WO2014074026A1 - A method for navigation and joint coordination of automated devices - Google Patents
A method for navigation and joint coordination of automated devices Download PDFInfo
- Publication number
- WO2014074026A1 WO2014074026A1 PCT/RU2013/000984 RU2013000984W WO2014074026A1 WO 2014074026 A1 WO2014074026 A1 WO 2014074026A1 RU 2013000984 W RU2013000984 W RU 2013000984W WO 2014074026 A1 WO2014074026 A1 WO 2014074026A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- automated
- controlled
- area
- navigation
- coordinates
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 10
- 244000025254 Cannabis sativa Species 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010413 gardening Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- 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
- G05D1/0231—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
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
Definitions
- the invention relates to methods for controlling automated devices and can be used for coordinating robot-controlled gardening machines, for example, lawn mowers.
- DGPS DGPS-based systems.
- DGPS is the best choice because the common GPS does not assure sufficient accuracy of positioning. This most advanced system is not without problems either.
- the GPS signal may be screened near houses, or be reflected several times, or suppressed by disturbances or deliberately. As a result, robot coordination is disrupted.
- the coordinates of the lawn boundary have to be measured and entered into the robot, a hard effort to accomplish.
- DGPS provides the coordinates, rather than robot orientation.
- the system is adjusted to abstract coordinates, rather than the real setting of the robot. For example, the robot does not detect a stationary or moving obstacle (a dog or child).
- Fifth, DGPS does not recognize if there is grass to be mowed on the lawn or not.
- Sixth, DGPS has difficulty organizing mutual coordination of the robots that are unaware of their mutual position and must be equipped with a complicated system for mutual detection and exchange of signals. Seventh, this system is expensive.
- This invention is intended to solve these problems and eliminate the deficiencies referred to above.
- This invention if used as herein described, simplifies control of an automated device and improves the accuracy with which its coordinates are determined.
- the invention is illustrated in the drawing showing one of possible embodiments of the claimed method.
- the drawing illustrates an air sonde carrying a camera; marks on the ground and on the robot-controlled lawn mower; and a natural reference point such as a bush.
- the claimed method is performed as follows: first, at least one automated device (a robot- controlled lawn mower) is located on the area (lawn) being controlled. Before the automated device starts operation, a tracking device (such as a camera) is positioned above the area being controlled on a flying device such as a sonde balloon or a pilotless vehicle of helicopter type, or said device can be positioned on a tower of a height allowing the entire area being controlled to be viewed.
- the device is capable of receiving and transmitting a control signal from and to the automated device and also of determining the coordinates of the flying device.
- the device also can exchange signals, including RF signals, with the robots.
- the camera observes the robot and determines its position relative to itself. Marks distinguished easily from above can be placed on the robot and its charging device.
- a computer system receiving data from the camera coordinates their mutual movement easily.
- the boundaries of the area to be mowed by a robot-controlled lawn mower can be drawn on the computer system screen by the mouse pointer, or by a sensor pencil, or a finger on the screen.
- a visible signal can be replaced with other regions of the spectrum.
- the signal received can be both natural and generated by the robot or device on the camera, or at any other point of the area. Equally suitable are sound, smell or chemical signals, or radioactivity slightly above the background level (for example, silicon plates).
- the system can easily see obstacles or moving objects and determine the extent and quality of grass mowing. It is simple in design and has a low cost.
- the claimed system can be used with a broad class of robots: automated lawn mowers, robotized room cleaners, tractors, snowplows, garbage collectors, street cleaners, vehicles for transporting people and freight, and even extraterrestrial robots on other plants, for example, on Mars.
- the system fits easily into the framework of an "intelligent” home, or even an “intelligent” city, being capable of coordinating many actions, robots, and objects at a time, and performing several tasks simultaneously, for example, navigation and recognition.
Abstract
The invention relates to methods for controlling automated devices. The method comprises locating at least one automated device on an area being controlled and placing an observation device, before the automated device starts operation, over the area being controlled on a flying device or tower, said observation device being capable of receiving and transmitting a control signal to the automated device and determining the coordinates of the flying device, whereupon said observation device controls at least said one automated device. The invention simplifies control of the automated device and improves the accuracy with which its coordinates are determined.
Description
A Method for Navigation and Joint Coordination of Automated Devices
The invention relates to methods for controlling automated devices and can be used for coordinating robot-controlled gardening machines, for example, lawn mowers.
Absence of an inexpensive and reliable navigation system and lack of mutual coordination of operations are among the basic problems of video navigation, coordination, and control of robotized lawn mowers.
For example, to prevent a robot-controlled lawn mower from running beyond the grass mowing area, a wire must used to encircle the area. The navigation system of a majority of commercial robots can only have them roam randomly {see: http://w .3dnews.ru/tags/%D0%BAo/oD0%BE Dl0/o81%D0%B8%D0o/oBB%D0%BAo/oD0% BO).
Systems of infrared fences or marks have been developed lately. A system of ground radio beacons can also be used. These types of systems, however, are very expensive and complicated.
The most recent developments are advanced DGPS-based systems. DGPS is the best choice because the common GPS does not assure sufficient accuracy of positioning. This most advanced system is not without problems either. First, the GPS signal may be screened near houses, or be reflected several times, or suppressed by disturbances or deliberately. As a result, robot coordination is disrupted. Second, the coordinates of the lawn boundary have to be measured and entered into the robot, a hard effort to accomplish. Third, DGPS provides the coordinates, rather than robot orientation. Fourth, the system is adjusted to abstract coordinates, rather than the real setting of the robot. For example, the robot does not detect a stationary or moving obstacle (a dog or child). Fifth, DGPS does not recognize if there is grass to be mowed on the lawn or not. Sixth, DGPS has difficulty organizing mutual coordination of the robots that are unaware of their mutual position and must be equipped with a complicated system for mutual detection and exchange of signals. Seventh, this system is expensive.
Many of these problems could be solved by a video navigator fitted on the robot. This would create more problems - the video navigator has a limited field of vision that can only be
expanded by providing a large number of cameras or cameras having a wide field of vision. This is a complicated and costly undertaking. Besides, many complicated ground marks are to be set up and be well distinguished. Natural landmarks are not always distinguished well. The area to be mowed certainly has to be provided with ground marks. And again, it is difficult to coordinate robots among themselves.
This invention is intended to solve these problems and eliminate the deficiencies referred to above.
This invention, if used as herein described, simplifies control of an automated device and improves the accuracy with which its coordinates are determined.
This technical result is achieved in the claimed method for navigation and joint coordination of automated devices, said method comprising placing at least one automated device on the area being controlled such that, according to the invention, an observation apparatus is located, before the start of operation of the automated device, above the area being controlled on a flying device or put up on a tower, said apparatus being capable of receiving and transmitting a control signal to the automated device and being also capable of determining the coordinates of the flying devices, said apparatus being thereafter used to control at least one automated device.
The invention is illustrated in the drawing showing one of possible embodiments of the claimed method. The drawing illustrates an air sonde carrying a camera; marks on the ground and on the robot-controlled lawn mower; and a natural reference point such as a bush.
The claimed method is performed as follows: first, at least one automated device (a robot- controlled lawn mower) is located on the area (lawn) being controlled. Before the automated device starts operation, a tracking device (such as a camera) is positioned above the area being controlled on a flying device such as a sonde balloon or a pilotless vehicle of helicopter type, or said device can be positioned on a tower of a height allowing the entire area being controlled to be viewed. The device is capable of receiving and transmitting a control signal from and to the automated device and also of determining the coordinates of the flying device. The device also can exchange signals, including RF signals, with the robots. The camera observes the robot and determines its position relative to itself. Marks distinguished easily from above can be placed on the robot and its charging device. If several robots are used, their mutual coordination is easy enough - the camera sees them all at a time, and a computer system receiving data from the camera coordinates their mutual movement easily. The boundaries of the area to be mowed by a
robot-controlled lawn mower can be drawn on the computer system screen by the mouse pointer, or by a sensor pencil, or a finger on the screen.
Furthermore, a visible signal can be replaced with other regions of the spectrum. The signal received can be both natural and generated by the robot or device on the camera, or at any other point of the area. Equally suitable are sound, smell or chemical signals, or radioactivity slightly above the background level (for example, silicon plates).
The system can easily see obstacles or moving objects and determine the extent and quality of grass mowing. It is simple in design and has a low cost.
The claimed system can be used with a broad class of robots: automated lawn mowers, robotized room cleaners, tractors, snowplows, garbage collectors, street cleaners, vehicles for transporting people and freight, and even extraterrestrial robots on other plants, for example, on Mars.
The system fits easily into the framework of an "intelligent" home, or even an "intelligent" city, being capable of coordinating many actions, robots, and objects at a time, and performing several tasks simultaneously, for example, navigation and recognition.
The invention has been disclosed above with reference to a specific embodiment thereof. Other embodiments that do not depart from the idea of the invention as it is disclosed herein may be obvious to people skilled in the art. Accordingly, the description of the invention may be considered limited in scope by the following claim only.
Claims
CLAIM
What is claimed is:
A method for navigation and joint coordination of automated devices, comprising placing at least one automated device on an area being controlled, wherein an observation device is positioned, before the automated device starts to operate, over the area being controlled, on a flying device or on a tower, said observation device being capable of receiving and transmitting a control signal to the automated device and determining the coordinates of the flying device, whereupon said observation device controls at least one said automated device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/607,501 US20170325400A1 (en) | 2012-11-12 | 2017-05-28 | Method for navigation and joint coordination of automated devices |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU2012147923/13A RU2012147923A (en) | 2012-11-12 | 2012-11-12 | METHOD FOR NAVIGATION AND JOINT COORDINATION OF AUTOMATED DEVICES |
RU2012147923 | 2012-11-12 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/RU2013/000983 Continuation WO2014074025A1 (en) | 2012-11-12 | 2013-11-07 | Apparatus for coordinating automated devices |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2014074026A1 true WO2014074026A1 (en) | 2014-05-15 |
WO2014074026A4 WO2014074026A4 (en) | 2014-07-03 |
Family
ID=50684979
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/RU2013/000984 WO2014074026A1 (en) | 2012-11-12 | 2013-11-07 | A method for navigation and joint coordination of automated devices |
Country Status (2)
Country | Link |
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RU (1) | RU2012147923A (en) |
WO (1) | WO2014074026A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016195532A1 (en) * | 2015-06-05 | 2016-12-08 | Общество с ограниченной ответственностью "ТРАНЗИСТ ВИДЕО" | System and method for coordinating terrestrial mobile automated devices |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2691788C2 (en) * | 2015-06-05 | 2019-06-18 | Общество с ограниченной ответственностью "ТРАНЗИСТ ВИДЕО" | Method for coordination of ground-based mobile automated devices using single centralized control system |
Citations (4)
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US6216071B1 (en) * | 1998-12-16 | 2001-04-10 | Caterpillar Inc. | Apparatus and method for monitoring and coordinating the harvesting and transporting operations of an agricultural crop by multiple agricultural machines on a field |
RU2388150C2 (en) * | 2004-07-19 | 2010-04-27 | КЛААС Зельбстфаренде Эрнтемашинен ГмбХ | Communication system for mobile and stationary devices (versions) |
RU2423038C2 (en) * | 2005-12-08 | 2011-07-10 | КЛААС Зельбстфаренде Эрнтемашинен ГмбХ | Routing system for agricultural machine |
RU2424642C2 (en) * | 2006-04-21 | 2011-07-27 | КЛАСС Зельбстфаренде Эрнтемашинен ГмбХ | Method to control system of agricultural machines and automatic control system |
-
2012
- 2012-11-12 RU RU2012147923/13A patent/RU2012147923A/en not_active Application Discontinuation
-
2013
- 2013-11-07 WO PCT/RU2013/000984 patent/WO2014074026A1/en active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6216071B1 (en) * | 1998-12-16 | 2001-04-10 | Caterpillar Inc. | Apparatus and method for monitoring and coordinating the harvesting and transporting operations of an agricultural crop by multiple agricultural machines on a field |
RU2388150C2 (en) * | 2004-07-19 | 2010-04-27 | КЛААС Зельбстфаренде Эрнтемашинен ГмбХ | Communication system for mobile and stationary devices (versions) |
RU2423038C2 (en) * | 2005-12-08 | 2011-07-10 | КЛААС Зельбстфаренде Эрнтемашинен ГмбХ | Routing system for agricultural machine |
RU2424642C2 (en) * | 2006-04-21 | 2011-07-27 | КЛАСС Зельбстфаренде Эрнтемашинен ГмбХ | Method to control system of agricultural machines and automatic control system |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016195532A1 (en) * | 2015-06-05 | 2016-12-08 | Общество с ограниченной ответственностью "ТРАНЗИСТ ВИДЕО" | System and method for coordinating terrestrial mobile automated devices |
Also Published As
Publication number | Publication date |
---|---|
RU2012147923A (en) | 2014-05-20 |
WO2014074026A4 (en) | 2014-07-03 |
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