JP2012094123A - 自律走行作業車の制御装置 - Google Patents
自律走行作業車の制御装置 Download PDFInfo
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- JP2012094123A JP2012094123A JP2011204501A JP2011204501A JP2012094123A JP 2012094123 A JP2012094123 A JP 2012094123A JP 2011204501 A JP2011204501 A JP 2011204501A JP 2011204501 A JP2011204501 A JP 2011204501A JP 2012094123 A JP2012094123 A JP 2012094123A
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- 238000001514 detection method Methods 0.000 claims description 31
- 230000005484 gravity Effects 0.000 claims description 5
- 230000005389 magnetism Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 38
- 230000000694 effects Effects 0.000 description 20
- 238000010586 diagram Methods 0.000 description 19
- 230000005856 abnormality Effects 0.000 description 5
- 238000005070 sampling Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 229910000859 α-Fe Inorganic materials 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
【解決手段】原動機(電動モータ)と、原動機に接続される駆動輪と、作業機(ブレード)とを備え、走行予定領域を原動機を駆動して自律走行しつつ作業する自律走行可能な作業車の制御装置において、方位(地磁気)センサの出力に基づいて絶対方位を検出すると共に、磁気ネイル(磁石)に対する位置を検出し、磁気ネイルの埋設位置を座標で示す地図情報と検出された位置に基づいて走行予定領域における作業車の位置を検出し(S12,S20,S32)、検出される絶対方位と作業車の位置とYawセンサなどの出力に基づいて算出される進行方位と走行距離に基づき、予め定められた作業プログラムに従って走行予定領域Aでの作業を制御する(S10からS46)。
【選択図】図10
Description
Claims (8)
- 原動機と、前記原動機に接続される駆動輪と、作業機とを備え、走行予定領域を前記原動機を駆動して自律走行しつつ前記作業機を介して作業する自律走行作業車の制御装置において、前記作業車に搭載されると共に、前記走行予定領域に埋設された磁石に感応自在なx,y,z3軸の出力を有する地磁気センサと、前記作業車の重心位置のz軸回りに生じる角速度を検出する角速度センサと、前記作業車の駆動輪の車輪速を示す出力を生じる車輪速センサと、前記走行予定領域を規定すると共に、前記磁石の埋設位置を座標で示す地図情報を格納する地図情報格納手段と、前記地磁気センサの出力に基づいて絶対方位を検出すると共に、前記地磁気センサの出力に基づいて前記磁石に対する前記作業車の位置を検出し、前記検出された位置と前記地図情報に基づいて前記走行予定領域における前記作業車の位置を検出する絶対方位・位置検出手段と、前記角速度センサの出力に基づいて進行方位を算出すると共に、前記車輪速センサの出力に基づいて走行距離を算出する方位・距離算出手段と、前記検出される絶対方位と前記検出される走行予定領域における前記作業車の位置と前記算出される進行方位と前記算出される走行距離とに基づき、予め定められた作業プログラムに従って前記走行予定領域における前記作業機を介しての作業を制御する作業制御手段とを備えたことを特徴とする自律走行作業車の制御装置。
- 前記絶対方位・位置検出手段は、前記地磁気センサのz軸の出力をしきい値と比較し、比較結果に応じて前記絶対方位と前記磁石に対する前記作業車の位置のいずれかを検出することを特徴とする請求項1記載の自律走行作業車の制御装置。
- 前記絶対方位・位置検出手段は、前記地磁気センサのz軸の出力が前記しきい値を超えるとき、前記地磁気センサのx,y,z3軸の出力に基づいて前記磁石に対する前記作業車の位置を検出することを特徴とする請求項2記載の自律走行作業車の制御装置。
- 前記方位・距離算出手段は、前記絶対方位・位置検出手段によって検出される絶対方位に基づいて前記算出される進行方位を補正することを特徴とする請求項1から3のいずれかに記載の自律走行作業車の制御装置。
- 前記作業制御手段は、前記作業のとき、前記絶対方位・位置検出手段によって検出される絶対方位の方向に直進走行するように前記原動機の駆動を制御することを特徴とする請求項1から4のいずれかに記載の自律走行作業車の制御装置。
- 前記絶対方位・位置検出手段は、前記走行予定領域の磁場の変動を検出する磁場変動検出手段を備え、前記検出された磁場の変動に基づいて前記直進走行するときの指示値を補正することを特徴とする請求項5記載の自律走行作業車の制御装置。
- 前記作業制御手段は、前記直進走行のときに前記磁石を探索できないとき、旋回するように前記原動機の駆動を制御することを特徴とする請求項5または6記載の自律走行作業車の制御装置。
- 前記原動機が電動モータからなり、前記走行予定領域に前記電動モータに電力を充電可能な充電ステーションを備えると共に、前記充電ステーションが前記地図情報において基準位置に設定されることを特徴とする請求項1から7のいずれかに記載の自律走行作業車の制御装置。
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JP2011204501A JP5712097B2 (ja) | 2010-09-30 | 2011-09-20 | 自律走行作業車の制御装置 |
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JP2010222640 | 2010-09-30 | ||
JP2010222640 | 2010-09-30 | ||
JP2011204501A JP5712097B2 (ja) | 2010-09-30 | 2011-09-20 | 自律走行作業車の制御装置 |
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JP2012094123A true JP2012094123A (ja) | 2012-05-17 |
JP5712097B2 JP5712097B2 (ja) | 2015-05-07 |
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JP2011204501A Expired - Fee Related JP5712097B2 (ja) | 2010-09-30 | 2011-09-20 | 自律走行作業車の制御装置 |
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US (1) | US8712623B2 (ja) |
EP (1) | EP2437130B1 (ja) |
JP (1) | JP5712097B2 (ja) |
Cited By (5)
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---|---|---|---|---|
CN103823464A (zh) * | 2012-11-16 | 2014-05-28 | 苏州宝时得电动工具有限公司 | 自驱动移动装置 |
JP2015036822A (ja) * | 2013-08-10 | 2015-02-23 | みのる産業株式会社 | 自律走行車 |
JP2017176115A (ja) * | 2016-03-31 | 2017-10-05 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
JP2017182635A (ja) * | 2016-03-31 | 2017-10-05 | 本田技研工業株式会社 | 充電ステーションおよび自律走行作業車の充電ステーション誘導装置 |
JP2017176116A (ja) * | 2016-03-31 | 2017-10-05 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
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WO2012018828A1 (en) * | 2010-08-03 | 2012-02-09 | Fori Automation, Inc. | Sensor system and method for use with an automated guided vehicle (agv) |
US9218316B2 (en) | 2011-01-05 | 2015-12-22 | Sphero, Inc. | Remotely controlling a self-propelled device in a virtualized environment |
US9429940B2 (en) | 2011-01-05 | 2016-08-30 | Sphero, Inc. | Self propelled device with magnetic coupling |
EP3659681A1 (en) | 2011-01-05 | 2020-06-03 | Sphero, Inc. | Self-propelled device with actively engaged drive system |
US9090214B2 (en) | 2011-01-05 | 2015-07-28 | Orbotix, Inc. | Magnetically coupled accessory for a self-propelled device |
US10281915B2 (en) | 2011-01-05 | 2019-05-07 | Sphero, Inc. | Multi-purposed self-propelled device |
US20120244969A1 (en) | 2011-03-25 | 2012-09-27 | May Patents Ltd. | System and Method for a Motion Sensing Device |
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US9827487B2 (en) | 2012-05-14 | 2017-11-28 | Sphero, Inc. | Interactive augmented reality using a self-propelled device |
US10056791B2 (en) | 2012-07-13 | 2018-08-21 | Sphero, Inc. | Self-optimizing power transfer |
WO2014101840A1 (zh) | 2012-12-28 | 2014-07-03 | 苏州宝时得电动工具有限公司 | 自动割草系统 |
US9829882B2 (en) | 2013-12-20 | 2017-11-28 | Sphero, Inc. | Self-propelled device with center of mass drive system |
CN103679851B (zh) * | 2013-12-27 | 2016-08-24 | 李德毅 | 一种多传感器数据处理免同步方法及系统 |
US10609862B2 (en) | 2014-09-23 | 2020-04-07 | Positec Technology (China) Co., Ltd. | Self-moving robot |
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JP6014192B1 (ja) * | 2015-03-27 | 2016-10-25 | 本田技研工業株式会社 | 無人作業車の制御装置 |
CN106441296A (zh) * | 2015-08-04 | 2017-02-22 | 中兴通讯股份有限公司 | 运动轨迹记录方法和用户设备 |
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CN113168178A (zh) | 2019-02-01 | 2021-07-23 | 苏州宝时得电动工具有限公司 | 自移动设备和磁性边界系统 |
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2011
- 2011-09-20 JP JP2011204501A patent/JP5712097B2/ja not_active Expired - Fee Related
- 2011-09-22 US US13/240,966 patent/US8712623B2/en active Active
- 2011-09-27 EP EP11182939.6A patent/EP2437130B1/en active Active
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JPH01130207A (ja) * | 1987-11-16 | 1989-05-23 | Fanuc Ltd | 走行ロボットの走行制御方式 |
US5347456A (en) * | 1991-05-22 | 1994-09-13 | The Regents Of The University Of California | Intelligent roadway reference system for vehicle lateral guidance and control |
US20020140393A1 (en) * | 1995-05-30 | 2002-10-03 | Friendly Robotics, Ltd. | Navigation method and system for autonomous machines with markers defining the working area |
JPH0937610A (ja) * | 1995-08-01 | 1997-02-10 | Hitachi Ltd | 無人芝刈り機の運転方式 |
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JP2002230683A (ja) * | 2001-02-06 | 2002-08-16 | Tdk Corp | 車載用磁気センサ及びそれを備えた車両位置検出装置 |
JP2009289145A (ja) * | 2008-05-30 | 2009-12-10 | Utsunomiya Univ | 自己位置認識方法及び自己位置認識装置 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103823464A (zh) * | 2012-11-16 | 2014-05-28 | 苏州宝时得电动工具有限公司 | 自驱动移动装置 |
JP2015036822A (ja) * | 2013-08-10 | 2015-02-23 | みのる産業株式会社 | 自律走行車 |
JP2017176115A (ja) * | 2016-03-31 | 2017-10-05 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
JP2017182635A (ja) * | 2016-03-31 | 2017-10-05 | 本田技研工業株式会社 | 充電ステーションおよび自律走行作業車の充電ステーション誘導装置 |
JP2017176116A (ja) * | 2016-03-31 | 2017-10-05 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
Also Published As
Publication number | Publication date |
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EP2437130B1 (en) | 2013-08-07 |
US8712623B2 (en) | 2014-04-29 |
JP5712097B2 (ja) | 2015-05-07 |
US20120083962A1 (en) | 2012-04-05 |
EP2437130A1 (en) | 2012-04-04 |
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