at least vigor characteristic variable in face" the working face boundary " of working face should especially be managed
Solution is the boundary line of the side of working face." the vigor characteristic variable " of working face should be especially interpreted as to a kind of feature change
Amount, according to this feature variable on the especially lawn of the working face by life and abiotic working face especially cement flooring, people
At least one differentiation between trade, rock and/or stone is possible.It is possible thereby to advantageously accurately acquire working face side
Boundary.
Moreover, it is proposed that the sensor unit have at least another plane of reference, have it is different from the plane of reference
The reflecting properties known.Especially another plane of reference is arranged on chassis.It is possible thereby to environment light is advantageously analyzed with high precision,
It is possible thereby to be advantageously carried out the accurate acquisition on working face boundary.
Vehicle fitting according to the invention should not necessarily be limited by above-mentioned application and form of implementation herein.Especially in accordance with the present invention
Vehicle fitting can be mentioned herein to realize that functional mode described in it can have with each element, component and unit
And the different quantity of quantity.
Detailed description of the invention
Other advantage illustrates from the following drawings.One embodiment the invention is shown in the accompanying drawings.Attached drawing is said
Bright and claim includes multiple combined features.Each feature is advantageously also considered as list for those skilled in that art
It is only and meaningfully further summarize in combination.
Wherein：
Fig. 1：With vehicle fitting according to the invention according to this hair at one and its in the side view of signal that simplifies
Bright independent equipment；
Fig. 2：The image that the sensor unit by vehicle fitting of working face is detected and/or obtained；And
Fig. 3：The view of the reflecting properties on vegetation especially lawn, wherein having recorded according to electromagnetic radiation as waves
Long reflectance.
Specific embodiment
Fig. 1 shows independent equipment 12 according to the invention, is designed as grass trimmer, including independent equipment 12 according to this
The vehicle fitting 10 of invention.The independent setting of equipment 12 is used for processing work face 14, is designed as lawn surface.Independent equipment 12 is set
For by means of 10 automatic identification of vehicle fitting and processing work face 14.The vehicle fitting 10 of independent equipment 12 has chassis 16
And four wheels 28, they are arranged on chassis 16.Only shown in four wheels 28 two and only one be equipped with it is attached
Icon note.Vehicle fitting 10 has sensor unit 18, is arranged on chassis 16 under a kind of operating status and sets use
In the reflecting properties of detection working face 14.Sensor unit 18 includes sensor element 34 in the present embodiment, is designed as taking the photograph
Camera.Alternatively, the other embodiment party that meaning is appeared to have for those skilled in that art of sensor element 34
Case is admissible.Chassis 16 is especially independent equipment 12 and moves along moving direction 30, which is basically parallel to work
Make face（14）Orientation.Direction of the direction of visual lines of sensor unit 18 generally toward the moving direction 30 on chassis 16.It regards herein
Line be substantially perpendicular at one working face 14 covered by chassis 16 region orientation plane in moving direction 30 at
One angle in substantially+50 ° to -20 ° of range.Alternatively, sensor unit 18 is other for skill in the art
It is admissible that the sight of meaning is appeared to have for art personnel.Sensor unit 18 is detected from the observation being arranged along sight
The electromagnetic radiation in region 32.The viewing area 32 checked by sensor unit 18 is including chassis 16 about moving direction 30 preceding
The subregion in face and the subregion of working face 14 being located at before chassis 16 about moving direction 30（Referring to Fig. 2）.
Sensor unit 18 has the plane of reference 20 with known reflecting properties.Furthermore there are two the tools of sensor unit 18
The other plane of reference 26, they are respectively provided with the known reflecting properties different from the plane of reference 20.Alternatively, in addition for this
Seem that the meaningful number of plane of reference 20,26 is admissible in field for technical staff.The other plane of reference 26
And the plane of reference 20 is separately positioned in chassis 16.The other plane of reference 26 and the plane of reference 20 are separately positioned on sensor herein
In the viewing area 32 of unit 18.
The setting of sensor unit 18 is used for, while detecting the reflecting properties of working face 14 and the corresponding plane of reference 20,26.For
The reflecting properties vehicle fitting 10 of analysis processing detection has analysis and processing unit 22.In the present embodiment, analysis processing is single
Member 22 is arranged in the region of sensor unit 18.Alternatively analysis and processing unit 22 can be set on chassis 16.At analysis
The reason setting of unit 22 is used for, and the automatic processing of working face 14 is realized according to reflecting properties.Furthermore the setting of analysis and processing unit 22 is used
According to the motor of reflecting properties control driving wheel 28 and therefore along the direction mobile chassis 16 of moving direction 30.
In the method for running vehicle fitting 10 according to the invention analysis and processing unit 22 by referring to face 20,
26 analysis environment light.Analysis and processing unit 22 is by means of filtering out environment light to work according to the analysis of 20,26 pairs of environment light of the plane of reference
Make the influence of the reflecting properties in face 14.Fig. 3 shows the view of the reflecting properties on vegetation especially lawn, wherein having recorded basis
The reflectance of electromagnetic radiation wavelength.Wave-length coverage 36 indicates blue light.Wave of the reflecting properties of vegetation in the substantially green light of 550nm
There is local reflex maximum value in long range 38.It can have for example to detect the reflection maximum sensor unit 18
Bayer pattern.Furthermore there is the reflecting properties of vegetation the strong reflection from the substantially wavelength of 700nm to rise.This is corresponded to red
Transition between the wave-length coverage 40 and near-infrared radiation wave-length coverage 42 of light.Rise sensor unit 18 to detect the reflection
It can have such as spectral sensitivity in the transitional region of the wave-length coverage 40,42 in feux rouges and near-infrared radiation.
Analysis and processing unit 22 obtains the working face boundary 24 of working face 14 according to reflecting properties.In order to obtain working face 14
24 analysis and processing unit 22 of working face boundary using should it is assumed that i.e. environment light be constant in viewing area 32.Hereinafter divide
Analysis processing unit 22 is for the pixel x that provides --- it indicates the point of working face 14 provided --- for corresponding wavelength μ table
Show reflectance px(μ).Reflectance px(μ)The ratio of the incident optical power of the optical power and working face 14 of reflection as pixel x produces
It is raw.In order to obtain 24 analysis and processing unit 22 of working face boundary of working face 14 compare working face 14 measurement reflecting properties with
The desired reflecting properties of working face 14.
Analysis and processing unit 22 in order to obtain working face boundary 24 calculate working face 14 vigor characteristic variable.It analyzes thus
Processing unit 22 uses each reflectance p of respective wavelength μx(μ).Such as it can be by means of red light wavelength μrotReflectance
px(rot) and near-infrared radiation wavelength μNIRThe reflectance p of skillx(NIR)Calculate vegetation standard deviation index NDVI.Respective pixel x's
NDVI is according to formula NDVIx=(px(NIR)·px(rot)/px(NIR)+px(rot)) generate.Vigor characteristic variable is designed as NDVI.
It may infer that the probability of vegetation according to the NDVI of corresponding pixel x.Furthermore the work about vegetation is inferred according to NDVI
The conclusion of power.The vigor of vegetation and the reflectance in the transitional region of feux rouges and the wave-length coverage 40,42 of near-infrared radiation
Rise association.The so strong of reflectance is not shown in other surfaces material such as cement flooring, pavement, rock and/or stone
Strong difference.The situation is applied in independent equipment 12, will pass through the working face boundary 24 of spectral matching factor working face 14.
Alternatively or additionally it is contemplated that calculating other indexes, such as it is known as " Simple Ratio Index "（SRI）
Index.It is also contemplated that instead of wave-length coverage 40,42 transitional region use wave-length coverage 36,38, wave-length coverage 38,
40 difference in reflection and/or the local-reference maximum value at substantially 550nm in wave-length coverage 38.By means of calculating analysis processing
Unit 22 obtains the image shown in figure 2 of working face 14 in viewing area 32.
Claims (8)
1. the independent equipment (12) that one kind is used for processing work face (14), which is characterized in that the independent equipment has：
At least one sensor unit (18) is set for detecting at least reflecting properties of the working face (14) and having
At least one plane of reference (20) with known reflecting properties；With
At least one analysis and processing unit (22)；
Wherein, the sensor unit (18) setting is used for while detecting the anti-of the working face (14) and the plane of reference (20)
Penetrate performance；And
At least one analysis and processing unit (22) setting is for analyzing at least one environment by means of the plane of reference (20)
Light and in the case where considering influence of the environment light to the reflecting properties of working face analysis handle the anti-of working face detected
Penetrate performance.
2. independent equipment according to claim 1, it is characterised in that at least one chassis (16), the plane of reference (20) set
It sets on the chassis.
3. independent equipment according to claim 1, which is characterized in that the analysis and processing unit setting is used for, according to institute
State at least one working face boundary that reflecting properties obtain the working face.
4. independent equipment according to claim 3, which is characterized in that analysis and processing unit (22) setting is used for, and is
The reflecting properties of the measurement of working face boundary (24) working face (14) of the acquisition working face (14) with it is described
The desired reflecting properties of working face (14).
5. independent equipment according to claim 3, which is characterized in that analysis and processing unit (22) setting is used for, and is
The acquisition working face boundary (24) calculates at least one vigor characteristic variable of the working face (14).
6. independent equipment according to one of the above claims, which is characterized in that the sensor unit (18) has extremely
Few another plane of reference (26), has the known reflecting properties different from the plane of reference (20).
7. independent equipment according to one of claims 1 to 5, which is characterized in that the independent equipment is independent grass trimmer.
8. it is a kind of for run according to claim 1 to one of 7 independent equipment method.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013203707.4A DE102013203707B4 (en) | 2013-03-05 | 2013-03-05 | Vehicle device |
| DE102013203707.4 | 2013-03-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104025796A CN104025796A (en) | 2014-09-10 |
| CN104025796B true CN104025796B (en) | 2018-11-27 |
Family
ID=51385474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410077000.1A Active CN104025796B (en) | 2013-03-05 | 2014-03-04 | Vehicle fitting |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN104025796B (en) |
| DE (1) | DE102013203707B4 (en) |
| FR (1) | FR3002825B1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9820433B2 (en) | 2012-12-28 | 2017-11-21 | Positec Power Tools (Suzhou Co., Ltd.) | Auto mowing system |
| CN105557175B (en) * | 2014-10-10 | 2018-09-21 | 苏州宝时得电动工具有限公司 | Intelligent grass-removing and its control method |
| US10609862B2 (en) * | 2014-09-23 | 2020-04-07 | Positec Technology (China) Co., Ltd. | Self-moving robot |
| WO2016098040A1 (en) * | 2014-12-17 | 2016-06-23 | Husqvarna Ab | Robotic vehicle with automatic camera calibration capability |
| DE102015222414A1 (en) * | 2015-11-13 | 2017-05-18 | Robert Bosch Gmbh | Autonomous working device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101135911A (en) * | 2007-09-21 | 2008-03-05 | 浙江大学 | Grass cutter intelligence control system |
| CN102227612A (en) * | 2008-10-24 | 2011-10-26 | 格瑞股份公司 | Control and systems for autonomously driven vehicles |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004048400A1 (en) * | 2004-10-01 | 2006-04-06 | Robert Bosch Gmbh | Method for detecting an optical structure |
| DE102005013365A1 (en) * | 2005-03-23 | 2006-09-28 | Wolf-Garten Ag | Measuring device and method for soil surface analysis for lawn care robots |
| US8868237B2 (en) | 2006-03-17 | 2014-10-21 | Irobot Corporation | Robot confinement |
| NL1033591C2 (en) | 2007-03-26 | 2008-09-29 | Maasland Nv | Unmanned vehicle for moving manure. |
| DE102010022159A1 (en) | 2010-05-20 | 2011-11-24 | Leuze Electronic Gmbh + Co. Kg | Optical sensor |
-
2013
- 2013-03-05 DE DE102013203707.4A patent/DE102013203707B4/en active Active
-
2014
- 2014-03-04 FR FR1451736A patent/FR3002825B1/en active Active
- 2014-03-04 CN CN201410077000.1A patent/CN104025796B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101135911A (en) * | 2007-09-21 | 2008-03-05 | 浙江大学 | Grass cutter intelligence control system |
| CN102227612A (en) * | 2008-10-24 | 2011-10-26 | 格瑞股份公司 | Control and systems for autonomously driven vehicles |
Also Published As
| Publication number | Publication date |
|---|---|
| FR3002825A1 (en) | 2014-09-12 |
| FR3002825B1 (en) | 2019-05-31 |
| DE102013203707B4 (en) | 2024-03-07 |
| CN104025796A (en) | 2014-09-10 |
| DE102013203707A1 (en) | 2014-09-11 |
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