JP2013246475A - 無人走行作業システム - Google Patents
無人走行作業システム Download PDFInfo
- Publication number
- JP2013246475A JP2013246475A JP2012117570A JP2012117570A JP2013246475A JP 2013246475 A JP2013246475 A JP 2013246475A JP 2012117570 A JP2012117570 A JP 2012117570A JP 2012117570 A JP2012117570 A JP 2012117570A JP 2013246475 A JP2013246475 A JP 2013246475A
- Authority
- JP
- Japan
- Prior art keywords
- work
- area
- pulse current
- work area
- unmanned traveling
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 description 32
- 230000000694 effects Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 238000000926 separation method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- 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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
【解決手段】作業エリアを規定するエリアワイヤにパルス電流(エリア信号)を通電するステーションと、エリアワイヤに生じる磁界を検出して作業エリアを認識する作業車を備え、ステーションは予め用意された複数種のパルス電流のいずれかをユーザの選択に応じて出力させ、作業車は出力されたパルス電流の登録を受け付け(S108)、登録が受け付けられたパルス電流に基づいて作業エリアを認識する。
【選択図】図13
Description
Claims (7)
- 作業エリアを規定するエリアワイヤにパルス電流を通電する通電手段を備えたステーションと、車体に搭載される原動機と磁気センサと作業機とを少なくとも備え、前記通電手段から通電されるパルス電流によって前記エリアワイヤに生じる磁界を前記磁気センサで検出して前記作業エリアを認識し、前記認識された作業エリアを前記原動機で走行しつつ前記作業機で作業する無人走行作業車とからなる無人走行作業システムにおいて、前記ステーションは、予め用意された複数種のパルス電流のいずれかをユーザの選択に応じて前記パルス電流として前記通電手段から出力させる選択機構を備えると共に、前記作業車は前記選択機構を介して前記通電手段から出力されるパルス電流の登録を受け付けるパルス電流登録手段と、前記パルス電流登録手段によって登録が受け付けられたパルス電流に基づいて前記作業エリアを認識する作業エリア認識手段を備えることを特徴とする無人走行作業システム。
- 前記選択機構は、ユーザの操作自在に前記通電手段に接続されて前記複数種のパルス電流のいずれかを出力可能な複数個の出力端子を備えることを特徴とする請求項1記載の無人走行作業システム。
- 前記パルス電流登録手段は、前記作業エリアの認識を開始する前に、前記選択機構を介して前記通電手段から出力されるパルス電流の登録をユーザに促すことを特徴とする請求項1または2記載の無人走行作業システム。
- 前記パルス電流登録手段は、前記作業エリアの認識を開始する前に、前記選択機構を介して前記通電手段から出力されるパルス電流の登録を実行することを特徴とする請求項1または2記載の無人走行作業システム。
- 前記作業エリア認識手段は、近隣の作業エリアのパルス電流との混信の可能性を判定し、混信の可能性があると判定されるとき前記登録が受け付けられたパルス電流の変更を促すことを特徴とする請求項1から4のいずれかに記載の無人走行作業システム。
- 前記複数種のパルス電流は、繰り返し周期においてそれぞれ異なるパルス電流からなることを特徴とする請求項1から5のいずれかに記載の無人走行作業システム。
- 前記作業エリア認識手段は、ユーザ識別コードを入力されるとき、前記作業エリアの認識を開始することを特徴とする請求項1から6のいずれかに記載の無人走行作業システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012117570A JP5869954B2 (ja) | 2012-05-23 | 2012-05-23 | 無人走行作業システム |
US13/889,854 US8818602B2 (en) | 2012-05-23 | 2013-05-08 | Unmanned autonomous operating system |
CN201310186553.6A CN103425132B (zh) | 2012-05-23 | 2013-05-20 | 无人行驶作业系统 |
KR1020130057114A KR101474130B1 (ko) | 2012-05-23 | 2013-05-21 | 무인 주행 작업 시스템 |
EP13168808.7A EP2667271B1 (en) | 2012-05-23 | 2013-05-22 | Unmanned autonomous system with area signal selection |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012117570A JP5869954B2 (ja) | 2012-05-23 | 2012-05-23 | 無人走行作業システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013246475A true JP2013246475A (ja) | 2013-12-09 |
JP5869954B2 JP5869954B2 (ja) | 2016-02-24 |
Family
ID=48578781
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012117570A Active JP5869954B2 (ja) | 2012-05-23 | 2012-05-23 | 無人走行作業システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US8818602B2 (ja) |
EP (1) | EP2667271B1 (ja) |
JP (1) | JP5869954B2 (ja) |
KR (1) | KR101474130B1 (ja) |
CN (1) | CN103425132B (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016099895A (ja) * | 2014-11-25 | 2016-05-30 | シャープ株式会社 | 移動型作業車およびその制御装置 |
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 |
Families Citing this family (55)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2939508B1 (en) | 2012-12-28 | 2021-05-19 | Positec Power Tools (Suzhou) Co., Ltd | Automatic mowing system |
CA2906934C (en) | 2013-03-15 | 2021-11-16 | Mtd Products Inc | Autonomous mobile work system comprising a variable reflectivity base station |
US10551851B2 (en) * | 2013-07-01 | 2020-02-04 | Steven Sounyoung Yu | Autonomous unmanned road vehicle for making deliveries |
US20160338262A1 (en) * | 2014-01-21 | 2016-11-24 | Positec Power Tools (Suzhou) Co., Ltd. | Autonomous mower |
KR101537623B1 (ko) * | 2014-01-29 | 2015-07-17 | 엘지전자 주식회사 | 잔디 깎기 로봇 및 그 제어 방법 |
US9375842B2 (en) | 2014-05-15 | 2016-06-28 | Irobot Corporation | Autonomous mobile robot confinement system |
US10609862B2 (en) | 2014-09-23 | 2020-04-07 | Positec Technology (China) Co., Ltd. | Self-moving robot |
TWI582035B (zh) * | 2014-11-21 | 2017-05-11 | 財團法人工業技術研究院 | 無人搬運車及其控制方法 |
US9538702B2 (en) * | 2014-12-22 | 2017-01-10 | Irobot Corporation | Robotic mowing of separated lawn areas |
JP6193898B2 (ja) | 2015-02-10 | 2017-09-06 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
CN105988415B (zh) * | 2015-02-13 | 2019-09-20 | 苏州宝时得电动工具有限公司 | 多区域切割控制系统及其控制方法 |
US10098278B2 (en) * | 2015-02-20 | 2018-10-16 | Black & Decker Inc. | Mower |
KR102398329B1 (ko) * | 2015-03-16 | 2022-05-16 | 엘지전자 주식회사 | 이동 로봇의 충전 장치 및 그 제어방법 |
WO2016191636A1 (en) | 2015-05-27 | 2016-12-01 | Mtd Products Inc | Self-cleaning mower blade assembly |
USD794089S1 (en) | 2015-06-05 | 2017-08-08 | Mtd Products Inc | Wheel |
USD758455S1 (en) | 2015-06-05 | 2016-06-07 | Mtd Products Inc | Robotic mower body |
USD760806S1 (en) | 2015-06-05 | 2016-07-05 | Mtd Products Inc | Robotic mower |
USD797530S1 (en) | 2015-06-05 | 2017-09-19 | Mtd Products Inc | Blade |
DE112016004306T5 (de) * | 2015-09-24 | 2018-07-19 | Hitachi Koki Co., Ltd. | Selbstangetriebener Rasenmäher |
EP3156873B2 (en) | 2015-10-15 | 2023-04-05 | Honda Research Institute Europe GmbH | Autonomous vehicle with improved simultaneous localization and mapping function |
USD792198S1 (en) | 2015-10-29 | 2017-07-18 | Mtd Products Inc | Caster wheel |
WO2017080408A1 (zh) | 2015-11-10 | 2017-05-18 | 苏州宝时得电动工具有限公司 | 自动工作系统及其控制方法及自动行走设备 |
US9800321B2 (en) | 2015-12-31 | 2017-10-24 | Wellen Sham | Facilitating communication with a vehicle via a UAV |
US10454576B2 (en) | 2015-12-31 | 2019-10-22 | Wellen Sham | UAV network |
US9955115B2 (en) | 2015-12-31 | 2018-04-24 | Wellen Sham | Facilitating wide view video conferencing through a drone network |
US9826256B2 (en) | 2015-12-31 | 2017-11-21 | Wellen Sham | Facilitating multimedia information delivery through a UAV network |
US9786165B2 (en) * | 2015-12-31 | 2017-10-10 | Wellen Sham | Facilitating location positioning service through a UAV network |
USD795299S1 (en) | 2016-02-16 | 2017-08-22 | Mtd Products Inc | Blade |
USD781349S1 (en) | 2016-02-16 | 2017-03-14 | Mtd Products Inc | Robotic mower housing |
CA3021508C (en) | 2016-04-20 | 2020-09-08 | Mtd Products Inc | Low-energy blade system having a quick-attach mechanism |
EP3452880A1 (en) | 2016-05-06 | 2019-03-13 | MTD Products Inc. | Autonomous mower navigation system and method |
JP1576361S (ja) * | 2016-06-17 | 2017-05-15 | ||
CA3028153A1 (en) | 2016-06-24 | 2017-12-28 | Mtd Products Inc | High-efficiency cutting system |
WO2018000922A1 (en) | 2016-06-30 | 2018-01-04 | Tti (Macao Commercial Offshore) Limited | An autonomous lawn mower and a system for navigating thereof |
US11172607B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
USD795300S1 (en) | 2016-08-23 | 2017-08-22 | Mtd Products Inc | Blade |
USD848488S1 (en) | 2016-08-23 | 2019-05-14 | Mtd Products Inc | Robotic mower housing |
JP6716400B2 (ja) * | 2016-09-06 | 2020-07-01 | シャープ株式会社 | 自律走行車両 |
SE541784C2 (en) * | 2017-04-25 | 2019-12-17 | Husqvarna Ab | Robotic lawnmower system and method with adaptive signal transmission |
EP3412134B1 (de) | 2017-06-09 | 2020-08-19 | Andreas Stihl AG & Co. KG | Bodenbearbeitungssystem mit einem endlosen begrenzungsdraht |
EP3412131B1 (de) | 2017-06-09 | 2020-11-11 | Andreas Stihl AG & Co. KG | Bodenbearbeitungssystem mit signalanpassung |
EP3412132B1 (de) | 2017-06-09 | 2021-05-12 | Andreas Stihl AG & Co. KG | Bodenbearbeitungssystem mit mindestens einer intensivzone |
EP3412135B1 (de) | 2017-06-09 | 2022-09-14 | Andreas Stihl AG & Co. KG | Bodenbearbeitungssystem mit mindestens einer ladestation mit einer datenverbindung |
EP3412133B1 (de) | 2017-06-09 | 2022-09-14 | Andreas Stihl AG & Co. KG | Bodenbearbeitungssystem mit mindestens einer ladestation |
WO2019023521A1 (en) | 2017-07-28 | 2019-01-31 | Nuro, Inc. | AUTOMATED RETAIL STORE ON AUTONOMOUS OR SEMI-AUTONOMOUS VEHICLE |
CA3073820A1 (en) | 2017-10-06 | 2019-04-11 | Mtd Products Inc | High-efficiency lawn maintenance tool and high-efficiency cutting blade |
USD892187S1 (en) | 2018-11-30 | 2020-08-04 | Mtd Products Inc | Robotic mower |
DE102018222136A1 (de) * | 2018-12-18 | 2020-06-18 | Robert Bosch Gmbh | Autonomes Arbeitsgerät |
USD889517S1 (en) | 2019-01-31 | 2020-07-07 | Mtd Products Inc | Robotic mower body |
EP4128100A1 (en) | 2020-03-23 | 2023-02-08 | Nuro, Inc. | Methods and apparatus for automated deliveries |
EP4266141A4 (en) * | 2020-12-15 | 2024-02-21 | Yamabiko Corp | MANAGEMENT SYSTEM FOR A MOBILE OBJECT, PROGRAM AND MANAGEMENT METHOD FOR A MOBILE OBJECT |
USD971271S1 (en) | 2021-06-25 | 2022-11-29 | Mtd Products Inc | Robotic mower |
USD971272S1 (en) | 2021-06-25 | 2022-11-29 | Mtd Products Inc | Robotic mower body |
USD980874S1 (en) | 2021-07-23 | 2023-03-14 | Mtd Products Inc | Robotic mower body |
USD980873S1 (en) | 2021-07-23 | 2023-03-14 | Mtd Products Inc | Robotic mower |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5938811A (ja) * | 1982-08-30 | 1984-03-02 | Toshiba Corp | 走行制御システム |
JPH03294910A (ja) * | 1990-04-12 | 1991-12-26 | Fuji Electric Co Ltd | 電磁誘導式無人搬送車の操舵装置 |
JPH05282036A (ja) * | 1992-04-01 | 1993-10-29 | Kawasaki Heavy Ind Ltd | 無人芝刈機の誘導方法 |
WO1999038056A1 (en) * | 1998-01-08 | 1999-07-29 | Aktiebolaget Electrolux | Electronic search system |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3381456A (en) * | 1965-09-07 | 1968-05-07 | Roger G. Taylor | Untethered, self-propelled device operating in a predetermined pattern |
US4716530A (en) * | 1984-05-21 | 1987-12-29 | Kabushiki Kaisha Meidensha | System for automatically controlling movement of unmanned vehicle and method therefor |
JP2618041B2 (ja) | 1988-10-13 | 1997-06-11 | 川崎重工業株式会社 | 無人走行装置 |
US5281901A (en) * | 1990-12-03 | 1994-01-25 | Eaton-Kenway, Inc. | Downward compatible AGV system and methods |
JPH04246701A (ja) | 1991-02-01 | 1992-09-02 | Toshiba Corp | ファジィ制御装置 |
IL113913A (en) * | 1995-05-30 | 2000-02-29 | Friendly Machines Ltd | Navigation method and system |
SE510524C2 (sv) * | 1997-09-19 | 1999-05-31 | Electrolux Ab | Elektroniskt avgränsningssystem |
SE0201739D0 (sv) * | 2002-06-07 | 2002-06-07 | Electrolux Ab | Elektroniskt avgränsningssystem |
SE0201740D0 (sv) * | 2002-06-07 | 2002-06-07 | Electrolux Ab | Electroniskt diregeringssystem |
GB2448470B (en) * | 2007-04-20 | 2012-04-04 | Ultra Global Ltd | Vehicle guidance system |
CN102169345B (zh) * | 2011-01-28 | 2013-05-01 | 浙江亚特电器有限公司 | 一种机器人行动区域设定方法 |
-
2012
- 2012-05-23 JP JP2012117570A patent/JP5869954B2/ja active Active
-
2013
- 2013-05-08 US US13/889,854 patent/US8818602B2/en active Active
- 2013-05-20 CN CN201310186553.6A patent/CN103425132B/zh not_active Expired - Fee Related
- 2013-05-21 KR KR1020130057114A patent/KR101474130B1/ko active IP Right Grant
- 2013-05-22 EP EP13168808.7A patent/EP2667271B1/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5938811A (ja) * | 1982-08-30 | 1984-03-02 | Toshiba Corp | 走行制御システム |
JPH03294910A (ja) * | 1990-04-12 | 1991-12-26 | Fuji Electric Co Ltd | 電磁誘導式無人搬送車の操舵装置 |
JPH05282036A (ja) * | 1992-04-01 | 1993-10-29 | Kawasaki Heavy Ind Ltd | 無人芝刈機の誘導方法 |
WO1999038056A1 (en) * | 1998-01-08 | 1999-07-29 | Aktiebolaget Electrolux | Electronic search system |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016099895A (ja) * | 2014-11-25 | 2016-05-30 | シャープ株式会社 | 移動型作業車およびその制御装置 |
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 |
Also Published As
Publication number | Publication date |
---|---|
US20130317680A1 (en) | 2013-11-28 |
CN103425132B (zh) | 2016-03-16 |
JP5869954B2 (ja) | 2016-02-24 |
KR20130131237A (ko) | 2013-12-03 |
KR101474130B1 (ko) | 2014-12-17 |
EP2667271A1 (en) | 2013-11-27 |
CN103425132A (zh) | 2013-12-04 |
US8818602B2 (en) | 2014-08-26 |
EP2667271B1 (en) | 2015-03-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5869954B2 (ja) | 無人走行作業システム | |
KR101454533B1 (ko) | 무인주행 작업차의 제어장치 | |
US8972092B2 (en) | Control apparatus for unmanned autonomous operating vehicle | |
JP5859870B2 (ja) | 無人走行作業車の誘導装置 | |
EP3073602B1 (en) | Charging station for autonomously navigating utility vehicle | |
US9483053B2 (en) | Arrangement of area wire for unmanned autonomous operating vehicle and control apparatus of the same | |
US20170285630A1 (en) | Control apparatus for utility vehicle | |
JP6110758B2 (ja) | 車両誘導装置 | |
EP2685339A2 (en) | Navigation system and method for autonomous mowers | |
JP2016148937A (ja) | 自律走行作業車の制御装置 | |
JP2016081434A (ja) | 自律走行作業車の制御装置 | |
JP2021037819A (ja) | 車両制御装置 | |
US11618333B2 (en) | Method for operating an electrical charging device and driving recommendation for an electrically driveable motor vehicle and electric charging device and motor vehicle | |
JP2021162349A (ja) | 電動車両の走行支援方法および走行支援装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20141127 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20150925 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20150929 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20151105 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20151215 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20160108 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5869954 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |