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

Info

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
Authority
JP
Japan
Prior art keywords
robot
data
lawnmower
area
lawn
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.)
Active
Application number
JP2016575411A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017531423A5 (https=
JP2017531423A (ja
Inventor
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
Original Assignee
アイロボット・コーポレーション
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by アイロボット・コーポレーション filed Critical アイロボット・コーポレーション
Publication of JP2017531423A publication Critical patent/JP2017531423A/ja
Publication of JP2017531423A5 publication Critical patent/JP2017531423A5/ja
Application granted granted Critical
Publication of JP6679506B2 publication Critical patent/JP6679506B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • G05D1/0231—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
    • 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
    • G05D1/02—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
    • 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

Landscapes

  • 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 (https=) 2018-10-25
JP6679506B2 true JP6679506B2 (ja) 2020-04-15

Family

ID=54256830

Family Applications (2)

Application Number Title Priority Date Filing Date
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)

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

Country Status (8)

Country Link
US (4) US9516806B2 (https=)
EP (1) EP3203825B1 (https=)
JP (2) JP6679506B2 (https=)
CN (1) CN106489103B (https=)
AU (1) AU2015328636B2 (https=)
CA (1) CA2954200A1 (https=)
IL (1) IL249588B (https=)
WO (1) WO2016057185A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Families Citing this family (176)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11048268B2 (en) * 2011-08-11 2021-06-29 Chien Ouyang Mapping and tracking system for robots
US20170325400A1 (en) * 2012-11-12 2017-11-16 Ariel Scientific Innovations Ltd Method for navigation and joint coordination of automated devices
CN105446350B (zh) * 2014-09-26 2018-05-29 科沃斯机器人股份有限公司 自移动机器人移动界限划定方法
US11347239B1 (en) 2014-10-01 2022-05-31 AI Incorporated System and method for establishing virtual boundaries for robotic devices
US10579066B1 (en) * 2015-03-30 2020-03-03 AI Incorporated System and method for establishing virtual boundaries for robotic devices
US9516806B2 (en) 2014-10-10 2016-12-13 Irobot Corporation Robotic lawn mowing boundary determination
US10188029B1 (en) 2014-10-20 2019-01-29 Hydro-Gear Limited Partnership Method of generating a three-dimensional map of a lawn and its use to improve mowing efficiency
US9773392B2 (en) * 2014-10-27 2017-09-26 Numerex Corp. Offender monitor with managed rate of location reading
JP2016114984A (ja) * 2014-12-11 2016-06-23 福田　敏男 作業車両
EP3234718B1 (en) * 2014-12-17 2018-10-24 Husqvarna AB Robotic vehicle learning site boundary
EP3234721B1 (en) 2014-12-17 2021-11-24 Husqvarna AB Multi-sensor, autonomous robotic vehicle with mapping capability
US10643377B2 (en) * 2014-12-22 2020-05-05 Husqvarna Ab Garden mapping and planning via robotic vehicle
US9538702B2 (en) * 2014-12-22 2017-01-10 Irobot Corporation Robotic mowing of separated lawn areas
JP5973609B1 (ja) * 2015-03-27 2016-08-23 本田技研工業株式会社 無人作業車の制御装置
JP6038990B2 (ja) * 2015-03-27 2016-12-07 本田技研工業株式会社 無人作業車の制御装置
TWI558121B (zh) * 2015-05-21 2016-11-11 金寶電子工業股份有限公司 燈標裝置的自動識別方法
BE1024053B1 (nl) * 2015-10-07 2017-11-09 Yannick Thomas Sidon Philippaerts Robotmaaier
DE102015122149A1 (de) * 2015-12-17 2017-06-22 Ammann Schweiz Ag Verfahren zum autonomen Betrieb einer Verdichtungsvorrichtung
US10021830B2 (en) 2016-02-02 2018-07-17 Irobot Corporation Blade assembly for a grass cutting mobile robot
US10500726B2 (en) * 2016-04-25 2019-12-10 Kindred Systems Inc. Facilitating device control
CN106155053A (zh) * 2016-06-24 2016-11-23 桑斌修 一种割草方法、装置以及系统
US10111381B2 (en) 2016-06-28 2018-10-30 The Toro Company Walk power mower with transmission providing both forward and reverse propulsion
EP3508049B1 (en) * 2016-06-30 2022-08-24 Techtronic Outdoor Products Technology Limited An autonomous lawn mower
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US10845817B1 (en) * 2016-08-11 2020-11-24 Ali Ebrahimi Afrouzi System and method for confining robotic devices
GB2556036A (en) * 2016-11-03 2018-05-23 Fleet Line Markers Ltd Service vehicle and management system
CN108604098B (zh) 2016-11-11 2019-12-13 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
JP6989886B2 (ja) * 2016-12-22 2022-01-12 株式会社クボタ 作業車
JP6681326B2 (ja) * 2016-12-27 2020-04-15 本田技研工業株式会社 作業システムおよび作業方法
US12108701B2 (en) 2017-03-29 2024-10-08 The Toro Company Walk power mower with transmission providing both forward and reverse propulsion
US11582903B1 (en) * 2017-05-17 2023-02-21 Hydro-Gear Limited Partnership Vision based guidance system and method for lawn mowing devices
EP3412129B1 (de) * 2017-06-09 2020-08-19 Andreas Stihl AG & Co. KG Autonomer mobiler grünflächenbearbeitungsroboter
EP3413155B1 (de) * 2017-06-09 2020-02-26 Andreas Stihl AG & Co. KG Verfahren zum erfassen mindestens eines abschnitts eines begrenzungsrands einer zu bearbeitenden fläche, verfahren zum betreiben eines autonomen mobilen grünflächenbearbeitungsroboters, erfassungssystem und grünflächenbearbeitungssystem
EP3634108B1 (de) * 2017-06-09 2021-04-21 Andreas Stihl AG & Co. KG Grünflächenbearbeitungssystem und verfahren zum erfassen mindestens eines abschnitts eines begrenzungsrands einer zu bearbeitenden fläche
US11470774B2 (en) 2017-07-14 2022-10-18 Irobot Corporation Blade assembly for a grass cutting mobile robot
SE541868C2 (en) * 2017-08-23 2020-01-02 Husqvarna Ab Improved work area marking for a robotic working tool
CN107796361A (zh) * 2017-10-15 2018-03-13 杭州晶智能科技有限公司 一个基于线性激光扫描的草地识别系统
EP3698618B1 (en) * 2017-11-16 2022-01-05 Nanjing Chervon Industry Co., Ltd. Smart lawn mowing system
AU2018369424B2 (en) * 2017-11-20 2021-12-23 The Toro Company System and method for operating an autonomous robotic working machine within a travelling containment zone
KR102070068B1 (ko) 2017-11-30 2020-03-23 엘지전자 주식회사 이동 로봇 및 그 제어방법
CN111386030B (zh) * 2017-12-18 2023-01-31 株式会社久保田 自动行驶系统、自动行驶管理程序及方法、记录介质
US10863668B2 (en) * 2017-12-29 2020-12-15 Dcentralized Systems, Inc. Autonomous mobile platform with harvesting system and pest and weed suppression systems
JP2019125009A (ja) * 2018-01-12 2019-07-25 株式会社サテライトオフィス 移動体操作システム、アプリケーションソフトウェア、無線通信システム、移動距離計測システム
CN108337987A (zh) * 2018-02-13 2018-07-31 杭州慧慧科技有限公司 一种自动割草系统和割草机控制方法
EP3731052B1 (en) 2018-02-28 2021-10-27 Honda Motor Co., Ltd. Control device, work machine and control program
WO2019167210A1 (ja) * 2018-02-28 2019-09-06 本田技研工業株式会社 制御装置、移動体及びプログラム
JP6997293B2 (ja) * 2018-03-30 2022-01-17 本田技研工業株式会社 自律走行作業機、及び制御システム
US11474524B2 (en) * 2018-03-30 2022-10-18 Globe (jiangsu) Co., Ltd. Robotic mower and method for controlling a robotic mower
WO2019209877A1 (en) 2018-04-23 2019-10-31 Sharkninja Operating Llc Techniques for bounding cleaning operations of a robotic surface cleaning device within a region of interest
US11243540B2 (en) * 2018-05-17 2022-02-08 University Of Connecticut System and method for complete coverage of unknown environments
US11991955B2 (en) 2018-05-25 2024-05-28 The Toro Company Systems and methods for operating a robotic machine in an autonomous mode and a manual mode
EP3800979B1 (en) * 2018-05-25 2023-03-22 The Toro Company Autonomous grounds maintenance machines with path planning for trap and obstacle avoidance
ES2887100T3 (es) * 2018-05-28 2021-12-21 Globe Jiangsu Co Ltd Transmisor de cable de límite adaptativo
SE544259C2 (en) * 2018-06-07 2022-03-15 Husqvarna Ab Robotic work tool system and method for defining a working area
CN108646750B (zh) * 2018-06-08 2021-05-07 杭州电子科技大学 基于uwb非基站便捷式工厂agv跟随方法
SE544055C2 (en) * 2018-06-26 2021-11-23 Husqvarna Ab A method for collision detection in a self-propelled robotic tool and a self-propelled robotic tool
WO2020027610A1 (en) * 2018-08-03 2020-02-06 Lg Electronics Inc. Moving robot, system of moving robot and method for moving to charging station of moving robot
KR102242713B1 (ko) * 2018-08-03 2021-04-22 엘지전자 주식회사 이동 로봇 및 그 제어방법, 및 단말기
WO2020027611A1 (en) * 2018-08-03 2020-02-06 Lg Electronics Inc. Moving robot, moving robot system, and method for moving to charging station of moving robot
KR102291884B1 (ko) 2018-08-03 2021-08-20 엘지전자 주식회사 이동 로봇 및 그 제어방법
KR102266713B1 (ko) 2018-08-03 2021-06-21 엘지전자 주식회사 이동 로봇, 이동 로봇 시스템 및 이동 로봇 시스템의 제어 방법
WO2020027598A1 (en) * 2018-08-03 2020-02-06 Lg Electronics Inc. Moving robot, moving robot system, and method for moving to charging station of moving robot
KR102242714B1 (ko) 2018-08-03 2021-04-22 엘지전자 주식회사 이동 로봇 및 그 제어방법, 이동 로봇 시스템
JP7034860B2 (ja) * 2018-08-03 2022-03-14 ヤンマーパワーテクノロジー株式会社 領域登録システム
WO2020032413A1 (en) 2018-08-05 2020-02-13 Lg Electronics Inc. Moving robot and controlling method thereof
KR102238352B1 (ko) 2018-08-05 2021-04-09 엘지전자 주식회사 스테이션 장치 및 이동 로봇 시스템
KR102292262B1 (ko) * 2018-08-05 2021-08-24 엘지전자 주식회사 이동 로봇 및 그 제어방법
CN112512300A (zh) * 2018-08-08 2021-03-16 托罗公司 用于训练自主车辆的手柄和方法及其存放方法
SE544056C2 (en) * 2018-08-09 2021-11-23 Husqvarna Ab Finding of a break in a wire of a robotic working tool system
WO2020036910A1 (en) * 2018-08-13 2020-02-20 R-Go Robotics Ltd. System and method for creating a single perspective synthesized image
CN108901431B (zh) * 2018-08-14 2020-11-13 义乌市美杰包装制品有限公司 一种控制无人机进行植株修剪的设备
CN109062225A (zh) * 2018-09-10 2018-12-21 扬州方棱机械有限公司 基于数字地图的割草机器人及其生成虚拟边界的方法
CN109032147A (zh) * 2018-09-10 2018-12-18 扬州方棱机械有限公司 基于卫星定位信号生成割草机器人虚拟边界的方法
KR102262845B1 (ko) * 2018-09-12 2021-06-09 한국로봇융합연구원 이동로봇의 두둑 이동제어장치 및 이의 방법
US10831212B2 (en) 2018-09-19 2020-11-10 International Business Machines Corporation Autonomous roving vehicle management using laser barriers
CN109240301B (zh) * 2018-09-28 2024-06-21 北京奇虎科技有限公司 扫地机器人路线规划方法、装置及扫地机器人
WO2020071917A1 (en) * 2018-10-03 2020-04-09 Autroni As Lawn mower barrier
SE542915C2 (en) 2019-01-08 2020-09-15 Husqvarna Ab A robotic lawnmover, and methods of navigating and defining a work area for the same
CN109634285B (zh) * 2019-01-14 2022-03-11 傲基科技股份有限公司 割草机器人及其控制方法
US12163774B1 (en) 2019-01-17 2024-12-10 Renu Robotics Corp. Solar-based semi-mobile recharge skid
US12123702B1 (en) 2019-09-23 2024-10-22 Renu Robotics Corp. Autonomous vehicle terrain prediction and detection
US12117532B1 (en) 2019-01-17 2024-10-15 Renu Robotics Corp. Mobile base station calibration and recalibration
US12247828B1 (en) 2019-01-17 2025-03-11 Renu Robotics Corp. Autonomous vehicle terrain prediction and detection
US12253352B1 (en) 2019-01-17 2025-03-18 Renu Robotics Corp. Autonomous vehicle charging station
US11951977B1 (en) 2019-09-23 2024-04-09 Renu Robotics Corp. Autonomous vehicle panel and post detection
US12240446B1 (en) 2019-01-17 2025-03-04 Renu Robotics Corp. Autonomous vehicle panel and post detection
US12245545B1 (en) 2019-01-17 2025-03-11 Renu Robotics Corp. Autonomous vehicle site setup
US12193358B1 (en) 2019-09-23 2025-01-14 Renu Robotics Corp. Autonomous vehicle site setup
US12038752B1 (en) 2019-01-17 2024-07-16 Renu Robotics Corp. Autonomous vehicle navigational fallover
EP3686704B1 (en) 2019-01-22 2023-08-09 Honda Research Institute Europe GmbH Method for generating a representation and system for teaching an autonomous device operating based on such representation
CN109597420B (zh) * 2019-01-22 2021-06-08 重庆润通智能装备有限公司 一种智能割草机边界自动闭合处理系统及方法
CN113678080A (zh) * 2019-01-28 2021-11-19 维克多动力学股份公司 具有安全措施的机器人车辆
KR102269851B1 (ko) * 2019-01-31 2021-06-28 엘지전자 주식회사 이동 로봇 및 그 제어방법
KR102206388B1 (ko) 2019-01-31 2021-01-22 엘지전자 주식회사 이동 로봇 및 이의 제어 방법
CN109741633A (zh) * 2019-02-22 2019-05-10 三一汽车制造有限公司 区域安全行驶方法和车辆
CN109828584A (zh) * 2019-03-01 2019-05-31 重庆润通智能装备有限公司 待割草坪移除、添加障碍物后的路径规划方法及系统
US11076626B2 (en) 2019-03-05 2021-08-03 Cnh Industrial America Llc System and method for distributing and compressing crop material for ensilage
US11199845B2 (en) 2019-03-05 2021-12-14 Cnh Industrial America Llc System and method for distributing and compressing crop material for ensilage
JP7460328B2 (ja) * 2019-03-20 2024-04-02 Thk株式会社 移動ロボット、移動ロボットの制御システム、移動ロボットの制御方法
CN109991980B (zh) * 2019-04-01 2022-07-08 珠海一微半导体股份有限公司 充电座的信号量化分布图的形成方法
CN114942638A (zh) * 2019-04-02 2022-08-26 北京石头创新科技有限公司 机器人工作区域地图构建方法、装置
CN110070731B (zh) * 2019-05-06 2020-11-10 江苏盛海智能科技有限公司 一种提高无人车行驶安全的方法及终端
CN111941419B (zh) * 2019-05-15 2023-03-14 苏州科瓴精密机械科技有限公司 自移动机器人的控制方法及自移动机器人系统
CN110347153A (zh) * 2019-06-26 2019-10-18 深圳拓邦股份有限公司 一种边界识别方法、系统及移动机器人
CN112230637A (zh) * 2019-06-27 2021-01-15 深圳拓邦股份有限公司 一种割草机系统自适应供电电流方向的方法及割草机系统
JP7410150B2 (ja) * 2019-07-23 2024-01-09 本田技研工業株式会社 自律作業機、自律作業機の制御方法及びプログラム
US11613016B2 (en) * 2019-07-31 2023-03-28 Brain Corporation Systems, apparatuses, and methods for rapid machine learning for floor segmentation for robotic devices
US11937539B2 (en) 2019-08-28 2024-03-26 Samsung Electronics Co., Ltd. Sensor fusion for localization and path planning
US11605961B2 (en) 2019-09-13 2023-03-14 Echo Incorporated System for facilitating the charging of a battery-operated apparatus
IT201900016946A1 (it) 2019-09-23 2021-03-23 Fabrizio Bernini Robot tagliaerba e procedimento corrispondente
CN112578779A (zh) * 2019-09-29 2021-03-30 苏州宝时得电动工具有限公司 地图建立方法、自移动设备、自动工作系统
KR20210039869A (ko) 2019-10-02 2021-04-12 삼성전자주식회사 이동 로봇 및 그 제어방법
CN112631267B (zh) * 2019-10-09 2023-01-24 苏州宝时得电动工具有限公司 自动行走设备控制方法及自动行走设备
WO2021073587A1 (zh) * 2019-10-18 2021-04-22 南京德朔实业有限公司 自行走割草系统、自行走割草机和户外自行走设备
TWI708130B (zh) * 2019-11-11 2020-10-21 東元電機股份有限公司 路徑軌跡追蹤系統
KR102378270B1 (ko) * 2019-11-20 2022-03-24 엘지전자 주식회사 이동 로봇 시스템 및 이동 로봇 시스템의 경계 정보 생성 방법
KR102385611B1 (ko) 2019-12-06 2022-04-12 엘지전자 주식회사 이동 로봇 시스템 및 이동 로봇 시스템의 경계 정보 생성 방법
SE544287C2 (en) 2019-12-06 2022-03-29 Husqvarna Ab Robotic work tool system and method for defining a working area perimeter
SE544524C2 (en) * 2019-12-06 2022-06-28 Husqvarna Ab Robotic work tool system and method for defining a working area perimeter
CN113064408B (zh) * 2019-12-13 2023-03-10 苏州宝时得电动工具有限公司 自主机器人及其控制方法、计算机存储介质
CN113064418A (zh) * 2019-12-13 2021-07-02 苏州宝时得电动工具有限公司 工作地图构建方法、装置、机器人及存储介质
CN113128747B (zh) * 2019-12-30 2024-03-19 南京泉峰科技有限公司 智能割草系统及其自主建图方法
CN111240322B (zh) * 2020-01-09 2020-12-29 珠海市一微半导体有限公司 机器人移动限制框的工作起点确定方法及运动控制方法
WO2021153880A1 (ko) * 2020-01-30 2021-08-05 엘지전자 주식회사 이동 로봇 시스템 및 이동 로봇 시스템의 경계 정보 생성 방법
SE544024C2 (en) * 2020-03-03 2021-11-09 Husqvarna Ab Robotic work tool system and method for redefining a work area perimeter
SE543944C2 (en) * 2020-03-03 2021-09-28 Husqvarna Ab Robotic work tool system and method for defining a stay-out area within a work area
JP7552347B2 (ja) * 2020-03-05 2024-09-18 村田機械株式会社 自律走行台車
CN113495552A (zh) * 2020-03-19 2021-10-12 苏州科瓴精密机械科技有限公司 自动工作系统、自动行走设备及其控制方法及计算机可读存储介质
CN111487961A (zh) * 2020-03-27 2020-08-04 宁波市德霖机械有限公司 行走装置工作范围控制方法、系统、智能终端及存储介质
WO2021221825A1 (en) * 2020-04-27 2021-11-04 Irobot Corporation Method for monitoring autonomous robotic lawnmowers
CN111552288B (zh) * 2020-04-28 2021-03-16 西南交通大学 一种移动机器人路径平滑方法
KR102421519B1 (ko) * 2020-05-26 2022-07-15 엘지전자 주식회사 이동 로봇 시스템 및 이동 로봇 시스템의 경계 정보 생성 방법
WO2021240408A1 (en) * 2020-05-27 2021-12-02 R-Go Robotics Ltd. System and method for improved boundary detection for robotic mower system
CN113748827B (zh) * 2020-06-01 2022-12-06 上海山科机器人有限公司 用于自主作业设备的信号站、自主作业设备和系统
US20210378172A1 (en) * 2020-06-04 2021-12-09 Deere & Company Mower positioning configuration system
US20210382476A1 (en) * 2020-06-05 2021-12-09 Scythe Robotics, Inc. Autonomous lawn mowing system
KR102390043B1 (ko) * 2020-06-16 2022-04-25 엘지전자 주식회사 잔디깎기 로봇을 포함하는 시스템의 제어방법
US11579618B2 (en) * 2020-09-18 2023-02-14 Scythe Robotics, Inc. Coverage planner
CN112068128B (zh) * 2020-09-19 2024-02-02 重庆大学 一种直道场景线段型雷达数据处理及位姿获取方法
AU2021358709B8 (en) * 2020-10-05 2025-08-14 Crown Equipment Corporation Systems and methods for relative pose determination and field enforcement of materials handling vehicles using ultra-wideband radio technology
US12524011B2 (en) * 2020-12-22 2026-01-13 Globe (jiangsu) Co., Ltd. Robotic mower, and control method thereof
CN113050626B (zh) * 2021-03-01 2023-04-11 苏州澜途科技有限公司 服务机器人物理禁区检测和全局重定位方法
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
US20240053746A1 (en) * 2021-03-22 2024-02-15 Mototsugu MUROI Display system, communications system, display control method, and program
SE544856C2 (en) * 2021-04-13 2022-12-13 Husqvarna Ab System and method for determining operating boundaries of a robotic work tool
CN115273391B (zh) * 2021-04-30 2024-08-20 深圳Tcl新技术有限公司 一种移动对象检测方法、装置、电子设备和存储介质
US20220373644A1 (en) * 2021-05-24 2022-11-24 Carrier Corporation Defining a protected region for a radar detector
CN117915817A (zh) 2021-08-13 2024-04-19 尚科宁家运营有限公司 机器人清洁器
US12416492B1 (en) 2021-08-13 2025-09-16 Renu Robotics Corp. Autonomous vehicle sensing through visually obscuring vegetation
US12358575B1 (en) 2021-08-20 2025-07-15 Renu Robotics Corp. Autonomous vehicle connected tool interchange systems and methods
US12250900B2 (en) 2021-09-10 2025-03-18 Mervin C. Hochstetler Lawn mowers having intelligent systems (smart mower logic), associated sub-assemblies incorporating intelligent systems, and associated methods of use
US12285855B2 (en) * 2021-10-12 2025-04-29 Samsung Electronics Co., Ltd. System and method for RF based robot localization
CN114019956A (zh) * 2021-10-14 2022-02-08 科沃斯机器人股份有限公司 区域边界确定方法、系统、自主行进设备及割草机器人
FR3128851B1 (fr) * 2021-11-05 2025-04-25 Kuhn Sas Dispositif de commande d’au moins un engin agricole mobile à l’intérieur d’une parcelle agricole
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
GB2613620B (en) * 2021-12-10 2025-01-29 Dyson Technology Ltd Method for edge cleaning
WO2023119425A1 (ja) * 2021-12-21 2023-06-29 本田技研工業株式会社 作業領域決定装置、芝刈りシステム、作業領域決定方法、および作業領域決定プログラム
KR102770165B1 (ko) * 2022-01-03 2025-02-18 국립금오공과대학교 산학협력단 마커를 이용하여 야외에서 작업 영역을 설정할 수 있는 잔디 깎기 시스템
AU2023200381A1 (en) 2022-01-31 2023-08-17 Techtronic Cordless Gp Robotic garden tool
WO2023162017A1 (ja) * 2022-02-22 2023-08-31 三菱電機株式会社 位置姿勢推定装置、位置姿勢推定システム、およびセンサ設置方法
EP4270138A1 (en) 2022-04-28 2023-11-01 Techtronic Cordless GP Creation of a virtual boundary for a robotic garden tool
TWI828136B (zh) 2022-05-03 2024-01-01 優式機器人股份有限公司 環境整理控制方法及系統
WO2023219564A1 (en) * 2022-05-09 2023-11-16 Lionsbot International Pte. Ltd. A robot and a method of configuring and operating the robot
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
CN115032995B (zh) 2022-06-17 2023-07-14 未岚大陆(北京)科技有限公司 运动控制方法、装置、电子设备及计算机存储介质
CN115250720B (zh) * 2022-07-12 2024-07-30 深圳库犸科技有限公司 割草方法、装置、割草机器人以及存储介质
AU2023204696A1 (en) 2022-07-19 2024-02-08 Techtronic Cordless Gp Display for controlling robotic tool
AU2023206123A1 (en) 2022-07-29 2024-02-15 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool
EP4335268A1 (en) * 2022-09-12 2024-03-13 Yanmar Holdings Co., Ltd. Route generation method, route generation system, and route generation program
CN115562295B (zh) * 2022-10-25 2025-06-06 科沃斯机器人股份有限公司 地图优化方法、电子设备及可读存储介质
SE546680C2 (en) * 2022-11-14 2025-01-14 Husqvarna Ab Improved operation and installation for a robotic work tool
IT202300001740A1 (it) 2023-02-02 2024-08-02 Stiga S P A In Breve Anche St S P A Accessorio ed assieme tra tale accessorio ed un dispositivo mobile
EP4698964A1 (en) * 2023-04-19 2026-02-25 Lionsbot International Pte Ltd. System and method for initializing an autonomous robot for location-specific actions
DE102023112559B4 (de) * 2023-05-12 2024-12-19 Durq Machinery Corp. Visuelles Identifizierungs- und Positionierungssystem eines Mähroboters
JP2025044628A (ja) * 2023-09-20 2025-04-02 本田技研工業株式会社 作業領域設定装置、作業領域設定システム、作業領域設定方法、およびプログラム
US12535833B2 (en) * 2024-01-12 2026-01-27 Firefly Automatix, Inc. Angle selection for mower path planning

Family Cites Families (346)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2751030A (en) 1952-11-13 1956-06-19 Null Fay Edison Light sensitive automatically controlled steering system
US3128840A (en) 1962-04-23 1964-04-14 Barrett Electronics Corp Random control for power-driven unit
US3550714A (en) 1964-10-20 1970-12-29 Mowbot Inc Lawn mower
US3385041A (en) 1965-08-31 1968-05-28 Donald R. Douglas Comb attachment for lawnmowers
DE1503746B1 (de) 1965-12-23 1970-01-22 Bissell Gmbh Teppichkehrmaschine
US3674316A (en) 1970-05-14 1972-07-04 Robert J De Brey Particle monitor
US3946543A (en) 1971-12-10 1976-03-30 Templeton William E Power mower with hydraulic drive
FR2211202B3 (https=) 1972-12-21 1976-10-15 Haaga Hermann
US3924389A (en) 1973-03-27 1975-12-09 Stanley B Kita Automatic lawn mower
US4119900A (en) 1973-12-21 1978-10-10 Ito Patent-Ag Method and system for the automatic orientation and control of a robot
US4133404A (en) 1975-04-25 1979-01-09 Agile Systems, Inc. Automatic lawn mower
US4163977A (en) 1977-12-21 1979-08-07 Polstorff Jurgen K Double loop receiver-transmitter combination
GB2038615B (en) 1978-12-31 1983-04-13 Nintendo Co Ltd Self-moving type vacuum cleaner
US4369543A (en) 1980-04-14 1983-01-25 Jen Chen Remote-control radio vacuum cleaner
US4556313A (en) 1982-10-18 1985-12-03 United States Of America As Represented By The Secretary Of The Army Short range optical rangefinder
JPS5985508A (ja) 1982-11-08 1984-05-17 Kubota Ltd 無人走行作業車
US4513469A (en) 1983-06-13 1985-04-30 Godfrey James O Radio controlled vacuum cleaner
JPS609403A (ja) 1983-06-28 1985-01-18 株式会社クボタ 自動走行作業車
US4603753A (en) 1983-08-29 1986-08-05 Kubota, Ltd. Automatic running work vehicle
US4674048A (en) 1983-10-26 1987-06-16 Automax Kabushiki-Kaisha Multiple robot control system using grid coordinate system for tracking and completing travel over a mapped region containing obstructions
US4700301A (en) 1983-11-02 1987-10-13 Dyke Howard L Method of automatically steering agricultural type vehicles
US4626995A (en) 1984-03-26 1986-12-02 Ndc Technologies, Inc. Apparatus and method for optical guidance system for automatic guided vehicle
IT8423851V0 (it) 1984-11-21 1984-11-21 Cavalli Alfredo Apparecchio elettrodomestico polifunzionale particolarmente per la pulitura di pavimenti, tappeti e moquettes in opera e simili.
US4679152A (en) 1985-02-20 1987-07-07 Heath Company Navigation system and method for a mobile robot
JPS6215336A (ja) 1985-06-21 1987-01-23 Murata Mach Ltd 自動集綿排出システム
IT206218Z2 (it) 1985-07-26 1987-07-13 Dulevo Spa Motospazzatrice con contenitore estraibile
SE451770B (sv) 1985-09-17 1987-10-26 Hyypae Ilkka Kalevi Sett for navigering av en i ett plan rorlig farkost, t ex en truck, samt truck for utovning av settet
NO864109L (no) 1985-10-17 1987-04-21 Knepper Hans Reinhard Fremgangsmaate for automatisk foering av selvgaaende gulvrengjoeringsmaskiner samt gulvrengjoeringsmaskin for utfoerelse av fremgangsmaaten.
JPS62120510A (ja) 1985-11-21 1987-06-01 Hitachi Ltd 自動掃除機の制御方法
JPS62154008A (ja) 1985-12-27 1987-07-09 Hitachi Ltd 自走ロボツトの走行制御方法
JPS62120510U (https=) 1986-01-24 1987-07-31
JPS62154008U (https=) 1986-03-19 1987-09-30
US4777416A (en) 1986-05-16 1988-10-11 Denning Mobile Robotics, Inc. Recharge docking system for mobile robot
US4767237A (en) 1986-08-26 1988-08-30 Minnesota Mining And Manufacturing Company Marking tape with wire conductors and methods for use
IE59553B1 (en) 1986-10-30 1994-03-09 Inst For Ind Res & Standards Position sensing apparatus
US4733431A (en) 1986-12-09 1988-03-29 Whirlpool Corporation Vacuum cleaner with performance monitoring system
JPS63183032A (ja) 1987-01-26 1988-07-28 松下電器産業株式会社 掃除ロボツト
JPH0786767B2 (ja) 1987-03-30 1995-09-20 株式会社日立製作所 自走ロボツトの走行制御方法
JPS63183032U (https=) 1987-05-15 1988-11-25
EP0321592B1 (de) 1987-12-16 1992-06-03 Hako-Werke GMBH & Co. Handgeführte Kehrmaschine
US5002145A (en) 1988-01-29 1991-03-26 Nec Corporation Method and apparatus for controlling automated guided vehicle
US4782550A (en) 1988-02-12 1988-11-08 Von Schrader Company Automatic surface-treating apparatus
US4919224A (en) 1988-05-16 1990-04-24 Industrial Technology Research Institute Automatic working vehicular system
JPH01175669U (https=) 1988-05-23 1989-12-14
US4887415A (en) 1988-06-10 1989-12-19 Martin Robert L Automated lawn mower or floor polisher
KR910006887B1 (ko) 1988-06-15 1991-09-10 마쯔시다덴기산교 가부시기가이샤 전기소제기의 쓰레기 검지장치
JPH026312U (https=) 1988-06-27 1990-01-17
US4933864A (en) 1988-10-04 1990-06-12 Transitions Research Corporation Mobile robot navigation employing ceiling light fixtures
US4962453A (en) 1989-02-07 1990-10-09 Transitions Research Corporation Autonomous vehicle for working on a surface and method of controlling same
US4918441A (en) 1988-12-22 1990-04-17 Ford New Holland, Inc. Non-contact sensing unit for row crop harvester guidance system
US4893025A (en) 1988-12-30 1990-01-09 Us Administrat Distributed proximity sensor system having embedded light emitters and detectors
US4909024A (en) 1989-02-14 1990-03-20 Trim-A-Lawn Corporation Apparatus for trimming lawns
FR2648071B1 (fr) 1989-06-07 1995-05-19 Onet Procede et appareil autonomes de nettoyage automatique de sol par execution de missions programmees
JPH0351023A (ja) 1989-07-20 1991-03-05 Matsushita Electric Ind Co Ltd 自走式掃除機
US5017415A (en) 1989-09-18 1991-05-21 Minnesota Mining And Manufacturing Company Self-dispensing spaced electronic markers
JPH03201903A (ja) * 1989-12-28 1991-09-03 Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko 圃場作業車両の自律走行システム
US5170352A (en) * 1990-05-07 1992-12-08 Fmc Corporation Multi-purpose autonomous vehicle with path plotting
US5142985A (en) 1990-06-04 1992-09-01 Motorola, Inc. Optical detection device
US5109566A (en) 1990-06-28 1992-05-05 Matsushita Electric Industrial Co., Ltd. Self-running cleaning apparatus
US5093955A (en) 1990-08-29 1992-03-10 Tennant Company Combined sweeper and scrubber
US5444965A (en) 1990-09-24 1995-08-29 Colens; Andre Continuous and autonomous mowing system
US5086535A (en) 1990-10-22 1992-02-11 Racine Industries, Inc. Machine and method using graphic data for treating a surface
US5204814A (en) 1990-11-13 1993-04-20 Mobot, Inc. Autonomous lawn mower
US5216777A (en) 1990-11-26 1993-06-08 Matsushita Electric Industrial Co., Ltd. Fuzzy control apparatus generating a plurality of membership functions for determining a drive condition of an electric vacuum cleaner
KR930000081B1 (ko) 1990-12-07 1993-01-08 주식회사 금성사 청소기의 자동 청소방법
US5165064A (en) 1991-03-22 1992-11-17 Cyberotics, Inc. Mobile robot guidance and navigation system
US5163273A (en) 1991-04-01 1992-11-17 Wojtkowski David J Automatic lawn mower vehicle
JPH04320612A (ja) 1991-04-17 1992-11-11 Tohoku Pioneer Kk 自動芝刈機
US5321614A (en) 1991-06-06 1994-06-14 Ashworth Guy T D Navigational control apparatus and method for autonomus vehicles
JP2738610B2 (ja) 1991-09-07 1998-04-08 富士重工業株式会社 自走台車の走行制御装置
US5239720A (en) 1991-10-24 1993-08-31 Advance Machine Company Mobile surface cleaning machine
US5269030A (en) 1991-11-13 1993-12-14 Ssi Medical Services, Inc. Apparatus and method for managing waste from patient care, maintenance, and treatment
KR940006561B1 (ko) 1991-12-30 1994-07-22 주식회사 금성사 자동주행 청소용 로버트의 장애물 감지장치
IL100633A (en) 1992-01-12 1999-04-11 Israel State Large area movement robot
DE4201596C2 (de) 1992-01-22 2001-07-05 Gerhard Kurz Bodendüse für Staubsauger
US5568589A (en) 1992-03-09 1996-10-22 Hwang; Jin S. Self-propelled cleaning machine with fuzzy logic control
KR940004375B1 (ko) 1992-03-25 1994-05-23 삼성전자 주식회사 자주식 청소기의 구동방법
JPH0816776B2 (ja) 1992-04-27 1996-02-21 富士写真フイルム株式会社 写真フイルムの巻径規制用ディスクの製造方法
DE4217093C1 (https=) 1992-05-22 1993-07-01 Siemens Ag, 8000 Muenchen, De
US5279672A (en) 1992-06-29 1994-01-18 Windsor Industries, Inc. Automatic controlled cleaning machine
US5303448A (en) 1992-07-08 1994-04-19 Tennant Company Hopper and filter chamber for direct forward throw sweeper
US5410479A (en) 1992-08-17 1995-04-25 Coker; William B. Ultrasonic furrow or crop row following sensor
US5324948A (en) 1992-10-27 1994-06-28 The United States Of America As Represented By The United States Department Of Energy Autonomous mobile robot for radiologic surveys
US5548511A (en) 1992-10-29 1996-08-20 White Consolidated Industries, Inc. Method for controlling self-running cleaning apparatus
JPH06149350A (ja) 1992-10-30 1994-05-27 Johnson Kk 自走車の誘導システム
US5319828A (en) 1992-11-04 1994-06-14 Tennant Company Low profile scrubber
US5261139A (en) 1992-11-23 1993-11-16 Lewis Steven D Raised baseboard brush for powered floor sweeper
JP3343386B2 (ja) 1993-03-22 2002-11-11 ヤンマー農機株式会社 追従型走行車両
JPH06327598A (ja) 1993-05-21 1994-11-29 Tokyo Electric Co Ltd 電気掃除機の吸込口体
US5440216A (en) 1993-06-08 1995-08-08 Samsung Electronics Co., Ltd. Robot cleaner
US5460124A (en) 1993-07-15 1995-10-24 Perimeter Technologies Incorporated Receiver for an electronic animal confinement system
IT1264951B1 (it) 1993-07-20 1996-10-17 Anna Maria Boesi Apparecchiatura aspirante per la pulizia di superfici
KR0140499B1 (ko) 1993-08-07 1998-07-01 김광호 청소기와 그 제어방법
KR0161031B1 (ko) 1993-09-09 1998-12-15 김광호 로보트의 위치오차보정장치
KR100197676B1 (ko) 1993-09-27 1999-06-15 윤종용 로보트 청소기
JP3319093B2 (ja) 1993-11-08 2002-08-26 松下電器産業株式会社 移動作業ロボット
GB9323316D0 (en) 1993-11-11 1994-01-05 Crowe Gordon M Motorized carrier
US5528888A (en) 1993-12-27 1996-06-25 Fuji Jukogyo Kabushiki Kaisha Autonomous mowing vehicle and apparatus for detecting boundary of mowed field
JP2594880B2 (ja) 1993-12-29 1997-03-26 西松建設株式会社 自律走行型知能作業ロボット
SE502428C2 (sv) 1994-02-21 1995-10-16 Electrolux Ab Dammsugarmunstycke
SE502834C2 (sv) 1994-03-29 1996-01-29 Electrolux Ab Förfarande och anordning för avkänning av hinder vid självgående anordning
JPH07265240A (ja) 1994-03-31 1995-10-17 Hookii:Kk 床面掃除機における壁際用清掃体
KR970000582B1 (ko) 1994-03-31 1997-01-14 삼성전자 주식회사 로보트청소기의 주행제어방법
JP3293314B2 (ja) 1994-04-14 2002-06-17 ミノルタ株式会社 清掃ロボット
US5455982A (en) 1994-04-22 1995-10-10 Advance Machine Company Hard and soft floor surface cleaning apparatus
US5485653A (en) 1994-04-25 1996-01-23 Windsor Industries, Inc. Floor cleaning apparatus
US5507067A (en) 1994-05-12 1996-04-16 Newtronics Pty Ltd. Electronic vacuum cleaner control system
SE514791C2 (sv) 1994-06-06 2001-04-23 Electrolux Ab Förbättrat förfarande för lokalisering av fyrar vid självgående anordning
JP3051023B2 (ja) 1994-06-10 2000-06-12 東芝セラミックス株式会社 珪素質分析試料中の不純物高精度分析のための処理方法及びその装置
JPH0816776A (ja) 1994-06-30 1996-01-19 Tokyo Koku Keiki Kk 平滑化処理回路を有するグラフィック表示回路
US5682213A (en) 1994-07-01 1997-10-28 Adaptive Optics Associates, Inc. Optical illuminator for liquid crystal displays
BE1008470A3 (fr) 1994-07-04 1996-05-07 Colens Andre Dispositif et systeme automatique de depoussierage de sol et engin y adapte.
JPH0822322A (ja) 1994-07-07 1996-01-23 Johnson Kk 床面洗浄車制御方法及び装置
JP3296105B2 (ja) 1994-08-26 2002-06-24 ミノルタ株式会社 自律移動ロボット
US5454129A (en) 1994-09-01 1995-10-03 Kell; Richard T. Self-powered pool vacuum with remote controlled capabilities
JP3188116B2 (ja) 1994-09-26 2001-07-16 日本輸送機株式会社 自走式掃除機
US5560077A (en) 1994-11-25 1996-10-01 Crotchett; Diane L. Vacuum dustpan apparatus
JP3396977B2 (ja) 1994-11-30 2003-04-14 松下電器産業株式会社 移動作業ロボット
JPH08163905A (ja) * 1994-12-14 1996-06-25 Semiconductor Energy Lab Co Ltd 自動芝刈機
BE1009086A5 (fr) 1995-02-10 1996-11-05 Solar And Robotics Sa Tete de coupe auto-nettoyante.
US5634237A (en) 1995-03-29 1997-06-03 Paranjpe; Ajit P. Self-guided, self-propelled, convertible cleaning apparatus
IT236779Y1 (it) 1995-03-31 2000-08-17 Dulevo Int Spa Macchina spazzatrice aspirante e filtrante
SE9501810D0 (sv) 1995-05-16 1995-05-16 Electrolux Ab Skrapa av elastiskt material
IL113913A (en) 1995-05-30 2000-02-29 Friendly Machines Ltd Navigation method and system
JPH08335112A (ja) 1995-06-08 1996-12-17 Minolta Co Ltd 移動作業ロボットシステム
JP2640736B2 (ja) 1995-07-13 1997-08-13 株式会社エイシン技研 クリーニングマシンおよびボーリングレーンメンテナンスマシン
US5555587A (en) 1995-07-20 1996-09-17 The Scott Fetzer Company Floor mopping machine
JPH0949729A (ja) * 1995-08-07 1997-02-18 Hitachi Ltd 移動作業機械の運転方法及び作業データの作成方法
JP4014662B2 (ja) 1995-09-18 2007-11-28 ファナック株式会社 ロボット教示操作盤
US5819008A (en) 1995-10-18 1998-10-06 Rikagaku Kenkyusho Mobile robot sensor system
DE69615789T2 (de) 1995-11-07 2002-07-04 Friendly Robotics Ltd., Even Yehuda System zur Ermittlung von Grenzlinien für einen automatisierten Roboter
KR970032722A (ko) 1995-12-19 1997-07-22 최진호 무선조정 청소기
JPH09179625A (ja) 1995-12-26 1997-07-11 Hitachi Electric Syst:Kk 自律走行車の走行制御方法及び走行制御装置
JPH09185410A (ja) 1996-01-08 1997-07-15 Hitachi Electric Syst:Kk 自律走行車の走行制御方法及び走行制御装置
US5611106A (en) 1996-01-19 1997-03-18 Castex Incorporated Carpet maintainer
US6830120B1 (en) 1996-01-25 2004-12-14 Penguin Wax Co., Ltd. Floor working machine with a working implement mounted on a self-propelled vehicle for acting on floor
US6574536B1 (en) 1996-01-29 2003-06-03 Minolta Co., Ltd. Moving apparatus for efficiently moving on floor with obstacle
JPH09244730A (ja) 1996-03-11 1997-09-19 Komatsu Ltd ロボットシステムおよびロボットの制御装置
SE509317C2 (sv) 1996-04-25 1999-01-11 Electrolux Ab Munstycksarrangemang för en självgående dammsugare
US5935179A (en) 1996-04-30 1999-08-10 Aktiebolaget Electrolux System and device for a self orienting device
SE506907C2 (sv) 1996-04-30 1998-03-02 Electrolux Ab System och anordning vid självorienterande anordning
SE506372C2 (sv) 1996-04-30 1997-12-08 Electrolux Ab Självgående anordning
US5709007A (en) 1996-06-10 1998-01-20 Chiang; Wayne Remote control vacuum cleaner
US5812267A (en) 1996-07-10 1998-09-22 The United States Of America As Represented By The Secretary Of The Navy Optically based position location system for an autonomous guided vehicle
US5926909A (en) 1996-08-28 1999-07-27 Mcgee; Daniel Remote control vacuum cleaner and charging system
US5974348A (en) 1996-12-13 1999-10-26 Rocks; James K. System and method for performing mobile robotic work operations
JP3375843B2 (ja) 1997-01-29 2003-02-10 本田技研工業株式会社 ロボットの自律走行方法および自律走行ロボットの制御装置
US6049745A (en) 1997-02-10 2000-04-11 Fmc Corporation Navigation system for automatic guided vehicle
US5942869A (en) 1997-02-13 1999-08-24 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
JP3323772B2 (ja) * 1997-02-13 2002-09-09 本田技研工業株式会社 デッドロック防止装置付自律走行ロボット
KR200155821Y1 (ko) 1997-05-12 1999-10-01 최진호 원격제어 진공청소기
JP2002512757A (ja) 1997-05-19 2002-04-23 クリエイター・リミテッド 家庭用機具の制御装置及び方法
US6009358A (en) 1997-06-25 1999-12-28 Thomas G. Xydis Programmable lawn mower
US6226830B1 (en) 1997-08-20 2001-05-08 Philips Electronics North America Corp. Vacuum cleaner with obstacle avoidance
KR100516315B1 (ko) 1997-08-25 2005-09-23 코닌클리케 필립스 일렉트로닉스 엔.브이. 음향 표면 타입 검출기를 가진 전기적 표면 처리 장치
SE510524C2 (sv) 1997-09-19 1999-05-31 Electrolux Ab Elektroniskt avgränsningssystem
WO1999016078A1 (fr) 1997-09-19 1999-04-01 Hitachi, Ltd. Composant de circuit integre synchrone
SE511504C2 (sv) 1997-10-17 1999-10-11 Apogeum Ab Sätt och anordning för associering av anonyma reflektorer till detekterade vinkellägen
US5943730A (en) 1997-11-24 1999-08-31 Tennant Company Scrubber vac-fan seal
EP1049964B1 (fr) 1997-11-27 2002-03-13 Solar & Robotics Ameliorations a des robots mobiles et a leur systeme de commande
US6532404B2 (en) 1997-11-27 2003-03-11 Colens Andre Mobile robots and their control system
SE523080C2 (sv) 1998-01-08 2004-03-23 Electrolux Ab Dockningssystem för självgående arbetsredskap
SE511254C2 (sv) 1998-01-08 1999-09-06 Electrolux Ab Elektroniskt söksystem för arbetsredskap
JP3051023U (ja) 1998-01-29 1998-08-11 株式会社鈴機商事 履帯用パッド
DE19804195A1 (de) 1998-02-03 1999-08-05 Siemens Ag Bahnplanungsverfahren für eine mobile Einheit zur Flächenbearbeitung
US6041471A (en) 1998-04-09 2000-03-28 Madvac International Inc. Mobile walk-behind sweeper
AUPP299498A0 (en) 1998-04-15 1998-05-07 Commonwealth Scientific And Industrial Research Organisation Method of tracking and sensing position of objects
US6133730A (en) 1998-04-22 2000-10-17 Winn; William E. Apparatus for positioning a detection device for monitoring a rotatable machine element
IL124413A (en) 1998-05-11 2001-05-20 Friendly Robotics Ltd System and method for area coverage with an autonomous robot
US6073427A (en) 1998-06-11 2000-06-13 Nichols; Stephen W. Method and apparatus for counting crops
BR9912304A (pt) 1998-07-20 2001-05-02 Procter & Gamble Sistema robótico
US6112143A (en) 1998-08-06 2000-08-29 Caterpillar Inc. Method and apparatus for establishing a perimeter defining an area to be traversed by a mobile machine
US6463368B1 (en) 1998-08-10 2002-10-08 Siemens Aktiengesellschaft Method and device for determining a path around a defined reference position
US6166706A (en) 1998-11-04 2000-12-26 Checkpoint Systems, Inc. Rotating field antenna with a magnetically coupled quadrature loop
GB9827779D0 (en) 1998-12-18 1999-02-10 Notetry Ltd Improvements in or relating to appliances
GB2344745B (en) 1998-12-18 2002-06-05 Notetry Ltd Vacuum cleaner
GB2344888A (en) 1998-12-18 2000-06-21 Notetry Ltd Obstacle detection system
US6108076A (en) 1998-12-21 2000-08-22 Trimble Navigation Limited Method and apparatus for accurately positioning a tool on a mobile machine using on-board laser and positioning system
US6339735B1 (en) 1998-12-29 2002-01-15 Friendly Robotics Ltd. Method for operating a robot
US6124694A (en) 1999-03-18 2000-09-26 Bancroft; Allen J. Wide area navigation for a robot scrubber
US6338013B1 (en) * 1999-03-19 2002-01-08 Bryan John Ruffner Multifunctional mobile appliance
ES2222906T3 (es) 1999-06-17 2005-02-16 SOLAR & ROBOTICS S.A. Dispositivo automatico de recogida de objetos.
US6611738B2 (en) 1999-07-12 2003-08-26 Bryan J. Ruffner Multifunctional mobile appliance
DE19932552C2 (de) 1999-07-13 2002-08-01 Gunter Arnold Selbstfahrender, graserkennender Rasenmäher
GB9917232D0 (en) 1999-07-23 1999-09-22 Notetry Ltd Method of operating a floor cleaning device
GB9917348D0 (en) 1999-07-24 1999-09-22 Procter & Gamble Robotic system
US6140146A (en) 1999-08-03 2000-10-31 Intermec Ip Corp. Automated RFID transponder manufacturing on flexible tape substrates
ATE306096T1 (de) 1999-08-31 2005-10-15 Swisscom Ag Mobiler roboter und steuerverfahren für einen mobilen roboter
JP4207336B2 (ja) 1999-10-29 2009-01-14 ソニー株式会社 移動ロボットのための充電システム、充電ステーションを探索する方法、移動ロボット、コネクタ、及び、電気的接続構造
US6548982B1 (en) 1999-11-19 2003-04-15 Regents Of The University Of Minnesota Miniature robotic vehicles and methods of controlling same
US6374155B1 (en) 1999-11-24 2002-04-16 Personal Robotics, Inc. Autonomous multi-platform robot system
US6594844B2 (en) 2000-01-24 2003-07-22 Irobot Corporation Robot obstacle detection system
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US7155308B2 (en) 2000-01-24 2006-12-26 Irobot Corporation Robot obstacle detection system
GB2358843B (en) 2000-02-02 2002-01-23 Logical Technologies Ltd An autonomous mobile apparatus for performing work within a pre-defined area
US6285930B1 (en) 2000-02-28 2001-09-04 Case Corporation Tracking improvement for a vision guidance system
US6278918B1 (en) * 2000-02-28 2001-08-21 Case Corporation Region of interest selection for a vision guidance system
JP2001258807A (ja) 2000-03-16 2001-09-25 Sharp Corp 自走式電気掃除機
NO314388B1 (no) 2000-03-16 2003-03-17 Sb Produksjon As Övelsesanordning for golfslag
USD451931S1 (en) 2000-03-21 2001-12-11 Friendly Robotics Ltd. Robotic lawnmower
US6443509B1 (en) 2000-03-21 2002-09-03 Friendly Robotics Ltd. Tactile sensor
US8136333B1 (en) 2000-03-21 2012-03-20 F Robotics Acquisitions Ltd. Lawnmower cutting deck and releasable blade
JP2001275908A (ja) 2000-03-30 2001-10-09 Matsushita Seiko Co Ltd 清掃装置
US6870792B2 (en) 2000-04-04 2005-03-22 Irobot Corporation Sonar Scanner
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US6845297B2 (en) 2000-05-01 2005-01-18 Irobot Corporation Method and system for remote control of mobile robot
EP1279081B1 (en) 2000-05-01 2012-01-04 iRobot Corporation Method and system for remote control of mobile robot
AU2001281276A1 (en) 2000-05-02 2001-11-12 Personal Robotics, Inc. Autonomous floor mopping apparatus
US6385515B1 (en) 2000-06-15 2002-05-07 Case Corporation Trajectory path planner for a vision guidance system
JP3674481B2 (ja) 2000-09-08 2005-07-20 松下電器産業株式会社 自走式掃除機
US6658693B1 (en) 2000-10-12 2003-12-09 Bissell Homecare, Inc. Hand-held extraction cleaner with turbine-driven brush
NO313533B1 (no) 2000-10-30 2002-10-21 Torbjoern Aasen Mobil robot
AUPR154400A0 (en) 2000-11-17 2000-12-14 Duplex Cleaning Machines Pty. Limited Robot machine
US6496754B2 (en) 2000-11-17 2002-12-17 Samsung Kwangju Electronics Co., Ltd. Mobile robot and course adjusting method thereof
US6571415B2 (en) 2000-12-01 2003-06-03 The Hoover Company Random motion cleaner
US6661239B1 (en) 2001-01-02 2003-12-09 Irobot Corporation Capacitive sensor systems and methods with increased resolution and automatic calibration
US6444003B1 (en) 2001-01-08 2002-09-03 Terry Lee Sutcliffe Filter apparatus for sweeper truck hopper
JP2002204768A (ja) 2001-01-12 2002-07-23 Matsushita Electric Ind Co Ltd 自走式掃除機
US6658325B2 (en) 2001-01-16 2003-12-02 Stephen Eliot Zweig Mobile robotic with web server and digital radio links
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US6883201B2 (en) 2002-01-03 2005-04-26 Irobot Corporation Autonomous floor-cleaning robot
ATE357869T1 (de) 2001-01-25 2007-04-15 Koninkl Philips Electronics Nv Roboter zum staubsaugen von flächen mittels einer kreisförmigen bewegung
FR2820216B1 (fr) 2001-01-26 2003-04-25 Wany Sa Procede et dispositif de detection d'obstacle et de mesure de distance par rayonnement infrarouge
ITFI20010021A1 (it) 2001-02-07 2002-08-07 Zucchetti Ct Sistemi S P A Apparecchio pulitore aspirante automatico per pavimenti
SE518483C2 (sv) 2001-02-28 2002-10-15 Electrolux Ab Hjulupphängning för en självgående städapparat
SE518482C2 (sv) 2001-02-28 2002-10-15 Electrolux Ab Hinderavkänningssystem för en självgående städapparat
SE0100926L (sv) 2001-03-15 2002-10-01 Electrolux Ab Närhetsavkännande system för en autonom anordning och ultraljudgivare
SE518683C2 (sv) 2001-03-15 2002-11-05 Electrolux Ab Förfarande och anordning för positionsbestämning av en autonom apparat
SE0100924D0 (sv) 2001-03-15 2001-03-15 Electrolux Ab Energy-efficient navigation of an autonomous surface treatment apparatus
JP4726392B2 (ja) 2001-03-16 2011-07-20 ヴィジョン・ロボティクス・コーポレーション 自律的に移動するキャニスタ型真空掃除機
KR100437372B1 (ko) 2001-04-18 2004-06-25 삼성광주전자 주식회사 이동통신망을 이용한 로봇 청소 시스템
US6438456B1 (en) 2001-04-24 2002-08-20 Sandia Corporation Portable control device for networked mobile robots
US6408226B1 (en) 2001-04-24 2002-06-18 Sandia Corporation Cooperative system and method using mobile robots for testing a cooperative search controller
JP2002323925A (ja) 2001-04-26 2002-11-08 Matsushita Electric Ind Co Ltd 移動作業ロボット
WO2002096184A1 (fr) 2001-05-28 2002-12-05 Solar & Robotics Sa Amelioration a une tondeuse robotique
JP2002355206A (ja) 2001-06-04 2002-12-10 Matsushita Electric Ind Co Ltd 自走式電気掃除機
JP3356170B1 (ja) 2001-06-05 2002-12-09 松下電器産業株式会社 掃除ロボット
JP4017840B2 (ja) 2001-06-05 2007-12-05 松下電器産業株式会社 自走式掃除機
US6901624B2 (en) 2001-06-05 2005-06-07 Matsushita Electric Industrial Co., Ltd. Self-moving cleaner
ES2366689T3 (es) 2001-06-12 2011-10-24 Irobot Corporation Procedimiento y sistema para una cobertura multimodo para un robot autónomo.
US6507773B2 (en) 2001-06-14 2003-01-14 Sharper Image Corporation Multi-functional robot with remote and video system
JP2003005296A (ja) 2001-06-18 2003-01-08 Noritsu Koki Co Ltd 写真処理装置
JP2003010076A (ja) 2001-06-27 2003-01-14 Figla Co Ltd 電気掃除機
JP2003036116A (ja) 2001-07-25 2003-02-07 Toshiba Tec Corp 自律走行ロボット
US7051399B2 (en) 2001-07-30 2006-05-30 Tennant Company Cleaner cartridge
JP2003038401A (ja) 2001-08-01 2003-02-12 Toshiba Tec Corp 掃除装置
JP2003038402A (ja) 2001-08-02 2003-02-12 Toshiba Tec Corp 掃除装置
KR100420171B1 (ko) 2001-08-07 2004-03-02 삼성광주전자 주식회사 로봇 청소기와 그 시스템 및 제어방법
FR2828589B1 (fr) 2001-08-07 2003-12-05 France Telecom Systeme de connexion electrique entre un vehicule et une station de recharge ou similaire
US6580246B2 (en) 2001-08-13 2003-06-17 Steven Jacobs Robot touch shield
US6652398B2 (en) 2001-08-27 2003-11-25 Innercore Grip Company Vibration dampening grip cover for the handle of an implement
JP2003061882A (ja) 2001-08-28 2003-03-04 Matsushita Electric Ind Co Ltd 自走式掃除機
US6540683B1 (en) 2001-09-14 2003-04-01 Gregory Sharat Lin Dual-frequency ultrasonic array transducer and method of harmonic imaging
AU2002341358A1 (en) 2001-09-26 2003-04-07 Friendly Robotics Ltd. Robotic vacuum cleaner
IL145680A0 (en) 2001-09-26 2002-06-30 Friendly Robotics Ltd Robotic vacuum cleaner
GB0126492D0 (en) 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
GB0126497D0 (en) 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
US6681171B2 (en) 2001-12-18 2004-01-20 Detroit Diesel Corporation Condensation control for internal combustion engines using EGR
JP2003191797A (ja) * 2001-12-28 2003-07-09 Yamaha Motor Co Ltd 立ち乗りゴルフカー
JP2003256047A (ja) * 2001-12-28 2003-09-10 Yamaha Motor Co Ltd 自動誘導タイプ乗用移動車
US20030121325A1 (en) 2001-12-28 2003-07-03 Nanya Technology Corporation Portable liquid level detector
EP1331537B1 (en) 2002-01-24 2005-08-03 iRobot Corporation Method and system for robot localization and confinement of workspace
AU2003218917A1 (en) 2002-01-31 2003-09-02 Solar And Robotics Sa Improvement to a method for controlling an autonomous mobile robot et related device
US7418324B2 (en) 2002-03-06 2008-08-26 Vssl Commercial, Inc. Active suspension for a marine platform
JP2002360482A (ja) 2002-03-15 2002-12-17 Matsushita Electric Ind Co Ltd 自走式掃除機
AU2003220444A1 (en) 2002-03-21 2003-10-08 Rapistan System Advertising Corp. Graphical system configuration program for material handling
JP3683226B2 (ja) 2002-03-27 2005-08-17 株式会社クボタ 草刈機の集草案内構造
US7239944B2 (en) 2002-03-28 2007-07-03 Dean Jason A Programmable lawn mower
US7174836B2 (en) 2002-04-05 2007-02-13 Jervis B. Webb Company Station control system for a driverless vehicle
US6580978B1 (en) 2002-04-15 2003-06-17 United Defense, Lp Path following using bounded beacon-aided inertial navigation
KR20030082040A (ko) 2002-04-16 2003-10-22 삼성광주전자 주식회사 로봇 청소기
US20040030571A1 (en) 2002-04-22 2004-02-12 Neal Solomon System, method and apparatus for automated collective mobile robotic vehicles used in remote sensing surveillance
US20040068415A1 (en) 2002-04-22 2004-04-08 Neal Solomon System, methods and apparatus for coordination of and targeting for mobile robotic vehicles
US20040068351A1 (en) 2002-04-22 2004-04-08 Neal Solomon System, methods and apparatus for integrating behavior-based approach into hybrid control model for use with mobile robotic vehicles
US20040068416A1 (en) 2002-04-22 2004-04-08 Neal Solomon System, method and apparatus for implementing a mobile sensor network
US20040030448A1 (en) 2002-04-22 2004-02-12 Neal Solomon System, methods and apparatus for managing external computation and sensor resources applied to mobile robotic network
US7047861B2 (en) 2002-04-22 2006-05-23 Neal Solomon System, methods and apparatus for managing a weapon system
DE10231391A1 (de) 2002-07-08 2004-02-12 Alfred Kärcher Gmbh & Co. Kg Bodenbearbeitungssystem
DE10231384A1 (de) 2002-07-08 2004-02-05 Alfred Kärcher Gmbh & Co. Kg Verfahren zum Betreiben eines Bodenreinigungssystems sowie Bodenreinigungssystem zur Anwendung des Verfahrens
US20040031113A1 (en) 2002-08-14 2004-02-19 Wosewick Robert T. Robotic surface treating device with non-circular housing
US7162056B2 (en) 2002-08-16 2007-01-09 Evolution Robotics, Inc. Systems and methods for the automated sensing of motion in a mobile robot using visual data
AU2003270581A1 (en) 2002-09-13 2004-04-30 Mark J. Chiappetta A navigational control system for a robotic device
KR100459465B1 (ko) 2002-10-22 2004-12-03 엘지전자 주식회사 로봇 청소기의 먼지흡입구조
US7069124B1 (en) 2002-10-28 2006-06-27 Workhorse Technologies, Llc Robotic modeling of voids
KR100468107B1 (ko) 2002-10-31 2005-01-26 삼성광주전자 주식회사 외부충전장치를 갖는 로봇청소기 시스템 및 로봇청소기의외부충전장치 접속방법
DE10262191A1 (de) 2002-12-23 2006-12-14 Alfred Kärcher Gmbh & Co. Kg Mobiles Bodenbearbeitungsgerät
JP2004237075A (ja) 2003-02-06 2004-08-26 Samsung Kwangju Electronics Co Ltd 外部充電装置を有するロボット掃除機システム及びロボット掃除機の外部充電装置の接続方法。
KR100485696B1 (ko) 2003-02-07 2005-04-28 삼성광주전자 주식회사 로봇청소기의 위치인식표지 검출방법 및 이 검출방법을적용한 로봇청소기
US7805220B2 (en) 2003-03-14 2010-09-28 Sharper Image Acquisition Llc Robot vacuum with internal mapping system
US20050010331A1 (en) 2003-03-14 2005-01-13 Taylor Charles E. Robot vacuum with floor type modes
US20040211444A1 (en) 2003-03-14 2004-10-28 Taylor Charles E. Robot vacuum with particulate detector
US20040200505A1 (en) 2003-03-14 2004-10-14 Taylor Charles E. Robot vac with retractable power cord
TWM241097U (en) 2003-07-24 2004-08-21 Modern Molded Products Ltd Improved structure of sheath for handle of golf club
US20050097952A1 (en) 2003-11-12 2005-05-12 Steph James C. Conductive sensor for fluid level sensing
US6983583B2 (en) 2003-11-21 2006-01-10 Ariens Company Lawnmower tilt sensor apparatus and method
DE10357637A1 (de) 2003-12-10 2005-07-07 Vorwerk & Co. Interholding Gmbh Selbstfahrendes oder zu verfahrendes Kehrgerät sowie Kombination eines Kehrgeräts mit einer Basisstation
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
EP1721279B1 (en) 2004-02-03 2009-11-18 F. Robotics Aquisitions Ltd. Robot docking station and robot for use therewith
JP2007520323A (ja) 2004-02-04 2007-07-26 エス．シー． ジョンソン アンド サン、インコーポレイテッド カートリッジベースの清掃システムを備えた表面処理装置
US7203576B1 (en) 2004-02-09 2007-04-10 Orbit Irrigation Products, Inc. Moisture sensor timer
USD510066S1 (en) 2004-05-05 2005-09-27 Irobot Corporation Base station for robot
EP1776623B1 (en) 2004-06-24 2011-12-07 iRobot Corporation Remote control scheduler and method for autonomous robotic device
JP4463062B2 (ja) 2004-09-30 2010-05-12 リョービ株式会社 作業機
US7525287B2 (en) 2004-10-08 2009-04-28 Husqvarna Zenoah Co., Ltd. Battery pack for driving electric motor of compact engine starting device, engine starting device driven by the battery pack, and manual working machine having the engine starting device
KR100588061B1 (ko) 2004-12-22 2006-06-09 주식회사유진로보틱스 이중흡입장치가 구비된 청소용 로봇
EP1850725B1 (en) 2005-02-18 2010-05-19 iRobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
DE102005013365A1 (de) 2005-03-23 2006-09-28 Wolf-Garten Ag Messvorrichtung und Verfahren zur Bodenoberflächenanalyse für Rasenpflege-Roboter
US7877166B2 (en) 2005-06-28 2011-01-25 S.C. Johnson & Son, Inc. RFID navigational system for robotic floor treater
US7481036B2 (en) 2005-09-02 2009-01-27 Husqvarna Ab Accessible lawn mower deck
US7441392B2 (en) 2005-09-02 2008-10-28 Husqvarna Ab Cutting height adjustment for lawn mower
EP1996987B1 (en) 2006-03-17 2018-10-31 iRobot Corporation Robot confinement
US8046103B2 (en) 2006-09-29 2011-10-25 F Robotics Acquisitions Ltd. System and method for determining the location of a machine
EP2084389B1 (en) 2006-11-24 2016-05-18 Husqvarna AB Arrangement related to a motor-driven tool
US8306659B2 (en) 2006-12-06 2012-11-06 F Robotics Acquisitions Ltd. Autonomous robot
JP2008163905A (ja) 2006-12-29 2008-07-17 Orion Mach Co Ltd ポンプ装置
USD573610S1 (en) 2007-03-16 2008-07-22 F Robotics Acquisitions Ltd. Robotic lawnmower deck
USD559867S1 (en) 2007-03-16 2008-01-15 F Robotics Acquisitions Ltd. Robotic lawnmower
JP4924282B2 (ja) 2007-08-21 2012-04-25 日本電気株式会社 携帯端末及びこの端末のアラーム音選択方法
US8069639B2 (en) 2008-10-29 2011-12-06 Husqvarna Outdoor Products Inc. Wheel height adjuster for walk-behind mower
DE102009041362A1 (de) * 2009-09-11 2011-03-24 Vorwerk & Co. Interholding Gmbh Verfahren zum Betreiben eines Reinigungsroboters
RU2012122469A (ru) * 2009-11-06 2013-12-20 Эволюшн Роботикс, Инк. Способы и системы для полного охвата поверхности автономным роботом
WO2011115534A1 (en) 2010-03-17 2011-09-22 Husqvarna Ab Method and system for navigating a robotic garden tool
AU2010348406B2 (en) 2010-03-17 2014-10-23 Husqvarna Ab Method and system for guiding a robotic garden tool to a predetermined position
GB201005259D0 (en) 2010-03-29 2010-05-12 F Robotics Acquisitions Ltd Improvements relating to lawnmowers
CN102844722B (zh) 2010-04-14 2015-09-30 胡斯华纳有限公司 利用多个信号以一距离跟随引线的机器人园艺工具
WO2011145989A1 (en) 2010-05-19 2011-11-24 Husqvarna Ab Effective charging by multiple contact points
WO2012005642A1 (en) 2010-07-07 2012-01-12 Husqvarna Ab Communication and safety device for boundary aided systems
US8635841B2 (en) 2010-08-31 2014-01-28 Husqvarna Consumer Outdoor Products, N.A., Inc. Center rear discharge deck
WO2012044220A1 (en) 2010-10-01 2012-04-05 Husqvarna Ab Method and system for guiding a robotic garden tool
AU2010366653B2 (en) 2010-12-28 2016-02-11 Husqvarna Ab Short turn radius steering system
USD656163S1 (en) 2011-03-08 2012-03-20 Husqvarna Ab Robotic lawnmower
USD652431S1 (en) 2011-03-18 2012-01-17 Husqvarna Ab Robotic lawnmower
US20120290165A1 (en) 2011-05-09 2012-11-15 Chien Ouyang Flexible Robotic Mower
US9257925B2 (en) 2011-06-20 2016-02-09 Husqvarna Ab Speed control for power tools
CN102662400A (zh) * 2012-05-10 2012-09-12 慈溪思达电子科技有限公司 割草机器人的路径规划算法
CN102771246B (zh) * 2012-07-05 2014-12-10 芜湖鸿宇智能科技有限公司 一种智能割草机系统及其智能割草方法
WO2014029357A1 (zh) * 2012-08-23 2014-02-27 苏州宝时得电动工具有限公司 自动工作设备及其控制方法
GB201306437D0 (en) * 2013-04-09 2013-05-22 F Robotics Acquisitions Ltd Domestic robotic system and robot therfor
KR101537623B1 (ko) * 2014-01-29 2015-07-17 엘지전자 주식회사 잔디 깎기 로봇 및 그 제어 방법
CN103901890B (zh) * 2014-04-09 2017-05-24 中国科学院深圳先进技术研究院 基于家庭庭院的户外自动行走装置及其控制系统和方法
FR3020915B1 (fr) 2014-05-19 2016-04-29 Wolf Outils Procede de mise en œuvre d'un robot de traitement du sol et systeme correspondant
US9510505B2 (en) * 2014-10-10 2016-12-06 Irobot Corporation Autonomous robot localization
US9516806B2 (en) 2014-10-10 2016-12-13 Irobot Corporation Robotic lawn mowing boundary determination
US10188029B1 (en) * 2014-10-20 2019-01-29 Hydro-Gear Limited Partnership Method of generating a three-dimensional map of a lawn and its use to improve mowing efficiency
EP3187953B1 (en) * 2015-12-30 2020-03-18 Honda Research Institute Europe GmbH Autonomous working machine such as autonomous lawn mower
US9968025B2 (en) * 2016-01-14 2018-05-15 CNH Industrial American LLC System and method for generating and implementing an end-of-row turn path

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190108530A (ko) * 2019-09-04 2019-09-24 엘지전자 주식회사 이동 로봇 및 그의 구동 방법
KR102877692B1 (ko) 2019-09-04 2025-10-30 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

Also Published As

Publication number Publication date
JP2020114226A (ja) 2020-07-30
IL249588A0 (en) 2017-02-28
US20170150676A1 (en) 2017-06-01
AU2015328636B2 (en) 2019-07-18
WO2016057185A1 (en) 2016-04-14
CN106489103B (zh) 2021-04-09
CN106489103A (zh) 2017-03-08
US9516806B2 (en) 2016-12-13
IL249588B (en) 2020-10-29
US20210029873A1 (en) 2021-02-04
AU2015328636A1 (en) 2017-01-12
US20180168097A1 (en) 2018-06-21
EP3203825B1 (en) 2020-11-18
US9854737B2 (en) 2018-01-02
US10750667B2 (en) 2020-08-25
JP2017531423A (ja) 2017-10-26
US20160100522A1 (en) 2016-04-14
CA2954200A1 (en) 2016-04-14
EP3203825A1 (en) 2017-08-16
US11452257B2 (en) 2022-09-27

Similar Documents

Publication Publication Date Title
JP6679506B2 (ja) ロボット芝刈り境界線決定
US11231707B2 (en) Robot lawnmower mapping
US11589503B2 (en) Robotic mowing of separated lawn areas
CN111273666B (zh) 一种用于机器人草坪割草的操作者反馈单元及方法
EP3156873B1 (en) Autonomous vehicle with improved simultaneous localization and mapping function
CN112540380A (zh) 自主机器人定位

Legal Events

Date Code Title Description
RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20170718

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180913

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20180913

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20190424

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20190701

RD03 Notification of appointment of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7423

Effective date: 20190822

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20190823

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190918

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: 20200217

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200318

R150 Certificate of patent or registration of utility model

Ref document number: 6679506

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250