公开(公告)号：US07574282B2

公开(公告)日：2009-08-11

申请号：US10516793

申请日：2003-06-03

Applicant: Ulf Petersson ,  Bengt-Allan Bergvall

Inventor： Ulf Petersson ,  Bengt-Allan Bergvall

IPC: G06F19/00

CPC classification number: A01D34/008 ,  A01D2101/00 ,  B60L3/12 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2220/46 ,  B60L2260/32 ,  G05D1/0225 ,  G05D1/0265 ,  G05D2201/0208 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7275

Abstract: The present disclosure relates to an arrangement and an electronic navigational control system for a self-propelling device (5), preferably a lawn-mowing robot. The system comprises at lease one navigational control system (3) connected to at least one signal generator (1) and a sensing unit arranged at the self-propelling device (5). The sensing unit senses at least one, in the air medium propagating, time and space varying magnetic field, at least transmitted via the navigational control station (3) and in turn retransmits at least one signal processed by the unit to at least one driving source which contributes to the device's movements across the surface. The system comprises structure by which the signal generator (1) sends a current through the navigational control station (3), the current generating the time and space varying magnetic field, whereby the sensing unit comprises structure by which the device (5) is maneuvered based on the properties of the sensed magnetic field.

Abstract translation: 本公开涉及一种用于自推进装置（5），优选割草机器人的装置和电子导航控制系统。 该系统包括至少一个连接到至少一个信号发生器（1）的导航控制系统（3）和布置在自推进装置（5）处的感测单元。 感测单元至少在传播空气介质的空气介质中感测时间和空间变化的磁场，至少经由导航控制站（3）传输，并且再次将由该单元处理的至少一个信号重传到至少一个驱动源 这有助于设备在整个表面上的移动。 该系统包括信号发生器（1）通过导航控制站（3）发送电流的结构，产生时间和空间变化的磁场的电流，由此感测单元包括装置（5）被操纵的结构 基于感测磁场的性质。

公开(公告)号：US20090045766A1

公开(公告)日：2009-02-19

申请号：US12145184

申请日：2008-06-24

Applicant: Christopher Casey ,  Matthew Cross ,  Daniel Ozick ,  Joseph L. Jones

Inventor： Christopher Casey ,  Matthew Cross ,  Daniel Ozick ,  Joseph L. Jones

IPC: B25J19/02

CPC classification number: B25J9/1697 ,  A47L2201/04 ,  G01S15/931 ,  G01S17/93 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02P90/265 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of ah event.

Abstract translation: 一种机器人障碍物检测系统，包括相对于表面导航的机器人壳体和用于检测表面的表面的传感器子系统。 传感器子系统包括发射具有发射场的信号的发射器和具有与区域上的发射场相交的视场的光子检测器。 子系统检测邻近移动机器人的对象的存在并且确定与对象相对应的信号的值。 它将该值与预定值进行比较，响应比较移动移动机器人，并且在发生ah事件时更新预定值。

公开(公告)号：US07239944B2

公开(公告)日：2007-07-03

申请号：US10631465

申请日：2003-07-31

Applicant: Jason A. Dean

Inventor： Jason A. Dean

IPC: A01D34/00 ,  G05D1/00 ,  G06F19/00

CPC classification number: A01D34/008 ,  G05D1/0221 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0276 ,  G05D2201/0202 ,  G05D2201/0208 ,  G05D2201/0215

Abstract: A robotic apparatus for traversing a selected area autonomously that senses orientation relative to the Earth's magnetic field or other “environmental” signals. The robotic apparatus is provided in two models, a master that can record directive and compass or “environmental signal” readings, or that can record received location information, to provide at least one command recorded on a machine-readable medium representing an instruction for traversing an area of interest, and a slave that lacks the recording capability. Both master and slave models can replay recorded commands, and compare the expected orientation from the command with an actual orientation sensed during autonomous operation. If an error exceeding a predetermined value is observed, a corrective action is taken. The robotic apparatus is able to utilize a tool to perform a task at one or more locations, such as cutting, shoveling and digging. In one embodiment, the robotic apparatus is a lawn mower.

Abstract translation: 用于横穿选定区域的机器人装置，其感测相对于地球磁场或其他“环境”信号的取向。 机器人装置以两种模式提供，即可记录指令和罗盘或“环境信号”读数的主机，或者可以记录接收到的位置信息，以提供记录在表示用于遍历的指令的机器可读介质上的至少一个命令 感兴趣的区域，以及缺乏记录能力的从站。 主模式和从属模式都可以重放记录的命令，并将命令中的预期方向与自主操作期间感测到的实际方向进行比较。 如果观察到超过预定值的误差，则采取纠正措施。 机器人装置能够利用工具在一个或多个位置执行任务，例如切割，挖掘和挖掘。 在一个实施例中，机器人装置是割草机。

公开(公告)号：US06834220B1

公开(公告)日：2004-12-21

申请号：US10130405

申请日：2002-05-15

Applicant: Gunther Bail

Inventor： Gunther Bail

IPC: G06F16500

CPC classification number: G01S1/08 ,  G01S19/14 ,  G05D1/0221 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0208 ,  G05D2201/0216 ,  G09B29/106

Abstract: The invention relates to a self-propelling vehicle which first, and possibly with the aid of a driver, drives along a selected route from a starting point to a destination, whereby the vehicle receives position signals from a positioning system and stores said signals in a data memory. The vehicle first receives an associated current position signal from the positioning system and at a point of departure when the vehicle subsequently and automatically drives along exactly the same selected route. Said signal is compared to the position of the starting point. If the positions do not match, the evaluation device calculates the direction towards and the distance to the starting point, whereupon the vehicle drives along this route. The direction and the distance to the next stored position are subsequently calculated using successively received current position data. The vehicle drives along the corresponding route. The vehicle can drive along a predetermined route inside a building when a local positioning system is used.

Abstract translation: 本发明涉及一种自行车辆，其首先并且可能借助于驾驶员沿着从起点到目的地的选定路线驱动，由此车辆从定位系统接收位置信号并将所述信号存储在 数据存储器 车辆首先从定位系统接收相关联的当前位置信号，并且当车辆随后并且沿着完全相同的所选择的路线自动驱动时的出发点。 将所述信号与起始点的位置进行比较。 如果位置不匹配，则评估装置计算朝向起点的方向和距离，随后车辆沿着该路线行驶。 随后使用连续接收的当前位置数据计算到下一个存储位置的方向和距离。 车辆沿相应的路线行驶。 当使用本地定位系统时，车辆可沿建筑物内的预定路线行驶。

公开(公告)号：US20030094922A1

公开(公告)日：2003-05-22

申请号：US10337655

申请日：2003-01-07

Inventor： Ulf Petersson ,  Bjorn Spaak ,  Lars Sundberg

IPC: H02J007/00

CPC classification number: G05D1/0225 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2873 ,  A47L9/2889 ,  A47L9/2894 ,  A47L2201/02 ,  G05D1/0265 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215

Abstract: A system includes a docking station, for location on a surface to be worked, and a self-propelled working tool. The station has a primary transmission part. The tool has a body, a surface-engaging wheel, and a secondary transmission part. The station and the tool can establish contact with each other and the tool can drive up to the station and achieve a docking position wherein the transmission parts contact and cooperate. In one aspect, the secondary transmission part is located on an upper portion of the body. In another aspect, the station includes a part spaced upwardly away from the surface, with the primary transmission part located thereon and directed downwardly. In another aspect, a portion of the body is located beneath a portion of the part upon which the primary part is located and the wheel remains engaged with the surface when in the docking position.

Abstract translation: 系统包括对接站，用于待加工表面上的位置，以及自推进工作工具。 该站具有主要的传输部分。 该工具具有主体，表面接合轮和辅助传动部。 站和工具可以建立彼此的接触，并且工具可以驱动到站并且实现对接位置，其中传输部分接触和协作。 在一个方面，二次传动部分位于主体的上部。 在另一方面，该工位包括一个远离该表面向上间隔开的部分，一次传动部分位于其上并指向下方。 在另一方面，主体的一部分位于主要部件所在部分的一部分下方，并且当处于对接位置时，该轮保持与表面接合。

公开(公告)号：US06255793B1

公开(公告)日：2001-07-03

申请号：US08554691

申请日：1995-11-07

Applicant: Ehud Peless ,  Shai Abramson ,  Gideon Dror

Inventor： Ehud Peless ,  Shai Abramson ,  Gideon Dror

IPC: G05D100

CPC classification number: A01D34/008 ,  A01D2101/00 ,  G01C22/00 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/0263 ,  G05D1/0265 ,  G05D1/0274 ,  G05D2201/0208 ,  G05D2201/0216

Abstract: A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed. The method includes the steps of: 1) providing the following elements: a proximity sensor positioned on the robot, a boundary along the perimeter of the working area and along the perimeter of each area enclosed in the working area in which the robot should not operate, the boundaries being detectable by the proximity sensor, a processing unit connected to the proximity sensor and receiving an input therefrom, a navigation unit on the robot to determine the coordinates of the robot relative to an arbitrary origin, a direction finder, and a memory to store values generated by the processing unit; and 2) causing the robot to move along each of the boundaries provided around or within the working area, to detect the boundaries and to memorize their shape, and to store in the memory values representative of the coordinates of the boundaries, thereby to generate a basic map of the working area. When the robot is to operate within the area, the method includes the steps of: (a) causing the robot to start from a starting point having known coordinates within the basic map of the working area; (b) continuously determining the coordinates of the robot by analyzing data obtained from the navigation unit and by detecting the vicinity of a boundary; and (c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.

Abstract translation: 公开了一种在封闭区域内自动操作连接到割草机或其他无人机器的机器人的方法。 该方法包括以下步骤：1）提供以下元件：定位在机器人上的接近传感器，沿着工作区域的周边的边界，以及围绕在机器人不应该操作的工作区域中的每个区域的周边 边界可由接近传感器检测，处理单元连接到接近传感器并从其接收输入;机器人上的导航单元，用于确定机器人相对于任意原点的坐标，方向取景器和存储器 存储由处理单元生成的值; 和2）使机器人沿着设置在工作区域周围或内部的每个边界移动，以检测边界并记住它们的形状，并将存储在存储器中的值代表边界的坐标，从而产生 工作区基本图。 当机器人在该区域内操作时，该方法包括以下步骤：（a）使机器人从工作区域的基本图中具有已知坐标的起点开始; （b）通过分析从导航单元得到的数据和检测边界附近，连续地确定机器人的坐标; 和（c）通过比较计算出的每个检测到的边界的实际坐标来校正机器人在基本地图上的实际位置。

公开(公告)号：US06212448B1

公开(公告)日：2001-04-03

申请号：US09191770

申请日：1998-11-13

Applicant: Thomas G. Xydis

Inventor： Thomas G. Xydis

IPC: G01C2200

CPC classification number: G05D1/028 ,  G05D1/0221 ,  G05D2201/0208

Abstract: A programmable utility vehicle assembly 10 comprises a carriage 20 for moving over a plot, and a mobile transceiver 30 attached to the carriage 20 for transmitting a signal. The assembly 10 includes a power unit 22 for driving the carriage 20 over the plot, and a steering unit 24 for steering the carriage 20 over the plot. The assembly 10 further includes a plurality of locating stations 40 each having a stationary transceiver 42 for receiving a signal from the mobile transceiver 30 and transmitting a return signal to the mobile transceiver 30. The assembly 10 is characterized by a central processing unit 60 (CPU) on the carriage 20 for preprogramming a desired vehicle path having a counter 62 for counting two way propagation time between the mobile transceiver 30 and said remote locating stations 40 to determine said vehicle location and guide said vehicle along the programmed path.

Abstract translation: 可编程的多功能车辆组件10包括用于在一个曲线上移动的滑架20和一个连接到滑架20上的传送信号的移动收发机30。 组件10包括用于在滑块上驱动滑架20的动力单元22和用于在滑块上方转向滑架20的转向单元24。 组件10还包括多个定位站40，每个定位站具有固定收发器42，用于从移动收发信机30接收信号，并向移动收发信机30发送返回信号。组件10的特征在于中央处理单元60 ），用于对具有计数器62的计数器62进行预编程的预编程，用于对移动收发信机30和所述远程定位站40之间的双向传播时间进行计数，以确定所述车辆位置并沿着所编程的路径引导所述车辆。

公开(公告)号：US5204814A

公开(公告)日：1993-04-20

申请号：US611679

申请日：1990-11-13

Applicant: Thomas H. Noonan ,  John Fisher ,  Barry Bryant

Inventor： Thomas H. Noonan ,  John Fisher ,  Barry Bryant

IPC: A01D34/00 ,  G05D1/02

CPC classification number: A01D34/008 ,  B60L11/126 ,  B60L11/1864 ,  B60L11/1877 ,  B60L15/2036 ,  B60L3/12 ,  G05D1/0261 ,  G05D1/0265 ,  G05D1/0274 ,  A01D2101/00 ,  B60L2200/40 ,  B60L2210/10 ,  B60L2210/40 ,  B60L2220/46 ,  B60L2240/12 ,  B60L2240/421 ,  B60L2240/441 ,  B60L2240/461 ,  B60L2240/62 ,  B60L2240/642 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  G05D1/0255 ,  G05D1/0263 ,  G05D2201/0208 ,  Y02T10/6217 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7061 ,  Y02T10/7077 ,  Y02T10/7216 ,  Y02T10/7241 ,  Y02T10/7275 ,  Y02T10/7291 ,  Y02T90/16 ,  Y02T90/162

Abstract: Disclosed is an automatic, self propelled lawn mower that references its position within a cutting area using electronically stored path and terrain information as a primary navigation system, senses a non magnetic, non-current carrying metallic guide path as a secondary navigation system, senses underground metallic references for use as position reference points as a further navigation system, incorporates an ultrasonic obstacle detection system to stop the vehicle if unexpected obstacles are encountered. The vehicle further includes a cow-catcher front bumper arrangement to divert small objects away from the cutting blades, contains bumper switches to shut off the vehicle upon contact with large objects, contains an inclinometer sensor to halt the vehicle during unexpected tilting, incorporates a radio communications link to notify an off-board monitoring system of problems, contains an on-board power generation system using an internal combustion engine, generator, and a battery arrangement. The lawn mower also provides a navigation controller and servo motor positioning system that plans path motion, using sensory data and stored map data and to turn the drive wheels to propell the vehicle in the desired manner.

Abstract translation: 公开了一种自动的自推式割草机，其使用电子存储路径和地形信息作为主要导航系统，在切割区域内指示其位置，感测作为辅助导航系统的非磁性，非载流金属引导路径，感测地下 用作位置参考点作为另外的导航系统的金属参考，包括超声障碍物检测系统，以在遇到意外的障碍物时停止车辆。 车辆还包括一个母牛捕捉器前保险杠装置，用于将小物体从切割刀片中分离出来，包含保险杠开关以在与大物体接触时关闭车辆，包含倾斜计传感器以在意外倾斜期间停止车辆，包括无线电 通信链路以通知车外监控系统的问题，包含使用内燃机，发电机和电池装置的车载发电系统。 草坪割草机还提供导航控制器和伺服电机定位系统，其计划路径运动，使用感觉数据和存储的地图数据，并转动驱动轮以推动车辆以期望的方式。

公开(公告)号：US4962453A

公开(公告)日：1990-10-09

申请号：US307765

申请日：1989-02-07

Applicant: Jr.; William Pong ,  Joseph F. Engelberger ,  John M. Evans, Jr. ,  William S. Kazman

Inventor： Jr.; William Pong ,  Joseph F. Engelberger ,  John M. Evans, Jr. ,  William S. Kazman

IPC: A47L9/00 ,  A47L9/28 ,  A47L11/40 ,  G05D1/02

CPC classification number: A47L11/4011 ,  A47L11/4061 ,  B60L15/20 ,  B60L9/08 ,  G05D1/0272 ,  A47L2201/04 ,  B60L2200/40 ,  B60L2240/423 ,  B60L2260/32 ,  G05D1/0227 ,  G05D2201/0203 ,  G05D2201/0208 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7275

Abstract: A means and method for control of an autonomous vehicle while working on a surface, specifically for operation of an automatic floor cleaning machine using power derived from line power through a wall plug and cord. The vehicle uses information derived from contact between bumpers and objects in the environment to sense the geometry of its environment and utilizes a recursively applied algorithm to systematically and efficiently cover the floor area.

公开(公告)号：US4919224A

公开(公告)日：1990-04-24

申请号：US191974

申请日：1988-05-09

Applicant: Jia-Ming Shyu ,  Chih-Li Chang

Inventor： Jia-Ming Shyu ,  Chih-Li Chang

IPC: A01D34/00 ,  G05D1/02

CPC classification number: A01D34/008 ,  G05D1/0225 ,  G05D1/0255 ,  G05D1/0265 ,  A01D2101/00 ,  G05D2201/0208 ,  Y10S56/15

Abstract: An automatic working vehicular system comprises a guiding signal device and an automatic working vehicle which has a power source, driving devices, detecting devices and control devices. By means of a guide wire device for limiting the operational area, the vehicle can start at a preset time, travel from a position in a garage to a specific operation site, complete the required range of operation along a parallel reciprocating course of travel, and return to the garage. The vehicle also comprises devices to control the garage door, detect the fuel level, return itself to the garage when raining, adapt to load variations, change speed automatically, warn moving obstacles, detour obstacles, and prevent its theft.

Abstract translation: 自动工作车辆系统包括引导信号装置和具有电源，驱动装置，检测装置和控制装置的自动工作车辆。 通过用于限制操作区域的引导线装置，车辆可以在预设时间开始，从车库中的位置行进到特定操作现场，沿着平行往复行进路线完成所需的操作范围，以及 回到车库。 车辆还包括控制车库门的装置，检测燃油水平，下雨时自动返回车库，适应负荷变化，自动变速，警告移动障碍物，绕行障碍物，防止盗窃。