SE538372C2 - Improved map generation by a robotic work tool - Google Patents

Improved map generation by a robotic work tool Download PDF

Info

Publication number
SE538372C2
SE538372C2 SE1451644A SE1451644A SE538372C2 SE 538372 C2 SE538372 C2 SE 538372C2 SE 1451644 A SE1451644 A SE 1451644A SE 1451644 A SE1451644 A SE 1451644A SE 538372 C2 SE538372 C2 SE 538372C2
Authority
SE
Sweden
Prior art keywords
work tool
robotic work
altitude
reading
sensor
Prior art date
Application number
SE1451644A
Other languages
English (en)
Other versions
SE1451644A1 (sv
Inventor
Stefan Grufman
Björn Mannefred
Magnus Öhrlund
Original Assignee
Husqvarna Ab
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 Husqvarna Ab filed Critical Husqvarna Ab
Priority to SE1451644A priority Critical patent/SE538372C2/sv
Priority to PCT/EP2015/077845 priority patent/WO2016102142A1/en
Priority to US15/538,767 priority patent/US10606279B2/en
Priority to EP15801415.9A priority patent/EP3237985B1/en
Priority to CN201580070510.9A priority patent/CN107111318B/zh
Priority to JP2017533604A priority patent/JP6673921B2/ja
Publication of SE1451644A1 publication Critical patent/SE1451644A1/sv
Publication of SE538372C2 publication Critical patent/SE538372C2/sv

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G05D1/43—
    • G05D1/646—
    • G05D1/648—
    • G05D1/661—
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/40—Altitude
    • G05D2109/10—
    • G05D2111/36—

Claims (12)

538 372 P114240050 SE 1451644-7 FORBATTRAD KARTGENERERING AV ETT ROBOTVERKTYG PATENTKRAV
1. Ett robotverktyg (100) innefattande en hojdsensor (185) for att tillhandahalla en aktuell hojdavlasning (HRL) och en styrenhet (110) konfigurerad att: mottaga den aktuella hojdavlasningen (HRL) fran hojdsensorn (185); faststalla en hojd (H) baserat pa den aktuella hojdavlasningen (HRL); faststalla en aktuell position; och generera en karta som indikerar forhojningar genom att inkludera den faststallda hojden (H) far den aktuella positionen i kartan.
2. System (200) far robotverktyg innefattande ett robotverktyg (100) enligt patentkrav 1 och en referenshojdsensor (285) for att tillhandalialla en referenshojdavlasning (HCS), varvid robotverktyget (100) vidare är konfigurerat att: mottaga referenshojdavlasningen (HCS) fran referenshojdsensorn (285); och faststalla hojden (H) baserat pa den aktuella hOjdavlasningen (HRL) och referenshojdavlasningen (HCS).
3. System (200) for robotverktyg enligt patentkrav 2, innefattar vidare en laddningsstation (210) pa vilken referenshojdsensorn (285) är anordnad och varvid robotverktyget (100) vidare är konfigurerat att faststalla att den har anslutits till laddningsstationen (210), och som svar darpa kalibrera den aktuella hojdsensorn (185) och/eller referenshojdsensorn (285) for att tillhandahalla noggranna hojdavlasningar.
4. System (200) for robotverktyg enligt patentkrav 3, varvid laddningsstationen (210) innefattar en granskabel (250) for att avgransa ett arbetsomrade (205) och ett kommunikationsgranssnitt (275), och varvid laddningsstationen (210) är konfigurerad att overfora hojdavlasningen frail referenshajdsensorn (285) till robotverktyget (100) genom kommunikationsgranssnittet (275); 538 372 och robotverktyget (100) innefattar vidare ett kommunikationsgranssnitt (175) och varvid robotverktyget (100) vidare är konfigurerat att mottaga hojdavldsningen (HCS) frail referenshojdsensorn (285) genom kommunikationsgranssnittet (175), varvid laddningsstationens (210) kommunikationsgranssnitt (275) innefattar en signalgenerator (240) for alstring av styrsignaler (245) att overforas genom grdnskabeln, varvid styrsignalerna modifieras att bara hojddata for referenshojdsensorn (285); och robotverktygets (100) kommunikationsgranssnitt (175) innefattar sensorer (170) for avkanning av styrsignalcrna (245) som ovcrfors genom granskabeln (250) och varvid styrenheten (110) är konfigurerad att extrahera hojddata for referenshojdsensorn (285) fran de avkanda styrsignalerna (245).
5. System (200) for robotverktyg enligt patentkrav 3, varvid laddningsstationen (210) innefattar ett trddlost kommunikationsgranssnitt (275), och varvid laddningsstationen (210) är konfigurerad att OverfOra hojdavlasningen frail referenshojdsensorn (285) till robotverktyget (100) genom kommunikationsgranssnittet (275); och robotverktyget (100) innefattar vidare ett trddlost kommunikationsgranssnitt (175) och varvid robotverktyget (100) vidare är konfigurerat att mottaga hojdavldsningen (HCS) fran referenshojdsensorn (285) genom kommunikationsgranssnittet (175).
6. System (200) for robotverktyg enligt nagotdera av patentkraven 2 till 5, varvid robotverktyget (100) vidare innefattar en positionsbestamningsanordning (190), sâ som en anordning for ett globalt navigationssatellitsystem, for faststallande av en aktuell position.
7. System (200) for robotverktyg enligt patentkrav 6, varvid robotverktyget (100) vidare är konfigurerat att faststalla att tillforlitliga signaler mottagna fran positionsbestamningsanordningen (190) och som svar 610 kalibrera den aktuella hojdsensorn (185). 538 372
8. System (200) for robotverktyg enligt nagotdera av patentkraven 2 till 7, varvid robotverktyget (100) vidare innefattar atminstone en navigations sensor for dodrakning (195) for faststallande av en aktuell position.
9. System (200) for robotverktyg enligt nagotdera av patentkraven 2 till 7, varvid robotverktyget (100) vidare är konfigurerat att anpassa ett klippmonster baserat pa. kaftan som indikerar forhojningar.
10. Systemet (200) for robotverktyg enligt nagotdera av patentkraven, varvid robotverktyget (100) är en robotgrasklippare (100).
11. Metod for anvandning av ett robotverktyg (100) innefattande en hojdsensor (185) for tillhandahallande av en aktuell hojdavlasning (HRL), varvid meto den innefattar: mottagning av den aktuella hojdavlasningen (HRL) fran hojdsensorn (185); faststallning av en hOjd (H) baserat pa den aktuella hojdavlasningen (HRL); faststallning av en aktuell position; generering av en karta som indikerar forhOjningar genom att inkludera den faststallda hojden (H) for den aktuella positionen i kartan.
12. Metod for anvandning av ett system (200) for robotverktyg innefattande ett robotverktyg (100) anordnat att drivas enligt patentkrav 11, varvid systemet (200) for robotverktyg innefattar en referenshojdsensor (285) for att tillhandahalla en referenshojdavlasning (HCS), varvid metoden vidare innefattar: mottagning av referenshojdavlasningen (HCS) frail referenshojdsensorn (285); och faststallning av hoj den (H) baserat pa den aktuella hojdavlasningen (HRL) och referenshojdavlasningen (HCS). 538 372
SE1451644A 2014-12-23 2014-12-23 Improved map generation by a robotic work tool SE538372C2 (sv)

Priority Applications (6)

Application Number Priority Date Filing Date Title
SE1451644A SE538372C2 (sv) 2014-12-23 2014-12-23 Improved map generation by a robotic work tool
PCT/EP2015/077845 WO2016102142A1 (en) 2014-12-23 2015-11-26 3d map generation by a robotic work tool
US15/538,767 US10606279B2 (en) 2014-12-23 2015-11-26 3D map generation by a robotic work tool
EP15801415.9A EP3237985B1 (en) 2014-12-23 2015-11-26 3d map generation by a robotic work tool
CN201580070510.9A CN107111318B (zh) 2014-12-23 2015-11-26 通过机器人作业工具实现的3d地图生成
JP2017533604A JP6673921B2 (ja) 2014-12-23 2015-11-26 ロボット作業具による三次元マップ生成

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1451644A SE538372C2 (sv) 2014-12-23 2014-12-23 Improved map generation by a robotic work tool

Publications (2)

Publication Number Publication Date
SE1451644A1 SE1451644A1 (sv) 2016-05-31
SE538372C2 true SE538372C2 (sv) 2016-05-31

Family

ID=54705615

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1451644A SE538372C2 (sv) 2014-12-23 2014-12-23 Improved map generation by a robotic work tool

Country Status (6)

Country Link
US (1) US10606279B2 (sv)
EP (1) EP3237985B1 (sv)
JP (1) JP6673921B2 (sv)
CN (1) CN107111318B (sv)
SE (1) SE538372C2 (sv)
WO (1) WO2016102142A1 (sv)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201518652D0 (en) * 2015-10-21 2015-12-02 F Robotics Acquisitions Ltd Domestic robotic system and method
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
US11761765B2 (en) 2016-09-09 2023-09-19 Nextnav, Llc Calibrating a pressure sensor
CN109642793A (zh) 2016-09-09 2019-04-16 内克斯特纳夫有限公司 用于校准不稳定传感器的系统和方法
CA3043498A1 (en) * 2016-11-22 2018-05-31 Left Hand Robotics, Inc. Autonomous path treatment systems and methods
SE541842C2 (en) * 2017-03-28 2019-12-27 Husqvarna Ab Improved perimeter marking for a robotic working tool
US11533839B2 (en) * 2017-12-30 2022-12-27 Globe (jiangsu) Co., Ltd. System and method for controlling a self-propelling lawnmower
WO2020033522A2 (en) 2018-08-08 2020-02-13 The Toro Company Handle and method for training an autonomous vehicle, and methods of storing same
EP3683643B1 (en) 2019-01-15 2022-06-15 Honda Research Institute Europe GmbH System comprising an autonomous mobile device and a base station communicating via a boundary wire
CN110214534B (zh) * 2019-05-27 2020-11-13 黎声波 草坪自感应自动数控除草装置及使用方法
KR102295824B1 (ko) 2019-12-06 2021-08-31 엘지전자 주식회사 잔디깎기 로봇의 지도 생성방법
US20240059169A1 (en) * 2021-01-04 2024-02-22 Charging Robotics Ltd. System and method for wireless vehicle battery charging
CN113475215B (zh) * 2021-06-19 2022-09-20 北京正兴鸿业金属材料有限公司 利用激光测距和定位控制的无人剪草机

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001344017A (ja) * 2001-03-28 2001-12-14 Hitachi Ltd 自動走行機械
JP2004267236A (ja) 2003-03-05 2004-09-30 Hitachi Ltd 自走式掃除機およびそれに用いる充電装置
US7272474B1 (en) 2004-03-31 2007-09-18 Carnegie Mellon University Method and system for estimating navigability of terrain
KR100600487B1 (ko) * 2004-10-12 2006-07-13 삼성광주전자 주식회사 로봇 청소기의 좌표보정방법 및 이를 이용한 로봇 청소기시스템
JP2006268652A (ja) * 2005-03-25 2006-10-05 Toshiba Tec Corp 自律走行体システム
KR100645814B1 (ko) 2005-06-07 2006-11-23 엘지전자 주식회사 이동로봇의 자동충전 복귀 시스템 및 그 복귀 방법
KR100815570B1 (ko) 2006-12-06 2008-03-20 삼성광주전자 주식회사 로봇청소기시스템 및 그 제어방법
EP2918212B1 (en) 2008-04-24 2016-06-08 iRobot Corporation Application of localization, positioning & navigation systems for robotic enabled mobile products
JP2009281741A (ja) 2008-05-19 2009-12-03 Freescale Semiconductor Inc 現在位置出力装置、現在位置出力方法及び現在位置出力プログラム
US9220194B2 (en) 2009-06-01 2015-12-29 Husqvarna Ab Front mounted cutting deck with independently positionable decks and maintenance position
WO2011104703A1 (en) * 2010-02-23 2011-09-01 Israel Aerospace Industries Ltd. A system and method of autonomous operation of multi-tasking earth moving machinery
EP2547191B1 (en) * 2010-03-17 2018-09-19 Husqvarna AB Method and system for guiding a robotic garden tool to a predetermined position
WO2011129728A1 (en) * 2010-04-14 2011-10-20 Husqvarna Ab Robotic garden tool following wires at a distance using multiple signals
US9234965B2 (en) 2010-09-17 2016-01-12 Qualcomm Incorporated Indoor positioning using pressure sensors
GB201017711D0 (en) * 2010-10-20 2010-12-01 Sonitor Technologies As Position determination system
DK2703925T3 (da) * 2011-04-28 2021-05-10 Positec Power Tools Suzhou Co Ltd Automatisk arbejdssystem, automatisk gangindretning og styrefremgangsmåde dertil
US8565958B1 (en) * 2011-06-02 2013-10-22 Google Inc. Removing extraneous objects from maps
CN102934565B (zh) * 2011-07-16 2015-12-09 苏州宝时得电动工具有限公司 割草机及对接充电系统
US9546883B2 (en) * 2011-11-11 2017-01-17 Qualcomm Incorporated Sensor auto-calibration
WO2013182941A1 (en) 2012-06-07 2013-12-12 Koninklijke Philips N.V. System and method for guiding a robot cleaner along a path
US9072218B2 (en) 2012-07-09 2015-07-07 Deere & Company Boundary sensor assembly for a robotic lawn mower, robotic lawn mower and robotic lawn mower system
JP6157105B2 (ja) 2012-12-17 2017-07-05 株式会社Ｉｈｉエアロスペース 移動ロボットの走行領域判別装置及び走行領域判別方法
JP2014150704A (ja) * 2013-02-04 2014-08-21 Toyota Industries Corp 充電装置および充電方法

Also Published As

Publication number Publication date
SE1451644A1 (sv) 2016-05-31
EP3237985B1 (en) 2021-10-27
JP6673921B2 (ja) 2020-03-25
CN107111318B (zh) 2020-10-30
WO2016102142A1 (en) 2016-06-30
EP3237985A1 (en) 2017-11-01
CN107111318A (zh) 2017-08-29
US10606279B2 (en) 2020-03-31
US20170344024A1 (en) 2017-11-30
JP2018502296A (ja) 2018-01-25

Similar Documents

Publication Publication Date Title
US10606279B2 (en) 3D map generation by a robotic work tool
EP3069204B1 (en) Improved navigation for a robotic working tool
US10646997B2 (en) Navigation for a robotic working tool
CN108226965B (zh) 自移动设备的定位故障处理方法、装置和电子设备
US20200191973A1 (en) Navigation for a Robotic Work Tool
CN112731945B (zh) 自动工作系统,自移动设备及其控制方法
EP3084542B1 (en) System and method for navigating a robotic working tool.
EP3084541B1 (en) Navigation for a robotic working tool
EP3161571B1 (en) Improved robotic working tool
EP3527057A1 (en) Monitoring steering conditions of an off-road vehicle
EP3384317A1 (en) Improved navigation for a robotic work tool