US20210064045A1 - Autonomous snow removing machine - Google Patents
Autonomous snow removing machine Download PDFInfo
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- US20210064045A1 US20210064045A1 US17/003,472 US202017003472A US2021064045A1 US 20210064045 A1 US20210064045 A1 US 20210064045A1 US 202017003472 A US202017003472 A US 202017003472A US 2021064045 A1 US2021064045 A1 US 2021064045A1
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- removal work
- snow removal
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Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- E01H5/08—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements
- E01H5/09—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements the elements being rotary or moving along a closed circular path, e.g. rotary cutter, digging wheels
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
-
- 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
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Definitions
- the present invention relates to an autonomous snow removing machine, and particularly to an autonomous snow removing machine capable of performing snow removal work while autonomously traveling.
- an autonomous snow removing machine that includes a location information system, a system controller having a computer built therein, and a fallen snow monitoring system, and performs work such as snow removal in accordance with an instruction from a system controller on the basis of image pickup of fallen snow performed by a monitoring camera in the fallen snow monitoring system or snowfall detection information has been known (for example, see Japanese Patent Laid-Open No. 2017-040076).
- aspects of the present invention have been made in view of the abovementioned matter, and an object thereof is to provide an autonomous snow removing machine capable of performing snow removal work by autonomously traveling with a high accuracy.
- an aspect of the present invention is an autonomous snow removing machine that autonomously travels in a predetermined snow removal work region, the autonomous snow removing machine including: a traveling apparatus; a snow removal work unit; a region setting unit that sets a snow removal work region in which snow removal is performed by the snow removal work unit; and a control unit that controls the traveling apparatus such that the traveling apparatus does not deviate from the snow removal work region set by the region setting unit.
- a communication unit that communicates with a mobile terminal apparatus of a user is further included.
- the region setting unit includes an image pickup apparatus that photographs a marker formed on a pole, for work, installed on a boundary of the snow removal work region, and the control unit reads the marker and sets the snow removal work region on basis of an image photographed by the image pickup apparatus.
- control unit sets the snow removal work region on basis of information set by the mobile terminal apparatus and transmitted via the communication unit.
- control unit sets a snow collecting region in which removed snow is collected when the snow removal work region is set, and the control unit controls the snow removal work unit such that the snow removal work unit collects, in the snow collecting region, snow that has fallen in the snow removal work region.
- a pole, for snow collection, that is different from the pole for work is installed on a boundary of the snow collecting region, and the control unit sets the snow collecting region on basis of a marker formed on the pole for snow collection.
- a location detecting unit that detects a current location is further included, and the control unit acquires the current location obtained by the location detecting unit, and sets a temporary snow collecting region between the current location and the snow collecting region when a distance between the current location and the snow collecting region is a certain distance or more.
- the snow removal work unit includes an auger that collects snow, and a blower that blows the snow collected by the auger, the snow removal work unit collecting snow by blowing snow in the snow removal work region toward the snow collecting region with use of the auger and the blower.
- the snow removal work unit includes a blade for pushing snow and collects snow by pushing snow in the snow removal work region toward the snow collecting region with use of the blade.
- control unit is capable of setting a work schedule for snow removal work, and the control unit removes snow by controlling the snow removal work unit on basis of the work schedule.
- control unit acquires a wake-up time of the user and sets the work schedule such that the snow removal work is completed by a predetermined amount or more at the wake-up time.
- control unit acquires the wake-up time from an alarm time set on the mobile terminal apparatus of the user via the communication unit.
- control unit acquires location information of the mobile terminal apparatus of the user via the communication unit and sets the work schedule for the snow removal work on basis of the location information of the mobile terminal apparatus.
- the control unit estimates a time at which the user reaches the snow removal work region, and sets the work schedule such that the snow removal work is completed by a predetermined amount or more at the estimated reaching time.
- control unit acquires weather forecast information from the mobile terminal apparatus of the user via the communication unit, estimates a snowfall amount in the snow removal work region on basis of the weather forecast information, and sets the work schedule on basis of the estimated snowfall amount.
- control unit transmits a collecting request to a snow removal contractor from the communication unit via the mobile terminal apparatus when an amount of the snow collected in the snow collecting region becomes a certain amount or more.
- the snow removal work is performed while a snow melting agent is sprinkled.
- the snow removal work is able to be performed while causing the autonomous snow removing machine to autonomously travel with a high accuracy by controlling the traveling apparatus in the snow removal work region set by the region setting unit.
- FIG. 1 is a side view illustrating an embodiment of an autonomous snow removing machine according to the present invention
- FIG. 2 is a block diagram illustrating a control configuration of this embodiment
- FIG. 3 is an explanatory diagram illustrating an example of a snow removal work region in which snow removal is performed by the autonomous snow removing machine of this embodiment
- FIG. 4 is a flowchart illustrating a starting operation of this embodiment.
- FIG. 5 is a flowchart illustrating a snow removal operation of this embodiment.
- FIG. 1 is a side view illustrating an embodiment of an autonomous snow removing machine according to the present invention.
- an autonomous snow removing machine 1 includes a vehicle main body 10 forming a frame of the autonomous snow removing machine 1 , traveling apparatuses 11 , and a snow removal work unit 12 .
- the traveling apparatuses 11 are provided on both of left and right sides of the vehicle main body 10 on a lower side thereof.
- crawler-type traveling apparatuses 11 each formed by bridging a crawler track 21 over a pair of wheels 20 are used.
- a power source 22 is mounted on a substantially central portion of the vehicle main body 10 in the front-rear direction.
- the power source 22 includes electric motors 23 (see FIG. 2 ) that drive the traveling apparatuses 11 , and an engine 24 (see FIG. 2 ) that drives the snow removal work unit 12 .
- Each of the electric motors 23 is provided for each of the left and right traveling apparatuses 11 , and the autonomous snow removing machine 1 can be caused to travel to a freely-selected direction, for example, moved forward, moved backward, rotated to the left, and rotated to the right by driving the left and right traveling apparatuses 11 by the electric motors 23 .
- the engine 24 adjusts the rotating speed by operating a throttle 25 and drives the snow removal work unit 12 via a transmission (not shown).
- a power generator (not shown) is provided on a drive shaft of the engine 24 , and the power generated by the power generator is supplied to a battery 26 (see FIG. 2 ) that supplies operation power to each unit.
- an auger housing 30 extending in the width direction of the vehicle main body 10 and forming a part of the snow removal work unit 12 is provided ahead of the vehicle main body 10 .
- an auger 31 is provided in a rotatably drivable manner.
- the auger housing 30 covers an upper portion and both side portions of the auger 31 .
- a blower housing 32 that covers a blower (not shown) is provided behind the auger housing 30 , and a shooter 33 is provided on an upper portion of the blower housing 32 .
- the shooter 33 is mounted so as to be rotatable in a substantially horizontal direction with respect to the blower housing 32 .
- the shooter 33 can adjust the direction in which snow is thrown by the shooter 33 by being rotatably driven by a shooter driving motor (not shown).
- a shooter guide 34 is mounted so as to be able to vertically reciprocate.
- the shooter guide 34 can adjust the snow-throwing angle by being driven in a vertically reciprocating manner by a guide driving motor (not shown).
- the autonomous snow removing machine 1 can collect snow by the auger 31 and throw the collected snow to a far place by the blower via the shooter 33 while traveling forward by the left and right traveling apparatuses 11 .
- a pair of arms 35 are provided on an upper portion of the power source 22 on the front side thereof in a standing manner so as to be spaced apart from each other to the left and the right, and a headlight 36 that outputs illumination light is supported by upper ends of those arms 35 .
- a camera 37 forming a region setting unit and serving as an image pickup apparatus, a radar system 38 such as a LiDAR, a GPS system 39 , and the battery 26 that supplies operation power to the units of the autonomous snow removing machine 1 (see FIG. 2 for all) are mounted.
- the camera 37 may be one camera or a plurality of cameras and may be a stereo camera formed by two of the cameras 37 , for example.
- FIG. 2 is a block diagram illustrating a control configuration of the autonomous snow removing machine 1 .
- the autonomous snow removing machine 1 includes a control system 40 , and the control system 40 includes a control unit 41 including a CPU and the like, and a storage unit 42 including a RAM, a ROM, and the like.
- the control unit 41 controls the units of the autonomous snow removing machine 1 by executing a control program stored in the storage unit 42 .
- the control system 40 includes an operation unit 43 including a user interface and the like, and a communication unit 44 (transmitter/receiver).
- the operation unit 43 includes a function of being able to perform various operations such as a driving operation, a snow removal work operation, and an operation of setting the snow removal work region of the autonomous snow removing machine 1 by operating a touchscreen and the like, for example.
- the communication unit 44 includes a function of performing data communication with a mobile terminal apparatus 60 such as a smartphone owned by a user via a management cloud 61 on the Internet and a communication function capable of making a phone call to the mobile terminal apparatus 60 via the management cloud 61 .
- the communication unit 44 may be able to directly communicate with the mobile terminal apparatus 60 .
- the mobile terminal apparatus 60 includes a function of being able to perform various operations such as the driving operation, the snow removal work operation, and the operation of setting the snow removal work region of the autonomous snow removing machine 1 by operating a display screen.
- the control unit 41 includes a snow removal control driver 45 for controlling the throttle 25 of the engine 24 , and a travel control driver 46 for driving and controlling the electric motor.
- the camera 37 , the radar system 38 , and the GPS system 39 are connected to the control unit 41 .
- the control unit 41 acquires image information from the camera 37 and performs image processing, to thereby set a predetermined snow removal work region as described below.
- the control unit 41 acquires information from the radar system 38 and detects the existence of an obstacle ahead of the autonomous snow removing machine 1 .
- the control unit 41 can acquire the current location of the autonomous snow removing machine 1 by acquiring information of the GPS system 39 .
- FIG. 3 is an explanatory diagram illustrating an example of the snow removal work region in which snow removal by the autonomous snow removing machine 1 is performed.
- FIG. 3 illustrates an example of a state in which a plurality of houses 52 are lined in a row along a sidewalk 51 on a road on which the sidewalk 51 is arranged to be adjacent to a roadway 50 , for example.
- poles 55 for work indicating the boundary of the snow removal work region 54 are provided in a standing manner on end portions of the sidewalk 51 at an end portion of the house ( 1 ) 52 a , corner portions of the private road 53 , and end portions of the sidewalk 51 corresponding to an end portion of the house ( 3 ) 52 c .
- a striped marker 56 (see FIG. 1 ), for example, is formed on an upper end portion of each of the pole 55 for work.
- the control unit 41 performs processing of setting the snow removal work region 54 for setting the boundary of the snow removal work region 54 by setting a virtual wire linearly connecting the marker 56 and the marker 56 to each other by acquiring photographed images of the poles 55 for work photographed by the camera 37 of the autonomous snow removing machine 1 and detecting the markers 56 of the poles 55 for work.
- a snow collecting region 57 for collecting the removed snow is set.
- Poles 58 for snow collection are installed for the snow collecting region 57 , and the snow collecting region 57 is set by detecting markers (not shown) of the poles 58 for snow collection.
- markers of which number of stripes is different and markers of which thickness of stripes is different are used as the markers of the poles 58 for snow collection of the snow collecting region 57 .
- a standby place 59 where the autonomous snow removing machine 1 stands by is set between the house ( 2 ) 52 b and the house ( 3 ) 52 c.
- the snow removal work region 54 and the snow collecting region 57 may use beacons and may be set on the basis of location information emitted from the beacons, for example, or may be set with use of map information of the mobile terminal apparatus 60 , for example.
- the snow removal work region 54 may be successively set by the control unit 41 on the basis of the photographed images photographed by the camera 37 .
- the snow removal work region 54 that is once set on the basis of the photographed image of the camera 37 , and the snow removal work region 54 preset by the mobile terminal apparatus 60 may be stored in the storage unit 42 of the control system 40 or may be stored in the management cloud 61 via the communication unit 44 .
- the control unit 41 performs location detection processing of the autonomous snow removing machine 1 , self-traveling operation control of the autonomous snow removing machine 1 , and snow removal operation control of the autonomous snow removing machine 1 in addition to performing the processing of setting the snow removal work region 54 as described above.
- the location detection processing performed by the control unit 41 is processing of detecting the current location of the autonomous snow removing machine 1 on the basis of location information acquired by the GPS system 39 and information on the distance from the poles 55 for work, the house 52 , and the like acquired by the radar system 38 .
- the self-traveling operation control performed by the control unit 41 is control for issuing an operation instruction to the travel control driver 46 and causing the autonomous snow removing machine 1 to travel so as not to travel out of the snow removal work region 54 on the basis of the current location of the autonomous snow removing machine 1 detected by the location detection processing.
- the self-traveling operation control performed by the control unit 41 includes control for detecting obstacles such as people and the houses 52 existing ahead of the autonomous snow removing machine 1 and causing the autonomous snow removing machine 1 to travel so as to avoid the obstacles when it is detected that the obstacles exist on the basis of image analysis in accordance with the photographed image obtained by the camera 37 or object detection performed the radar system 38 .
- the snow removal operation control performed by the control unit 41 is control for issuing an operation instruction to the snow removal control driver 45 and driving the auger 31 and the blower by driving the throttle 25 of the engine 24 .
- the direction in which snow is thrown is adjusted so that the removed snow is collected in the snow collecting region 57 by rotatably driving the shooter 33 and driving the shooter guide 34 in a reciprocating manner in accordance with the location of the snow collecting region 57 set by the processing of setting the snow removal work region 54 .
- the control unit 41 sets a temporary snow collecting region (not shown) between the current location and the snow collecting region 57 .
- the control unit 41 performs control so as to first throw snow to the temporary snow collecting region, and then collect the snow in the snow collecting region 57 in the end.
- a plurality of the temporary snow collecting regions may be set.
- the autonomous snow removing machine 1 may have a function of scattering a snow melting agent and may also simultaneously perform a work of scattering the snow melting agent when performing the snow removal work.
- the control unit 41 can acquire the life pattern of the user from the mobile terminal apparatus 60 by communicating with the mobile terminal apparatus 60 via the communication unit 44 .
- the control unit 41 acquires a wake-up time of the user from a time set for the alarm via the communication unit 44 .
- the control unit 41 sets a snow removal starting time of the autonomous snow removing machine 1 on the basis of the wake-up time of the user acquired from the mobile terminal apparatus 60 in the snow removal operation control. For example, the control unit 41 sets a work schedule for performing control such that the snow removal starts from a time earlier than the wake-up time so that the snow removal is completed by a predetermined amount or more before the user gets out of bed.
- the control unit 41 can acquire the current location of the mobile terminal apparatus 60 by communicating with the mobile terminal apparatus 60 via the communication unit 44 .
- the mobile terminal apparatus 60 exists in the home of the user when it is determined that the current location of the mobile terminal apparatus 60 is near the current location of the autonomous snow removing machine 1 , and it can be determined that the mobile terminal apparatus 60 does not exist in the home of the user when it is determined that the current location of the mobile terminal apparatus 60 is far from the current location of the autonomous snow removing machine 1 .
- the control unit 41 can acquire a time for going to work at which the user leaves the home of the user and a returning home time at which the user returns home by acquiring the current location of the mobile terminal apparatus 60 .
- the control unit 41 sets a work schedule for performing control such that the snow removal is completed by a predetermined amount or more before the time for going to work or the returning home time.
- the snow removal of the snow removal work region 54 around the home of the user can be completed when the user goes to work at the time for going to work and returns home at the returning home time.
- the control unit 41 can acquire weather forecast information from the mobile terminal apparatus 60 by communicating with the mobile terminal apparatus 60 via the communication unit 44 .
- the control unit 41 estimates a snow removal time in accordance with the snowfall amount by acquiring the snowfall time and the snowfall amount on the basis of the weather forecast information acquired from the mobile terminal apparatus 60 .
- the control unit 41 sets a snow removal work time on the basis of the estimated snow removal time.
- the control unit 41 sets the work schedule by taking the snow removal work time into account when the snow removal work in accordance with the wake-up time, the time for going to work, and the returning home time of the user described above is performed.
- the control unit 41 can estimate the average wake-up time, time for going to work, and returning home time of a day by acquiring the alarm set time, the time for going to work, and the returning home time of the mobile terminal apparatus 60 described above every day, only on weekdays, or only on days off, and the control unit 41 can set the work schedule for each day or each week on the basis of the estimated time.
- the starting timing at which the snow removal operation by the autonomous snow removing machine 1 is performed a timing at which a snow removal starting instruction signal transmitted from the mobile terminal apparatus 60 of the user via the management cloud 61 is received by the communication unit 44 , a timing in accordance with a timer based on the work schedule in accordance with the wake-up time, the time for going to work, and the returning home time described above, a timing at which there is a certain amount or more of fallen snow in the snow removal work region 54 in accordance with the image analysis of the photographed image of the camera 37 , and the like are conceived.
- the control unit 41 may transmit a collecting request to a snow removal contractor via the communication unit 44 when the amount of snow collected in the snow collecting region 57 becomes a certain amount or more.
- FIG. 4 is a flowchart illustrating a snow removal work starting operation.
- the autonomous snow removing machine 1 is activated first (ST 1 ), and the control unit 41 determines whether there is a starting instruction for the snow removal work (ST 2 ).
- the starting instruction may be a starting instruction transmitted from the mobile terminal apparatus 60 by the user via the communication unit 44 or may be a starting instruction based on a preset work schedule, for example.
- the starting instruction may be conceived to be issued when the control unit 41 determines that there is a predetermined amount or more of fallen snow by analyzing the photographed image obtained by the camera 37 .
- the control unit 41 acquires the snow removal work region 54 (ST 3 ).
- the snow removal work region 54 stored in the storage unit 42 or the mobile terminal apparatus 60 may be acquired or the snow removal work region 54 may be successively acquired by recognizing the markers 56 of the poles 55 for work on the basis of the photographed images of the camera 37 .
- control unit 41 transmits operation instructions to the travel control driver 46 and the snow removal control driver 45 (ST 4 ) and starts the snow removal work by the autonomous snow removing machine 1 (ST 5 ).
- FIG. 5 is a flowchart illustrating the snow removal operation.
- the control unit 41 acquires the current location of the autonomous snow removing machine 1 in the snow removal work region 54 and the snow collecting region 57 by the GPS (ST 11 ).
- the control unit 41 moves the shooter 33 so that the shooter 33 turns toward the snow collecting region 57 in accordance with the current location of the autonomous snow removing machine 1 (ST 12 ).
- control unit 41 acquires the situation of a place ahead of the autonomous snow removing machine 1 on the basis of the photographed image of the camera 37 and the detection result by the radar system 38 (ST 13 ).
- the control unit 41 determines whether an obstacle exists ahead of the autonomous snow removing machine 1 on the basis of the acquired situation ahead of the autonomous snow removing machine 1 (ST 14 ).
- the control unit 41 When it is determined that an obstacle does not exist (ST 14 : YES), the control unit 41 issues an operation instruction to the snow removal control driver 45 and activates the auger 31 and the blower by driving the engine 24 (ST 15 ). In this state, the control unit 41 issues an operation instruction to the travel control driver 46 and drives the traveling apparatuses 11 by driving the electric motors 23 . As a result, the control unit 41 performs the snow removal work while moving the autonomous snow removing machine 1 forward (ST 16 ).
- control unit 41 operates the autonomous snow removing machine 1 such that the autonomous snow removing machine 1 avoids the obstacle by issuing an operation instruction to the travel control driver 46 (ST 22 ).
- the control unit 41 acquires the situation ahead of the autonomous snow removing machine 1 on the basis of the photographed image of the camera 37 and the detection result of the radar system 38 . Then, the control unit 41 determines whether a person exists within a predetermined range ahead of the autonomous snow removing machine 1 (ST 17 ) and determines whether an obstacle exists (ST 18 ).
- control unit 41 When it is determined that a person exists within the predetermined range ahead of the autonomous snow removing machine 1 (ST 17 : NO) and when it is determined that an obstacle exists (ST 18 : NO), the control unit 41 performs operation so as to avoid the person or the obstacle by controlling the traveling apparatuses 11 (ST 23 ).
- control unit 41 moves the shooter 33 so as to correspond to the snow collecting region 57 on the basis of the current location of the autonomous snow removing machine 1 (ST 25 ).
- the control unit 41 determines whether a person or an obstacle does not exist ahead of the autonomous snow removing machine 1 (ST 17 , ST 18 : YES)
- the control unit 41 continues the snow removal work and determines whether the boundary of the snow removal work region 54 exists in the traveling direction of the autonomous snow removing machine 1 (ST 19 ).
- the boundary of the snow removal work region 54 may be determined in accordance with the relationship between prestored information on the snow removal work region 54 and the current location of the autonomous snow removing machine 1 or the boundary of the snow removal work region 54 may be determined by recognizing the markers 56 formed on the poles 55 for work on the basis of the photographed image of the camera 37 .
- the control unit 41 controls the traveling apparatuses 11 , for example, causes the traveling apparatuses 11 to turn so that the autonomous snow removing machine 1 does not travel out of the snow removal work region 54 (ST 24 ).
- control unit 41 controls the autonomous snow removing machine 1 to return to a standby location (ST 21 ).
- Step 16 When the snow removal work in the snow removal work region 54 is not completed (ST 20 : NO), the operations in Step 16 and steps thereafter are repeated (ST 16 ).
- the autonomous snow removing machine includes: the traveling apparatuses 11 ; the snow removal work unit 12 ; the region setting unit that sets the snow removal work region 54 in which snow removal is performed by the snow removal work unit 12 ; and the control unit 41 that controls the traveling apparatuses 11 such that the traveling apparatuses 11 do not deviate from the snow removal work region 54 set by the region setting unit.
- the snow removal work can be performed while causing the autonomous snow removing machine to autonomously travel with a high accuracy by controlling the traveling apparatuses 11 in the snow removal work region 54 set by the region setting unit.
- the autonomous snow removing machine includes the communication unit 44 that communicates with the mobile terminal apparatus 60 of the user.
- control unit 41 can perform the snow removal work in the snow removal work region 54 set by the mobile terminal apparatus 60 by communicating with the mobile terminal apparatus 60 by the communication unit 44 .
- the region setting unit includes the camera 37 (image pickup apparatus) that photographs the markers 56 formed on the poles 55 for work installed on the boundary of the snow removal work region 54 , and the control unit 41 reads the markers 56 and sets the snow removal work region 54 on the basis of the image photographed by the camera 37 .
- the snow removal work region 54 can be set by analyzing the image of the markers 56 of the poles 55 for work photographed by the camera 37 .
- control unit 41 sets the snow removal work region 54 on the basis of the information set by the mobile terminal apparatus 60 and transmitted via the communication unit 44 .
- the snow removal work region 54 can be set by the mobile terminal apparatus 60 , and the snow removal work of the snow removal work region 54 set by the mobile terminal apparatus 60 can be performed.
- the removed snow can be collected in the set snow collecting region 57 .
- the snow collecting region 57 can be set by analyzing the image of the markers of the poles 58 for snow collection photographed by the camera 37 .
- the GPS system 39 location detecting unit
- the control unit 41 acquires the current location by the GPS system 39 , and sets the temporary snow collecting region between the current location and the snow collecting region 57 when the distance between the current location and the snow collecting region 57 is a certain distance or more.
- the snow removal work unit 12 includes the auger 31 that collects snow, and the blower that blows the snow collected by the auger 31 , the snow removal work unit 12 collecting snow by blowing the snow in the snow removal work region 54 toward the snow collecting region 57 with use of the auger 31 and the blower.
- the snow removal work can be performed by the auger 31 and the blower.
- control unit 41 is capable of setting the work schedule for snow removal work and the control unit 41 removes snow by controlling the snow removal work unit 12 on the basis of the work schedule.
- control unit 41 can perform the snow removal work on the basis of the set work schedule.
- control unit 41 acquires the wake-up time of the user and sets the work schedule such that the snow removal work is completed by a predetermined amount or more at the wake-up time.
- the snow removal work can be performed on the basis of the work schedule based on the wake-up time of the user.
- control unit 41 acquires the wake-up time from the alarm time set on the mobile terminal apparatus 60 of the user via the communication unit 44 .
- the snow removal work can be performed on the basis of the wake-up time of the user acquired from the alarm time of the mobile terminal apparatus 60 .
- control unit 41 acquires the location information of the mobile terminal apparatus 60 of the user via the communication unit 44 and sets the work schedule for the snow removal work on the basis of the location information of the mobile terminal apparatus 60 .
- the snow removal work can be performed on the basis of the work schedule in accordance with the location information of the user.
- control unit 41 estimates the time at which the user reaches the snow removal work region 54 on the basis of the location information of the mobile terminal apparatus 60 of the user, and sets the work schedule such that the snow removal work is completed by a predetermined amount or more at the estimated reaching time.
- the work schedule in accordance with the time for going to work and the returning home time of the user can be set by estimating the time at which the user reaches the snow removal work region 54 on the basis of the location information of the user.
- control unit 41 acquires the weather forecast information from the mobile terminal apparatus 60 of the user via the communication unit 44 , estimates the snowfall amount of the snow removal work region 54 on the basis of the weather forecast information, and sets the work schedule on the basis of the estimated snowfall amount.
- the work schedule can be set in accordance with the snowfall amount of the snow removal work region 54 by acquiring the weather forecast information.
- control unit 41 transmits the collecting request to the snow removal contractor from the communication unit 44 via the mobile terminal apparatus 60 when the amount of the snow collected in the snow collecting region 57 becomes a certain amount or more.
- the snow accumulated in the snow collecting region 57 can be collected.
- the snow removal work is performed while the snow melting agent is sprinkled.
- the snow removal work can be easily performed by sprinkling the snow melting agent.
- the abovementioned embodiment has been described with use of an example in which the autonomous snow removing machine 1 including the auger 31 and the blower is used, but the present invention is not limited thereto.
- the present invention can also be applied to the autonomous snow removing machine 1 including a blade called a dozer. As a result, the snow removal work can be performed by the blade.
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Abstract
Description
- The present application claims priority under 35 U.S.C. § 119 to Japanese Patent Application No. 2019-161061 filed on Sep. 4, 2019. The content of the application is incorporated herein by reference in its entirety.
- The present invention relates to an autonomous snow removing machine, and particularly to an autonomous snow removing machine capable of performing snow removal work while autonomously traveling.
- Hitherto, a snow removing machine for removing fallen snow on a road and the like has been known.
- As a snow removing machine as above, for example, an autonomous snow removing machine that includes a location information system, a system controller having a computer built therein, and a fallen snow monitoring system, and performs work such as snow removal in accordance with an instruction from a system controller on the basis of image pickup of fallen snow performed by a monitoring camera in the fallen snow monitoring system or snowfall detection information has been known (for example, see Japanese Patent Laid-Open No. 2017-040076).
- However, in the technology of the related art, work such as the snow removal is performed along a navigation passage or in an area preset by the instruction from the system controller, but it may be difficult to travel the set passage in a region in which the accuracy of a GPS is low.
- Aspects of the present invention have been made in view of the abovementioned matter, and an object thereof is to provide an autonomous snow removing machine capable of performing snow removal work by autonomously traveling with a high accuracy.
- In order to attain the abovementioned object, an aspect of the present invention is an autonomous snow removing machine that autonomously travels in a predetermined snow removal work region, the autonomous snow removing machine including: a traveling apparatus; a snow removal work unit; a region setting unit that sets a snow removal work region in which snow removal is performed by the snow removal work unit; and a control unit that controls the traveling apparatus such that the traveling apparatus does not deviate from the snow removal work region set by the region setting unit.
- In the abovementioned configuration, a communication unit that communicates with a mobile terminal apparatus of a user is further included.
- In the abovementioned configuration, the region setting unit includes an image pickup apparatus that photographs a marker formed on a pole, for work, installed on a boundary of the snow removal work region, and the control unit reads the marker and sets the snow removal work region on basis of an image photographed by the image pickup apparatus.
- In the abovementioned configuration, the control unit sets the snow removal work region on basis of information set by the mobile terminal apparatus and transmitted via the communication unit.
- In the abovementioned configuration, the control unit sets a snow collecting region in which removed snow is collected when the snow removal work region is set, and the control unit controls the snow removal work unit such that the snow removal work unit collects, in the snow collecting region, snow that has fallen in the snow removal work region.
- In the abovementioned configuration, a pole, for snow collection, that is different from the pole for work is installed on a boundary of the snow collecting region, and the control unit sets the snow collecting region on basis of a marker formed on the pole for snow collection.
- In the abovementioned configuration, a location detecting unit that detects a current location is further included, and the control unit acquires the current location obtained by the location detecting unit, and sets a temporary snow collecting region between the current location and the snow collecting region when a distance between the current location and the snow collecting region is a certain distance or more.
- In the abovementioned configuration, the snow removal work unit includes an auger that collects snow, and a blower that blows the snow collected by the auger, the snow removal work unit collecting snow by blowing snow in the snow removal work region toward the snow collecting region with use of the auger and the blower.
- In the abovementioned configuration, the snow removal work unit includes a blade for pushing snow and collects snow by pushing snow in the snow removal work region toward the snow collecting region with use of the blade.
- In the abovementioned configuration, the control unit is capable of setting a work schedule for snow removal work, and the control unit removes snow by controlling the snow removal work unit on basis of the work schedule.
- In the abovementioned configuration, the control unit acquires a wake-up time of the user and sets the work schedule such that the snow removal work is completed by a predetermined amount or more at the wake-up time.
- In the abovementioned configuration, the control unit acquires the wake-up time from an alarm time set on the mobile terminal apparatus of the user via the communication unit.
- In the abovementioned configuration, the control unit acquires location information of the mobile terminal apparatus of the user via the communication unit and sets the work schedule for the snow removal work on basis of the location information of the mobile terminal apparatus.
- In the abovementioned configuration, on basis of the location information of the mobile terminal apparatus of the user, the control unit estimates a time at which the user reaches the snow removal work region, and sets the work schedule such that the snow removal work is completed by a predetermined amount or more at the estimated reaching time.
- In the abovementioned configuration, the control unit acquires weather forecast information from the mobile terminal apparatus of the user via the communication unit, estimates a snowfall amount in the snow removal work region on basis of the weather forecast information, and sets the work schedule on basis of the estimated snowfall amount.
- In the abovementioned configuration, the control unit transmits a collecting request to a snow removal contractor from the communication unit via the mobile terminal apparatus when an amount of the snow collected in the snow collecting region becomes a certain amount or more.
- In the abovementioned configuration, at time of snow removal work performed by the snow removal work unit, the snow removal work is performed while a snow melting agent is sprinkled.
- According to an aspect of the present invention, the snow removal work is able to be performed while causing the autonomous snow removing machine to autonomously travel with a high accuracy by controlling the traveling apparatus in the snow removal work region set by the region setting unit.
-
FIG. 1 is a side view illustrating an embodiment of an autonomous snow removing machine according to the present invention; -
FIG. 2 is a block diagram illustrating a control configuration of this embodiment; -
FIG. 3 is an explanatory diagram illustrating an example of a snow removal work region in which snow removal is performed by the autonomous snow removing machine of this embodiment; -
FIG. 4 is a flowchart illustrating a starting operation of this embodiment; and -
FIG. 5 is a flowchart illustrating a snow removal operation of this embodiment. - An embodiment of the present invention is described with reference to drawings below.
-
FIG. 1 is a side view illustrating an embodiment of an autonomous snow removing machine according to the present invention. - As illustrated in
FIG. 1 , an autonomoussnow removing machine 1 includes a vehiclemain body 10 forming a frame of the autonomoussnow removing machine 1, travelingapparatuses 11, and a snowremoval work unit 12. - The
traveling apparatuses 11 are provided on both of left and right sides of the vehiclemain body 10 on a lower side thereof. - In this embodiment, as the
traveling apparatuses 11, crawler-type traveling apparatuses 11 each formed by bridging acrawler track 21 over a pair ofwheels 20 are used. - A
power source 22 is mounted on a substantially central portion of the vehiclemain body 10 in the front-rear direction. Thepower source 22 includes electric motors 23 (seeFIG. 2 ) that drive thetraveling apparatuses 11, and an engine 24 (seeFIG. 2 ) that drives the snowremoval work unit 12. - Each of the
electric motors 23 is provided for each of the left and right travelingapparatuses 11, and the autonomoussnow removing machine 1 can be caused to travel to a freely-selected direction, for example, moved forward, moved backward, rotated to the left, and rotated to the right by driving the left and right travelingapparatuses 11 by theelectric motors 23. - The
engine 24 adjusts the rotating speed by operating athrottle 25 and drives the snowremoval work unit 12 via a transmission (not shown). A power generator (not shown) is provided on a drive shaft of theengine 24, and the power generated by the power generator is supplied to a battery 26 (seeFIG. 2 ) that supplies operation power to each unit. - As illustrated in
FIG. 1 , anauger housing 30 extending in the width direction of the vehiclemain body 10 and forming a part of the snowremoval work unit 12 is provided ahead of the vehiclemain body 10. In theauger housing 30, anauger 31 is provided in a rotatably drivable manner. Theauger housing 30 covers an upper portion and both side portions of theauger 31. - A
blower housing 32 that covers a blower (not shown) is provided behind theauger housing 30, and ashooter 33 is provided on an upper portion of theblower housing 32. - The
shooter 33 is mounted so as to be rotatable in a substantially horizontal direction with respect to theblower housing 32. Theshooter 33 can adjust the direction in which snow is thrown by theshooter 33 by being rotatably driven by a shooter driving motor (not shown). - On an upper end portion of the
shooter 33, ashooter guide 34 is mounted so as to be able to vertically reciprocate. Theshooter guide 34 can adjust the snow-throwing angle by being driven in a vertically reciprocating manner by a guide driving motor (not shown). - The autonomous
snow removing machine 1 can collect snow by theauger 31 and throw the collected snow to a far place by the blower via theshooter 33 while traveling forward by the left and right travelingapparatuses 11. - A pair of
arms 35 are provided on an upper portion of thepower source 22 on the front side thereof in a standing manner so as to be spaced apart from each other to the left and the right, and aheadlight 36 that outputs illumination light is supported by upper ends of thosearms 35. - Although not shown in
FIG. 1 , on the vehiclemain body 10, acamera 37 forming a region setting unit and serving as an image pickup apparatus, aradar system 38 such as a LiDAR, aGPS system 39, and thebattery 26 that supplies operation power to the units of the autonomous snow removing machine 1 (seeFIG. 2 for all) are mounted. - The
camera 37 may be one camera or a plurality of cameras and may be a stereo camera formed by two of thecameras 37, for example. -
FIG. 2 is a block diagram illustrating a control configuration of the autonomoussnow removing machine 1. - As illustrated in
FIG. 2 , the autonomoussnow removing machine 1 includes acontrol system 40, and thecontrol system 40 includes acontrol unit 41 including a CPU and the like, and astorage unit 42 including a RAM, a ROM, and the like. - The
control unit 41 controls the units of the autonomoussnow removing machine 1 by executing a control program stored in thestorage unit 42. - The
control system 40 includes anoperation unit 43 including a user interface and the like, and a communication unit 44 (transmitter/receiver). - The
operation unit 43 includes a function of being able to perform various operations such as a driving operation, a snow removal work operation, and an operation of setting the snow removal work region of the autonomoussnow removing machine 1 by operating a touchscreen and the like, for example. - The
communication unit 44 includes a function of performing data communication with amobile terminal apparatus 60 such as a smartphone owned by a user via amanagement cloud 61 on the Internet and a communication function capable of making a phone call to themobile terminal apparatus 60 via themanagement cloud 61. Thecommunication unit 44 may be able to directly communicate with themobile terminal apparatus 60. - The mobile
terminal apparatus 60 includes a function of being able to perform various operations such as the driving operation, the snow removal work operation, and the operation of setting the snow removal work region of the autonomoussnow removing machine 1 by operating a display screen. - The
control unit 41 includes a snowremoval control driver 45 for controlling thethrottle 25 of theengine 24, and atravel control driver 46 for driving and controlling the electric motor. - The
camera 37, theradar system 38, and theGPS system 39 are connected to thecontrol unit 41. - The
control unit 41 acquires image information from thecamera 37 and performs image processing, to thereby set a predetermined snow removal work region as described below. - The
control unit 41 acquires information from theradar system 38 and detects the existence of an obstacle ahead of the autonomoussnow removing machine 1. - The
control unit 41 can acquire the current location of the autonomoussnow removing machine 1 by acquiring information of theGPS system 39. -
FIG. 3 is an explanatory diagram illustrating an example of the snow removal work region in which snow removal by the autonomoussnow removing machine 1 is performed. -
FIG. 3 illustrates an example of a state in which a plurality of houses 52 are lined in a row along asidewalk 51 on a road on which thesidewalk 51 is arranged to be adjacent to aroadway 50, for example. - When snow on the
sidewalk 51 from a house (1) 52 a to a house (3) 52 c and aprivate road 53 between the house (1) 52 a and a house (2) 52 b is to be removed in a state in which the private road exists between the house (1) 52 a and the house (2) 52 b and the house (2) 52 b and the house (3) 52 c are arranged side by side,poles 55 for work indicating the boundary of the snowremoval work region 54 are provided in a standing manner on end portions of thesidewalk 51 at an end portion of the house (1) 52 a, corner portions of theprivate road 53, and end portions of thesidewalk 51 corresponding to an end portion of the house (3) 52 c. A striped marker 56 (seeFIG. 1 ), for example, is formed on an upper end portion of each of thepole 55 for work. - The
control unit 41 performs processing of setting the snowremoval work region 54 for setting the boundary of the snowremoval work region 54 by setting a virtual wire linearly connecting themarker 56 and themarker 56 to each other by acquiring photographed images of thepoles 55 for work photographed by thecamera 37 of the autonomoussnow removing machine 1 and detecting themarkers 56 of thepoles 55 for work. - In the processing of setting the snow
removal work region 54, asnow collecting region 57 for collecting the removed snow is set.Poles 58 for snow collection are installed for thesnow collecting region 57, and thesnow collecting region 57 is set by detecting markers (not shown) of thepoles 58 for snow collection. - In this case, in order to be distinguished from the markers of the
poles 55 for work of the snowremoval work region 54, markers of which number of stripes is different and markers of which thickness of stripes is different, for example, are used as the markers of thepoles 58 for snow collection of thesnow collecting region 57. - A
standby place 59 where the autonomoussnow removing machine 1 stands by is set between the house (2) 52 b and the house (3) 52 c. - The snow
removal work region 54 and thesnow collecting region 57 may use beacons and may be set on the basis of location information emitted from the beacons, for example, or may be set with use of map information of the mobileterminal apparatus 60, for example. - The snow
removal work region 54 may be successively set by thecontrol unit 41 on the basis of the photographed images photographed by thecamera 37. In addition, the snowremoval work region 54 that is once set on the basis of the photographed image of thecamera 37, and the snowremoval work region 54 preset by the mobileterminal apparatus 60 may be stored in thestorage unit 42 of thecontrol system 40 or may be stored in themanagement cloud 61 via thecommunication unit 44. - The
control unit 41 performs location detection processing of the autonomoussnow removing machine 1, self-traveling operation control of the autonomoussnow removing machine 1, and snow removal operation control of the autonomoussnow removing machine 1 in addition to performing the processing of setting the snowremoval work region 54 as described above. - The location detection processing performed by the
control unit 41 is processing of detecting the current location of the autonomoussnow removing machine 1 on the basis of location information acquired by theGPS system 39 and information on the distance from thepoles 55 for work, the house 52, and the like acquired by theradar system 38. - The self-traveling operation control performed by the
control unit 41 is control for issuing an operation instruction to thetravel control driver 46 and causing the autonomoussnow removing machine 1 to travel so as not to travel out of the snowremoval work region 54 on the basis of the current location of the autonomoussnow removing machine 1 detected by the location detection processing. - The self-traveling operation control performed by the
control unit 41 includes control for detecting obstacles such as people and the houses 52 existing ahead of the autonomoussnow removing machine 1 and causing the autonomoussnow removing machine 1 to travel so as to avoid the obstacles when it is detected that the obstacles exist on the basis of image analysis in accordance with the photographed image obtained by thecamera 37 or object detection performed theradar system 38. - The snow removal operation control performed by the
control unit 41 is control for issuing an operation instruction to the snowremoval control driver 45 and driving theauger 31 and the blower by driving thethrottle 25 of theengine 24. - In this case, in the snow removal operation control, the direction in which snow is thrown is adjusted so that the removed snow is collected in the
snow collecting region 57 by rotatably driving theshooter 33 and driving theshooter guide 34 in a reciprocating manner in accordance with the location of thesnow collecting region 57 set by the processing of setting the snowremoval work region 54. - When the distance from the current location of the autonomous
snow removing machine 1 to thesnow collecting region 57 is far, thecontrol unit 41 sets a temporary snow collecting region (not shown) between the current location and thesnow collecting region 57. By performing the snow removal operation control, thecontrol unit 41 performs control so as to first throw snow to the temporary snow collecting region, and then collect the snow in thesnow collecting region 57 in the end. A plurality of the temporary snow collecting regions may be set. - The autonomous
snow removing machine 1 may have a function of scattering a snow melting agent and may also simultaneously perform a work of scattering the snow melting agent when performing the snow removal work. - The
control unit 41 can acquire the life pattern of the user from the mobileterminal apparatus 60 by communicating with the mobileterminal apparatus 60 via thecommunication unit 44. - For example, when the user sets an alarm by the mobile
terminal apparatus 60, thecontrol unit 41 acquires a wake-up time of the user from a time set for the alarm via thecommunication unit 44. - The
control unit 41 sets a snow removal starting time of the autonomoussnow removing machine 1 on the basis of the wake-up time of the user acquired from the mobileterminal apparatus 60 in the snow removal operation control. For example, thecontrol unit 41 sets a work schedule for performing control such that the snow removal starts from a time earlier than the wake-up time so that the snow removal is completed by a predetermined amount or more before the user gets out of bed. - As a result, when the user gets out of bed, the snow removal of the snow
removal work region 54 around the home of the user can be completed. - The
control unit 41 can acquire the current location of the mobileterminal apparatus 60 by communicating with the mobileterminal apparatus 60 via thecommunication unit 44. - It can be determined that the mobile
terminal apparatus 60 exists in the home of the user when it is determined that the current location of the mobileterminal apparatus 60 is near the current location of the autonomoussnow removing machine 1, and it can be determined that the mobileterminal apparatus 60 does not exist in the home of the user when it is determined that the current location of the mobileterminal apparatus 60 is far from the current location of the autonomoussnow removing machine 1. - The
control unit 41 can acquire a time for going to work at which the user leaves the home of the user and a returning home time at which the user returns home by acquiring the current location of the mobileterminal apparatus 60. Thecontrol unit 41 sets a work schedule for performing control such that the snow removal is completed by a predetermined amount or more before the time for going to work or the returning home time. - As a result, the snow removal of the snow
removal work region 54 around the home of the user can be completed when the user goes to work at the time for going to work and returns home at the returning home time. - The
control unit 41 can acquire weather forecast information from the mobileterminal apparatus 60 by communicating with the mobileterminal apparatus 60 via thecommunication unit 44. - The
control unit 41 estimates a snow removal time in accordance with the snowfall amount by acquiring the snowfall time and the snowfall amount on the basis of the weather forecast information acquired from the mobileterminal apparatus 60. Thecontrol unit 41 sets a snow removal work time on the basis of the estimated snow removal time. - The
control unit 41 sets the work schedule by taking the snow removal work time into account when the snow removal work in accordance with the wake-up time, the time for going to work, and the returning home time of the user described above is performed. - The
control unit 41 can estimate the average wake-up time, time for going to work, and returning home time of a day by acquiring the alarm set time, the time for going to work, and the returning home time of the mobileterminal apparatus 60 described above every day, only on weekdays, or only on days off, and thecontrol unit 41 can set the work schedule for each day or each week on the basis of the estimated time. - As the starting timing at which the snow removal operation by the autonomous
snow removing machine 1 is performed, a timing at which a snow removal starting instruction signal transmitted from the mobileterminal apparatus 60 of the user via themanagement cloud 61 is received by thecommunication unit 44, a timing in accordance with a timer based on the work schedule in accordance with the wake-up time, the time for going to work, and the returning home time described above, a timing at which there is a certain amount or more of fallen snow in the snowremoval work region 54 in accordance with the image analysis of the photographed image of thecamera 37, and the like are conceived. - The
control unit 41 may transmit a collecting request to a snow removal contractor via thecommunication unit 44 when the amount of snow collected in thesnow collecting region 57 becomes a certain amount or more. - Next, the operation of this embodiment is described.
-
FIG. 4 is a flowchart illustrating a snow removal work starting operation. - As illustrated in
FIG. 4 , when the snow removal work is started, the autonomoussnow removing machine 1 is activated first (ST1), and thecontrol unit 41 determines whether there is a starting instruction for the snow removal work (ST2). In this case, the starting instruction may be a starting instruction transmitted from the mobileterminal apparatus 60 by the user via thecommunication unit 44 or may be a starting instruction based on a preset work schedule, for example. - In addition, for example, the starting instruction may be conceived to be issued when the
control unit 41 determines that there is a predetermined amount or more of fallen snow by analyzing the photographed image obtained by thecamera 37. - When it is determined that there is a starting instruction (ST2: YES), the
control unit 41 acquires the snow removal work region 54 (ST3). As the snowremoval work region 54, the snowremoval work region 54 stored in thestorage unit 42 or the mobileterminal apparatus 60 may be acquired or the snowremoval work region 54 may be successively acquired by recognizing themarkers 56 of thepoles 55 for work on the basis of the photographed images of thecamera 37. - After the snow
removal work region 54 is acquired, thecontrol unit 41 transmits operation instructions to thetravel control driver 46 and the snow removal control driver 45 (ST4) and starts the snow removal work by the autonomous snow removing machine 1 (ST5). -
FIG. 5 is a flowchart illustrating the snow removal operation. - As illustrated in
FIG. 5 , thecontrol unit 41 acquires the current location of the autonomoussnow removing machine 1 in the snowremoval work region 54 and thesnow collecting region 57 by the GPS (ST11). Thecontrol unit 41 moves theshooter 33 so that theshooter 33 turns toward thesnow collecting region 57 in accordance with the current location of the autonomous snow removing machine 1 (ST12). - Then, the
control unit 41 acquires the situation of a place ahead of the autonomoussnow removing machine 1 on the basis of the photographed image of thecamera 37 and the detection result by the radar system 38 (ST13). - The
control unit 41 determines whether an obstacle exists ahead of the autonomoussnow removing machine 1 on the basis of the acquired situation ahead of the autonomous snow removing machine 1 (ST14). - When it is determined that an obstacle does not exist (ST14: YES), the
control unit 41 issues an operation instruction to the snowremoval control driver 45 and activates theauger 31 and the blower by driving the engine 24 (ST15). In this state, thecontrol unit 41 issues an operation instruction to thetravel control driver 46 and drives the travelingapparatuses 11 by driving theelectric motors 23. As a result, thecontrol unit 41 performs the snow removal work while moving the autonomoussnow removing machine 1 forward (ST16). - Meanwhile, when it is determined that an obstacle exists ahead of the autonomous snow removing machine 1 (ST14: NO), the
control unit 41 operates the autonomoussnow removing machine 1 such that the autonomoussnow removing machine 1 avoids the obstacle by issuing an operation instruction to the travel control driver 46 (ST22). - While the snow removal work is being performed, the
control unit 41 acquires the situation ahead of the autonomoussnow removing machine 1 on the basis of the photographed image of thecamera 37 and the detection result of theradar system 38. Then, thecontrol unit 41 determines whether a person exists within a predetermined range ahead of the autonomous snow removing machine 1 (ST17) and determines whether an obstacle exists (ST18). - When it is determined that a person exists within the predetermined range ahead of the autonomous snow removing machine 1 (ST17: NO) and when it is determined that an obstacle exists (ST18: NO), the
control unit 41 performs operation so as to avoid the person or the obstacle by controlling the traveling apparatuses 11 (ST23). - After the avoidance, the
control unit 41 moves theshooter 33 so as to correspond to thesnow collecting region 57 on the basis of the current location of the autonomous snow removing machine 1 (ST25). - When the
control unit 41 determines that a person or an obstacle does not exist ahead of the autonomous snow removing machine 1 (ST17, ST18: YES), thecontrol unit 41 continues the snow removal work and determines whether the boundary of the snowremoval work region 54 exists in the traveling direction of the autonomous snow removing machine 1 (ST19). In this case, the boundary of the snowremoval work region 54 may be determined in accordance with the relationship between prestored information on the snowremoval work region 54 and the current location of the autonomoussnow removing machine 1 or the boundary of the snowremoval work region 54 may be determined by recognizing themarkers 56 formed on thepoles 55 for work on the basis of the photographed image of thecamera 37. - When it is determined that the boundary of the snow
removal work region 54 exists (ST19: YES), thecontrol unit 41 controls the travelingapparatuses 11, for example, causes the travelingapparatuses 11 to turn so that the autonomoussnow removing machine 1 does not travel out of the snow removal work region 54 (ST24). - When the boundary of the snow
removal work region 54 does not exist (ST19: NO) and it is determined that all of the snow removal work in the snowremoval work region 54 has been completed (ST20: YES), thecontrol unit 41 controls the autonomoussnow removing machine 1 to return to a standby location (ST21). - When the snow removal work in the snow
removal work region 54 is not completed (ST20: NO), the operations in Step 16 and steps thereafter are repeated (ST16). - As described above, in this embodiment, the autonomous snow removing machine includes: the traveling
apparatuses 11; the snowremoval work unit 12; the region setting unit that sets the snowremoval work region 54 in which snow removal is performed by the snowremoval work unit 12; and thecontrol unit 41 that controls the travelingapparatuses 11 such that the travelingapparatuses 11 do not deviate from the snowremoval work region 54 set by the region setting unit. - As a result, the snow removal work can be performed while causing the autonomous snow removing machine to autonomously travel with a high accuracy by controlling the traveling
apparatuses 11 in the snowremoval work region 54 set by the region setting unit. - In this embodiment, the autonomous snow removing machine includes the
communication unit 44 that communicates with the mobileterminal apparatus 60 of the user. - As a result, the
control unit 41 can perform the snow removal work in the snowremoval work region 54 set by the mobileterminal apparatus 60 by communicating with the mobileterminal apparatus 60 by thecommunication unit 44. - In this embodiment, the region setting unit includes the camera 37 (image pickup apparatus) that photographs the
markers 56 formed on thepoles 55 for work installed on the boundary of the snowremoval work region 54, and thecontrol unit 41 reads themarkers 56 and sets the snowremoval work region 54 on the basis of the image photographed by thecamera 37. - As a result, the snow
removal work region 54 can be set by analyzing the image of themarkers 56 of thepoles 55 for work photographed by thecamera 37. - In this embodiment, the
control unit 41 sets the snowremoval work region 54 on the basis of the information set by the mobileterminal apparatus 60 and transmitted via thecommunication unit 44. - As a result, the snow
removal work region 54 can be set by the mobileterminal apparatus 60, and the snow removal work of the snowremoval work region 54 set by the mobileterminal apparatus 60 can be performed. - In this embodiment, the
control unit 41 sets thesnow collecting region 57 in which removed snow is collected when the snowremoval work region 54 is set, and thecontrol unit 41 controls the snowremoval work unit 12 such that the snowremoval work unit 12 collects, in thesnow collecting region 57, snow that has fallen in the snowremoval work region 54. - As a result, the removed snow can be collected in the set
snow collecting region 57. - In this embodiment, the
poles 58 for snow collection that are different from thepoles 55 for work are installed on the boundary of thesnow collecting region 57, and thecontrol unit 41 sets thesnow collecting region 57 on the basis of the markers formed on thepoles 58 for snow collection. - As a result, the
snow collecting region 57 can be set by analyzing the image of the markers of thepoles 58 for snow collection photographed by thecamera 37. - In this embodiment, the GPS system 39 (location detecting unit) that detects the current location is further included, and the
control unit 41 acquires the current location by theGPS system 39, and sets the temporary snow collecting region between the current location and thesnow collecting region 57 when the distance between the current location and thesnow collecting region 57 is a certain distance or more. - As a result, even when the current location of the autonomous
snow removing machine 1 is far from thesnow collecting region 57, snow can be collected in thesnow collecting region 57 by the intermediary of the temporary snow collecting region. - In this embodiment, the snow
removal work unit 12 includes theauger 31 that collects snow, and the blower that blows the snow collected by theauger 31, the snowremoval work unit 12 collecting snow by blowing the snow in the snowremoval work region 54 toward thesnow collecting region 57 with use of theauger 31 and the blower. - As a result, the snow removal work can be performed by the
auger 31 and the blower. - In this embodiment, the
control unit 41 is capable of setting the work schedule for snow removal work and thecontrol unit 41 removes snow by controlling the snowremoval work unit 12 on the basis of the work schedule. - As a result, the
control unit 41 can perform the snow removal work on the basis of the set work schedule. - In this embodiment, the
control unit 41 acquires the wake-up time of the user and sets the work schedule such that the snow removal work is completed by a predetermined amount or more at the wake-up time. - As a result, the snow removal work can be performed on the basis of the work schedule based on the wake-up time of the user.
- In this embodiment, the
control unit 41 acquires the wake-up time from the alarm time set on the mobileterminal apparatus 60 of the user via thecommunication unit 44. - As a result, the snow removal work can be performed on the basis of the wake-up time of the user acquired from the alarm time of the mobile
terminal apparatus 60. - In this embodiment, the
control unit 41 acquires the location information of the mobileterminal apparatus 60 of the user via thecommunication unit 44 and sets the work schedule for the snow removal work on the basis of the location information of the mobileterminal apparatus 60. - As a result, the snow removal work can be performed on the basis of the work schedule in accordance with the location information of the user.
- In this embodiment, the
control unit 41 estimates the time at which the user reaches the snowremoval work region 54 on the basis of the location information of the mobileterminal apparatus 60 of the user, and sets the work schedule such that the snow removal work is completed by a predetermined amount or more at the estimated reaching time. - As a result, the work schedule in accordance with the time for going to work and the returning home time of the user, for example, can be set by estimating the time at which the user reaches the snow
removal work region 54 on the basis of the location information of the user. - In this embodiment, the
control unit 41 acquires the weather forecast information from the mobileterminal apparatus 60 of the user via thecommunication unit 44, estimates the snowfall amount of the snowremoval work region 54 on the basis of the weather forecast information, and sets the work schedule on the basis of the estimated snowfall amount. - As a result, the work schedule can be set in accordance with the snowfall amount of the snow
removal work region 54 by acquiring the weather forecast information. - In this embodiment, the
control unit 41 transmits the collecting request to the snow removal contractor from thecommunication unit 44 via the mobileterminal apparatus 60 when the amount of the snow collected in thesnow collecting region 57 becomes a certain amount or more. - As a result, the snow accumulated in the
snow collecting region 57 can be collected. - In this embodiment, at the time of the snow removal work performed by the snow
removal work unit 12, the snow removal work is performed while the snow melting agent is sprinkled. - As a result, the snow removal work can be easily performed by sprinkling the snow melting agent.
- The present invention is not limited to the description of the abovementioned embodiment, and various modification and changes can be made without deviating from the spirit of the present invention.
- For example, the abovementioned embodiment has been described with use of an example in which the autonomous
snow removing machine 1 including theauger 31 and the blower is used, but the present invention is not limited thereto. For example, the present invention can also be applied to the autonomoussnow removing machine 1 including a blade called a dozer. As a result, the snow removal work can be performed by the blade. -
- 1 Autonomous snow removing machine
- 10 Vehicle main body
- 11 Traveling apparatus
- 12 Snow removal work unit
- 22 Power source
- 23 Electric motor
- 24 Engine
- 25 Throttle
- 26 Battery
- 31 Auger
- 33 Shooter
- 34 Shooter guide
- 37 Camera
- 38 Radar system
- 39 GPS system
- 40 Control system
- 41 Control unit
- 42 Storage unit
- 43 Operation unit
- 44 Communication unit
- 45 Snow removal control driver
- 46 Travel control driver
- 54 Snow removal work region
- 55 Pole for work
- 56 Marker
- 57 Snow collecting region
- 58 Pole for snow collection
- 60 Mobile terminal apparatus
- 61 Management cloud
Claims (17)
Priority Applications (1)
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US18/462,919 US20230418301A1 (en) | 2019-09-04 | 2023-09-07 | Autonomous snow removing machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019161061A JP7191794B2 (en) | 2019-09-04 | 2019-09-04 | autonomous snow blower |
JP2019-161061 | 2019-09-04 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US18/462,919 Continuation US20230418301A1 (en) | 2019-09-04 | 2023-09-07 | Autonomous snow removing machine |
Publications (1)
Publication Number | Publication Date |
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US20210064045A1 true US20210064045A1 (en) | 2021-03-04 |
Family
ID=74679718
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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US17/003,472 Abandoned US20210064045A1 (en) | 2019-09-04 | 2020-08-26 | Autonomous snow removing machine |
US18/462,919 Pending US20230418301A1 (en) | 2019-09-04 | 2023-09-07 | Autonomous snow removing machine |
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Application Number | Title | Priority Date | Filing Date |
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US18/462,919 Pending US20230418301A1 (en) | 2019-09-04 | 2023-09-07 | Autonomous snow removing machine |
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US (2) | US20210064045A1 (en) |
JP (1) | JP7191794B2 (en) |
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CN117519214A (en) * | 2024-01-05 | 2024-02-06 | 山东科技大学 | Snow shovel control and path planning method based on visual recognition |
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CN114137981A (en) * | 2021-11-29 | 2022-03-04 | 西安空天能源动力智能制造研究院有限公司 | Intelligent snow removal planning method and system for large-scale road surface snow remover |
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Also Published As
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JP7191794B2 (en) | 2022-12-19 |
JP2021038582A (en) | 2021-03-11 |
US20230418301A1 (en) | 2023-12-28 |
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