JP6679506B2 - ロボット芝刈り境界線決定 - Google Patents

ロボット芝刈り境界線決定 Download PDF

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Publication number
JP6679506B2
JP6679506B2 JP2016575411A JP2016575411A JP6679506B2 JP 6679506 B2 JP6679506 B2 JP 6679506B2 JP 2016575411 A JP2016575411 A JP 2016575411A JP 2016575411 A JP2016575411 A JP 2016575411A JP 6679506 B2 JP6679506 B2 JP 6679506B2
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robot
data
lawnmower
area
lawn
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JP2017531423A (ja
JP2017531423A5 (cg-RX-API-DMAC10.html
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ブライアン ヤマウチ
ブライアン ヤマウチ
アンドリュー ボーリウ
アンドリュー ボーリウ
パウル シー． バルティス
パウル シー． バルティス
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アイロボット・コーポレーション
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    • 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
    • G05D1/0231—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
    • 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
    • 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
    • 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
    • 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
    • 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
    • G05D1/0219—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
    • 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
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/229—Command input data, e.g. waypoints
    • G05D1/2297—Command input data, e.g. waypoints positional data taught by the user, e.g. paths
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2464—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using an occupancy grid
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/30—Radio signals
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)
JP2016575411A 2014-10-10 2015-09-17 ロボット芝刈り境界線決定 Active JP6679506B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US14/512,098 US9516806B2 (en) 2014-10-10 2014-10-10 Robotic lawn mowing boundary determination
US14/512,098 2014-10-10
PCT/US2015/050775 WO2016057185A1 (en) 2014-10-10 2015-09-17 Robotic lawn mowing boundary determination

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2020046310A Division JP2020114226A (ja) 2014-10-10 2020-03-17 ロボット芝刈り境界線決定

Publications (3)

Publication Number Publication Date
JP2017531423A JP2017531423A (ja) 2017-10-26
JP2017531423A5 JP2017531423A5 (cg-RX-API-DMAC10.html) 2018-10-25
JP6679506B2 true JP6679506B2 (ja) 2020-04-15

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JP2016575411A Active JP6679506B2 (ja) 2014-10-10 2015-09-17 ロボット芝刈り境界線決定
JP2020046310A Pending JP2020114226A (ja) 2014-10-10 2020-03-17 ロボット芝刈り境界線決定

Family Applications After (1)

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JP2020046310A Pending JP2020114226A (ja) 2014-10-10 2020-03-17 ロボット芝刈り境界線決定

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US (4) US9516806B2 (cg-RX-API-DMAC10.html)
EP (1) EP3203825B1 (cg-RX-API-DMAC10.html)
JP (2) JP6679506B2 (cg-RX-API-DMAC10.html)
CN (1) CN106489103B (cg-RX-API-DMAC10.html)
AU (1) AU2015328636B2 (cg-RX-API-DMAC10.html)
CA (1) CA2954200A1 (cg-RX-API-DMAC10.html)
IL (1) IL249588B (cg-RX-API-DMAC10.html)
WO (1) WO2016057185A1 (cg-RX-API-DMAC10.html)

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KR20190108530A (ko) * 2019-09-04 2019-09-24 엘지전자 주식회사 이동 로봇 및 그의 구동 방법
JP2024015684A (ja) * 2022-07-25 2024-02-06 国立研究開発法人農業・食品産業技術総合研究機構 制御システム、制御方法、およびプログラム

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