JP2017531423A - ロボット芝刈り境界線決定 - Google Patents
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Abstract
Description
Claims (25)
- 自律型芝刈りロボットでエリアを芝刈りする方法であって、
前記芝刈りロボットが芝刈りをすべきエリアの周囲に沿って案内されるときに、前記芝刈りロボットの位置に対応する、地理空間的に参照される周囲データのセットを、前記ロボットの非一時的な記憶装置に格納し、
前記周囲データのセットから1以上のデータポイントを取り除き、それにより、編集されたデータセットを生成し、
前記編集されたデータセットに対応する境界線によって閉ざされたエリアを自律的に芝刈りするように前記芝刈りロボットを制御すること、を含み、
前記制御することは、前記芝刈りロボットを前記閉ざされたエリアに戻すように方向を変える為に、前記編集されたデータセット内のデータに対応する位置又はその位置の近くで前記芝刈りロボットの方向を変更することを含む、方法。 - 前記地理空間的に参照されるデータを格納する前に、前記芝刈りをすべきエリアの周囲上の別々のマーカの位置を決定することを更に含む、請求項1に記載の方法。
- 前記地理空間的に参照されるデータは、前記芝刈りロボットが前記別々のマーカと関連して前記周囲に沿って案内されるときに地理空間的に参照される、請求項1又は請求項2に記載の方法。
- 前記周囲データのセットからデータポイントを取り除く前に、前記芝刈りをすべきエリア内で前記芝刈りロボットの位置から基準点を決定することを更に含む、請求項1から請求項3のいずれか一項に記載の方法。
- 操作者に前記芝刈りをすべきエリア内に前記芝刈りロボットを位置付けるように促し、次に、基準点決定を開始することを含む、請求項4に記載の方法。
- 前記編集されたデータセットに対応する境界線が前記芝刈りをすべきエリアの内部境界線であるか又は外部境界線であるかは、前記境界線を基準とする前記基準点の場所から決定される、請求項4又は請求項5に記載の方法。
- 前記地理空間的に参照される周囲データを格納することは、2次元データアレイのセルを前記芝刈りロボットの位置に対応するとしてマークすることを含む、請求項1から請求項6のいずれか一項に記載の方法。
- 前記1以上のデータポイントを取り除くことは、1以上のマークされたセルにおけるエントリを、このようなセルが周囲位置に対応しないと示す為に、変更することを含む、請求項7に記載の方法。
- 取り除かれるべき前記データポイントは、芝刈り可能及び芝刈り不可セルの両方には隣接しない境界線セルである、請求項8に記載の方法。
- 前記周囲データのセットを格納することは、前記芝刈りロボットが前方又は後方のいずれに案内されているかを決定し、前記芝刈りロボットが前記後方に案内されている間はデータ格納を一時中止することを含む、請求項1から請求項9のいずれか一項に記載の方法。
- 自律的に前記エリアを芝刈りするように前記ロボットを制御する前に、前記格納された周囲データが連続的な経路を表しているか否かを決定することを更に含む、請求項1から請求項10のいずれか一項に記載の方法。
- 所定の幅未満の全ての経路ギャップを埋める為にデータポイントを追加することを更に含む、請求項11に記載の方法。
- 前記格納された周囲データが所定幅より大きなギャップを規定する非連続的な経路を表すと決定すると、前記周囲に沿っての前記芝刈りロボットの案内を再び始めるように操作者に信号で知らせ、再び始められた案内中に追加の周囲データを格納すること、を更に含む請求項11又は請求項12に記載の方法。
- 自律的に前記エリアを芝刈りするように前記ロボットを制御する前に、スムージングされた境界線を規定する為に、135度よりも小さい内部角度を規定する周囲経路セグメントに対応する、前記格納された周囲データの一部を変更すること、を更に含む請求項1から請求項13のいずれか一項に記載の方法。
- 前記案内される芝刈りロボットが所定の時間間隔よりも小さな時間、静止している間、前記周囲データのセットの格納を一時中止し、前記芝刈りロボットが動くと再開する、請求項1から請求項14のいずれか一項に記載の方法。
- 前記案内される芝刈りロボットが前記所定の時間間隔より大きな時間静止していることに応じて、前記周囲データのセットの格納が完結される、請求項15の記載の方法。
- 自律的に前記エリアを芝刈りするように前記ロボットを制御することは、前記芝刈りロボットが前記境界線から所定の距離内にあるか否かを決定し、前記芝刈りロボットが前記所定の距離内にあると決定することに応じて、前記ロボットの芝刈り速度を低下させることを含む、請求項1から請求項16のいずれか一項に記載の方法。
- 前記周囲は、前記芝刈りをすべきエリアを取り囲む外部周囲である、請求項1から請求項17のいずれか一項に記載の方法。
- 前記周囲は、前記芝刈りをすべきエリアで囲まれたエリアを取り囲む内部境界線である、請求項1から請求項18のいずれか一項に記載の方法。
- 草刈り機を運ぶロボット本体と、
前記ロボット本体を支持するモータの付いた車輪を備える駆動システムと、
閉じた芝のエリアを草を刈り取りつつ横断するように前記芝刈りロボットを操縦する為に前記モータの付いた車輪に動作可能に接続されたコントローラと、を備え、
前記コントローラは、
教示モードにおいて、前記芝刈りロボットが前記芝のエリアの境界に沿って案内されるときに、前記芝刈りロボットの位置に対応する、地理空間的に参照される境界線データのセットを、非一時的な記憶装置に格納し、
前記教示モードにおいて、前記芝のエリア内の基準位置に対応する基準データを格納し、
前記境界線データから、前記境界線データのセットの他のデータポイントによって表される他の隣接位置よりも前記基準位置に空間的により近い位置に対応する1以上のデータポイントを取り除き、それにより、編集された境界線データセットを生成し、次に、
自律動作モードにおいて、前記編集された境界線データセットに対応する経路によって閉ざされたエリアを自律的に芝刈りするように前記芝刈りロボットを制御し、
前記制御することは、前記芝刈りロボットを前記閉ざされたエリアに戻すように方向を変える為に、前記編集されたデータセット内のデータに対応する位置又はその位置の近くで前記芝刈りロボットの方向を変更することを含む、自律型芝刈りロボット。 - 前記ロボット本体上で運ばれ、前記教示モードにおいて前記芝のエリアの境を限る周囲マーカと通信するように構成されたエミッタ/レシーバを更に備える、請求項20に記載の自律型芝刈りロボット。
- 前記ロボット本体に固定可能であり、且つ、前記教示モードにおいて前記芝のエリアの境界に沿って前記芝刈りロボットを手動で案内する為に操作者によって把持可能な、取り外し可能ハンドルを更に備える、請求項20又は請求項21に記載の自律型芝刈りロボット。
- 前記ロボットは、前記ハンドルが前記ロボット本体に取り付けられているか否かを検出するように構成されている、請求項22に記載の自律型芝刈りロボット。
- 前記コントローラは、前記ハンドルが取り付けられていると検出することに応じて、前記教示モードを開始するように構成されている、請求項22又は請求項23に記載の自律型芝刈りロボット。
- 前記ハンドルは、前記駆動システムと通信するキルスイッチを備え、
前記キルスイッチは、作動されていないとき前記芝刈りロボットをオフする信号を送出するように構成されている、請求項22から請求項25のいずれか一項に記載の自律型芝刈りロボット。
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US14/512,098 | 2014-10-10 | ||
US14/512,098 US9516806B2 (en) | 2014-10-10 | 2014-10-10 | Robotic lawn mowing boundary determination |
PCT/US2015/050775 WO2016057185A1 (en) | 2014-10-10 | 2015-09-17 | Robotic lawn mowing boundary determination |
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EP (1) | EP3203825B1 (ja) |
JP (2) | JP6679506B2 (ja) |
CN (1) | CN106489103B (ja) |
AU (1) | AU2015328636B2 (ja) |
CA (1) | CA2954200A1 (ja) |
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US20160100522A1 (en) | 2016-04-14 |
US20210029873A1 (en) | 2021-02-04 |
US9516806B2 (en) | 2016-12-13 |
CN106489103A (zh) | 2017-03-08 |
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