JP7619527B2 - 自走式作業ロボット - Google Patents

自走式作業ロボット Download PDF

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Publication number
JP7619527B2
JP7619527B2 JP2024520306A JP2024520306A JP7619527B2 JP 7619527 B2 JP7619527 B2 JP 7619527B2 JP 2024520306 A JP2024520306 A JP 2024520306A JP 2024520306 A JP2024520306 A JP 2024520306A JP 7619527 B2 JP7619527 B2 JP 7619527B2
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JP
Japan
Prior art keywords
unit
self
detection
robot
target
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
JP2024520306A
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English (en)
Japanese (ja)
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JPWO2023218835A5 (https=
JPWO2023218835A1 (https=
Inventor
誠生 稲田
秀幸 西野
貴巨 長谷川
郷 半田
拓務 在原
隼土 石川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Publication of JPWO2023218835A1 publication Critical patent/JPWO2023218835A1/ja
Publication of JPWO2023218835A5 publication Critical patent/JPWO2023218835A5/ja
Application granted granted Critical
Publication of JP7619527B2 publication Critical patent/JP7619527B2/ja
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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • 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
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/18—Safety devices for parts of the machines
    • A01D75/185—Avoiding collisions with obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • 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
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/689—Pointing payloads towards fixed or moving targets
    • G05D1/6895—Pointing payloads towards fixed or moving targets the payload being a manipulator arm
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45003—Harvester
    • 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
    • G05D2107/21—Farming, e.g. fields, pastures or barns
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2024520306A 2022-05-11 2023-04-11 自走式作業ロボット Active JP7619527B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2022078208 2022-05-11
JP2022078208 2022-05-11
PCT/JP2023/014728 WO2023218835A1 (ja) 2022-05-11 2023-04-11 自走式作業ロボット

Publications (3)

Publication Number Publication Date
JPWO2023218835A1 JPWO2023218835A1 (https=) 2023-11-16
JPWO2023218835A5 JPWO2023218835A5 (https=) 2024-08-23
JP7619527B2 true JP7619527B2 (ja) 2025-01-22

Family

ID=88730104

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024520306A Active JP7619527B2 (ja) 2022-05-11 2023-04-11 自走式作業ロボット

Country Status (7)

Country Link
US (1) US20250053178A1 (https=)
EP (1) EP4523516A4 (https=)
JP (1) JP7619527B2 (https=)
CN (1) CN119212828A (https=)
AU (1) AU2023268200A1 (https=)
CA (1) CA3252642A1 (https=)
WO (1) WO2023218835A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025234269A1 (ja) * 2024-05-08 2025-11-13 株式会社デンソー 収穫ロボット
WO2025234271A1 (ja) * 2024-05-08 2025-11-13 株式会社デンソー 農作物収穫システム
JP7789148B1 (ja) * 2024-08-30 2025-12-19 三菱重工業株式会社 作業ロボット、作業ロボットの制御方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014176934A (ja) 2013-03-15 2014-09-25 Yaskawa Electric Corp ロボットシステム、及び、ロボットシステムの制御方法
JP2021115662A (ja) 2020-01-27 2021-08-10 トヨタ自動車株式会社 作業システム
JP2021126770A (ja) 2020-01-17 2021-09-02 川崎重工業株式会社 安全装置、自走式ロボットシステム、及び制御方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1110568A (ja) * 1997-06-26 1999-01-19 Mitsubishi Electric Corp 無人搬送装置
GB2580991B (en) * 2019-07-22 2021-05-05 Kingdom Tech Ltd Robotic lawn mower control
JP7382597B2 (ja) * 2019-11-28 2023-11-17 川崎重工業株式会社 ロボットシステムおよびロボットセル
JP7140097B2 (ja) * 2019-12-25 2022-09-21 株式会社デンソー 農作物収穫システム
JP7608094B2 (ja) * 2020-09-11 2025-01-06 株式会社東芝 移動体、制御装置、監視装置、制御方法、及びプログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014176934A (ja) 2013-03-15 2014-09-25 Yaskawa Electric Corp ロボットシステム、及び、ロボットシステムの制御方法
JP2021126770A (ja) 2020-01-17 2021-09-02 川崎重工業株式会社 安全装置、自走式ロボットシステム、及び制御方法
JP2021115662A (ja) 2020-01-27 2021-08-10 トヨタ自動車株式会社 作業システム

Also Published As

Publication number Publication date
US20250053178A1 (en) 2025-02-13
AU2023268200A1 (en) 2024-10-17
EP4523516A1 (en) 2025-03-19
EP4523516A4 (en) 2025-09-10
WO2023218835A1 (ja) 2023-11-16
CN119212828A (zh) 2024-12-27
CA3252642A1 (en) 2025-07-08
JPWO2023218835A1 (https=) 2023-11-16

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