公开(公告)号：US20150128547A1

公开(公告)日：2015-05-14

申请号：US14519305

申请日：2014-10-21

Applicant: HONDA RESEARCH INSTITUTE EUROPE GMBH

Inventor： Nils EINECKE ,  Mathias FRANZIUS ,  Roman DIRNBERGER ,  Ronny BORSDORF

IPC: A01D34/00

CPC classification number: A01D34/008 ,  B60L53/60 ,  B60L2200/22 ,  B60L2260/32 ,  G05D1/0038 ,  G05D2201/0208 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T90/121 ,  Y02T90/128 ,  Y02T90/14 ,  Y02T90/16 ,  Y02T90/163 ,  Y10S901/01

Abstract: The invention proposes an autonomous robot, such as an autonomous lawn mower, comprises at least one camera for obtaining at least one input image, a communication interface for transmitting the input image and receiving a remote control instruction, a control unit for controlling an operation of the autonomous robot, and wherein the control unit is adapted to control the operation at the autonomous robot in response to the received remote control instruction.

Abstract translation: 本发明提出了一种诸如自主割草机的自主机器人，包括用于获得至少一个输入图像的至少一个相机，用于发送输入图像和接收遥控指令的通信接口，用于控制操作的控制单元 所述自动机器人，其中所述控制单元适于响应于所接收的远程控制指令来控制所述自主机器人的操作。

公开(公告)号：US09026299B2

公开(公告)日：2015-05-05

申请号：US13544277

申请日：2012-07-09

Applicant: David August Johnson ,  Colin Eric Das

Inventor： David August Johnson ,  Colin Eric Das

IPC: G05D1/02

CPC classification number: G05D1/0219 ,  G05D1/0265 ,  G05D2201/0208

Abstract: A navigation system for a robotic mower includes a boundary wire defining a boundary of a specified area; a boundary sensor assembly, and a vehicle control unit with a navigation arbitration logic configured to arbitrate a selection between at least a straight propagation mode and an arc propagation mode. The navigation arbitration module is configured to select the arc propagation mode when the sensor assembly indicates that the mower approaches the boundary of the specified area and has a distance from the boundary that is equal to or smaller than a specified turn distance. The boundary sensor assembly generates a sensor signal representative of a measured yaw angle of the mower relative to the boundary wire, and the navigation arbitration logic is configured to generate output information representative of a desired yaw angle dependent on an assumed actual yaw angle.

Abstract translation: 一种用于机器人割草机的导航系统包括限定特定区域的边界的边界线; 边界传感器组件和具有导航仲裁逻辑的车辆控制单元，该导航仲裁逻辑被配置为仲裁至少直线传播模式和电弧传播模式之间的选择。 导航仲裁模块被配置为当传感器组件指示割草机接近指定区域的边界并且具有等于或小于指定转弯距离的边界的距离时，选择电弧传播模式。 边界传感器组件产生代表割草机相对于边界线的测量的偏转角的传感器信号，并且导航仲裁逻辑被配置为根据假定的实际偏航角度生成表示期望的偏航角的输出信息。

公开(公告)号：US20140373497A1

公开(公告)日：2014-12-25

申请号：US14380500

申请日：2012-02-22

Applicant: Jonathan Björn ,  Martin Elonsson

Inventor： Jonathan Björn ,  Martin Elonsson

IPC: A01D34/00 ,  A01D75/20 ,  A01D75/18

CPC classification number: A01D34/008 ,  A01D75/18 ,  A01D75/20 ,  G05D2201/0208 ,  Y10S901/01

Abstract: A lift detection arrangement (100, 200) in a robotic lawnmower for detecting a lift of a body (110, 210) relative a chassis (105, 205) of the robotic lawnmower is provided. The lift detection arrangement (100, 200) comprises a connection between the chassis (105, 205) and the body (110, 220). The connection comprises a joystick element (115, 215) 5 arranged to allow a displacement of the body (1110, 210) relative the chassis (105, 205) in a collision plane during a collision, and a lift element (120, 220) arranged to provide a flexibility between the chassis (105, 205) and the body (110, 210) in a lift direction during the lift. The lift detection arrangement (100, 200) further comprises a lift sensor configured to detect a displacement over a predetermined threshold of the lift element (120, 220) 10 during the lift by detecting a change in spacing between two sensor parts (125, 126, 225, 226). One of the two sensor parts (125, 126, 225, 226) is arranged on the lift element and the two sensor parts (125, 126, 225, 226) are arranged to be relatively displaceable only in the lift direction.

Abstract translation: 提供了一种用于检测机器人割草机的底盘（105,205）的主体（110,210）的提升的机器人割草机中的升降机检测装置（100,200）。 升降机检测装置（100,200）包括底盘（105,205）和主体（110,220）之间的连接。 连接件包括操纵杆元件（115,215）5，该操纵杆元件（115,215）5在碰撞期间允许主体（1110,210）相对于底架（105,205）在碰撞平面内移位;以及提升元件（120,220） 布置成在提升期间在提升方向上在底盘（105,205）和主体（110,210）之间提供柔性。 升降机检测装置（100,200）还包括提升传感器，其被配置为通过检测两个传感器部件（125,126）之间的间隔的变化来检测升力期间在提升元件（120,220）10的预定阈值上的位移 ，225,226）。 两个传感器部件（125,126,225,226）中的一个布置在提升元件上，并且两个传感器部件（125,126,225,226）被布置成仅在提升方向上相对移位。

公开(公告)号：US08874269B2

公开(公告)日：2014-10-28

申请号：US12599985

申请日：2008-05-15

Applicant: Peter Biber ,  Christoph Koch

Inventor： Peter Biber ,  Christoph Koch

IPC: G05B15/00 ,  G05B19/00 ,  A01B69/04 ,  A01D34/82 ,  G05D1/02 ,  A01D34/00

CPC classification number: G05D1/0242 ,  A01B69/008 ,  A01D34/008 ,  A01D34/828 ,  G05D1/0231 ,  G05D2201/0208

Abstract: The invention relates to a robotic vehicle (1), in particular a robotic vehicle (1) designed for self-contained operations, with drive means (5) for the movement of the vehicle (1) on the subsurface (11), and with control means (7) for the activation of the drive means (5) in accordance with the measured intensity of the infrared radiation. According to the invention, a light sensor (9) is provided to detect the intensity of light radiation from the visible spectrum reflected from the subsurface (11), and in addition the control means (7) are designed to activate the drive means (5) in accordance with the measured intensity of the light radiation. The invention further relates to a method of activation.

Abstract translation: 本发明涉及一种机器人车辆（1），特别是设计用于独立操作的机器人车辆（1），其具有用于车辆（1）在地下（11）上移动的驱动装置（5），并且具有 控制装置（7），用于根据所测量的红外辐射强度激活驱动装置（5）。 根据本发明，提供光传感器（9）以检测来自从地下（11）反射的可见光谱的光辐射的强度，此外，控制装置（7）被设计成激活驱动装置（5） ）根据测量的光辐射强度。 本发明还涉及一种激活方法。

公开(公告)号：US08854001B2

公开(公告)日：2014-10-07

申请号：US13291633

申请日：2011-11-08

Applicant: David A. Cohen ,  Daniel Ozick ,  Clara Vu ,  James Lynch ,  Philip R. Mass

Inventor： David A. Cohen ,  Daniel Ozick ,  Clara Vu ,  James Lynch ,  Philip R. Mass

IPC: H02J7/00 ,  A47L9/28 ,  H02J7/04 ,  A47L9/00 ,  G05D1/02

CPC classification number: B25J9/1664 ,  A47L9/0063 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2889 ,  A47L9/2894 ,  A47L2201/02 ,  A47L2201/022 ,  A47L2201/04 ,  B25J5/00 ,  B25J11/0085 ,  B25J19/005 ,  B60L11/1816 ,  G01S1/16 ,  G01S1/70 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  H02J7/0026 ,  H02J7/0036 ,  H02J7/0044 ,  H02J7/0045 ,  H02J7/0052 ,  H02J7/045 ,  Y10S901/01

Abstract: A method for energy management in a robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station.

Abstract translation: 一种用于机器人装置中的能量管理的方法包括：提供与所述机器人装置配合的基站，确定存储在所述机器人装置的能量存储单元中的能量的量，以及至少部分地基于所述数量执行预定任务 的能量储存。 还公开了用于发射避免信号以防止机器人与基站之间的无意接触的系统，以及用于发射归巢信号的系统，以允许机器人设备与基站精确对接。

公开(公告)号：US08744626B2

公开(公告)日：2014-06-03

申请号：US12789115

申请日：2010-05-27

Applicant: David August Johnson ,  Noel Wayne Anderson ,  Kirk Narum Eisenbeis

Inventor： David August Johnson ,  Noel Wayne Anderson ,  Kirk Narum Eisenbeis

IPC: G05B19/418 ,  A01D34/00

CPC classification number: A01D34/008 ,  G05D1/0219 ,  G05D1/0238 ,  G05D1/0261 ,  G05D1/0265 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0208

Abstract: The different illustrative embodiments provide a system for autonomous machine management comprising a number of autonomous machines, a number of nodes, a performance estimation module, and a navigation system. The number of autonomous machines is configured to perform area coverage tasks in a worksite. The number of nodes is configured to define a number of worksite areas for the worksite. The performance estimation module is executed by a processor unit and configured to calculate a percentage of work completed in the number of worksite areas. The navigation system is configured to operate an autonomous machine to perform the area coverage tasks and move between the number of worksite areas.

Abstract translation: 不同的说明性实施例提供了一种用于自主机器管理的系统，其包括多个自主机器，多个节点，性能估计模块和导航系统。 自动机器的数量被配置为在现场执行区域覆盖任务。 节点数量被配置为定义工作现场的一些工作区域。 性能估计模块由处理器单元执行并且被配置为计算在工地区域的数量中完成的工作的百分比。 导航系统被配置为操作自主机器以执行区域覆盖任务并在工作区域的数量之间移动。

公开(公告)号：US08712623B2

公开(公告)日：2014-04-29

申请号：US13240966

申请日：2011-09-22

Applicant: Kazuhisa Sato ,  Makoto Yamamura ,  Yoshinori Masubuchi

Inventor： Kazuhisa Sato ,  Makoto Yamamura ,  Yoshinori Masubuchi

IPC: G01C22/00 ,  G05D1/00

CPC classification number: G05D1/0261 ,  G05D1/0225 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0208

Abstract: In an apparatus for controlling an autonomous operating vehicle having a prime mover and operating machine, it is configured to have a geomagnetic sensor responsive to magnets embedded in the area, detect angular velocity generated about z-axis in center of gravity of the vehicle, detect a wheel speed of the driven wheel, store map information including magnet embedded positions, detect a primary reference direction, detect a vehicle position relative to the magnet, and detect a vehicle position in the area, calculate a traveling direction and traveled distance of the vehicle, and control the operation performed through the operating machine in the area in accordance with a preset operation program based on the detected direction, the detected position of the vehicle in the area, the calculated traveling direction and the calculated traveled distance.

Abstract translation: 在用于控制具有原动机和操作机器的自主操作车辆的装置中，其被配置为具有响应于嵌入该区域中的磁体的地磁传感器，检测在车辆重心上围绕z轴产生的角速度，检测 驱动轮的车轮速度，存储包括磁体嵌入位置的地图信息，检测主参考方向，检测相对于磁体的车辆位置，并且检测该区域中的车辆位置，计算车辆的行驶方向和行驶距离 根据检测到的方向，检测到的区域中的车辆的位置，计算出的行进方向以及计算出的行驶距离，根据预先设定的操作程序来控制通过操作机进行的操作。

公开(公告)号：US08706297B2

公开(公告)日：2014-04-22

申请号：US13452244

申请日：2012-04-20

Applicant: Michael Todd Letsky

Inventor： Michael Todd Letsky

IPC: G06F19/00

CPC classification number: A01D34/008 ,  A01D2101/00 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0088 ,  G05D1/0225 ,  G05D1/0242 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208

Abstract: A method of establishing an area of confinement and an autonomous robot for performing a task within the area of confinement. In one aspect, the invention can be a method of defining an area of confinement for an autonomous robot comprising: a) positioning the autonomous robot at a first location point P1, the autonomous robot comprising a location tracking unit, and recording the first location point P1 within a memory device; b) moving the autonomous robot from the first location point P1 to a plurality of location points P2-N and recording each of the plurality of location points P2-N within the memory device; and c) defining, with a central processing unit, a first closed-geometry comprising the first location point P1 and the plurality of location points P2-N as a perimeter of the area of confinement within the memory device.

Abstract translation: 建立限制区域的方法和在分娩区内执行任务的自主机器人。 一方面，本发明可以是一种定义自动机器人的限制区域的方法，包括：a）将自主机器人定位在第一位置点P1处，自主机器人包括位置跟踪单元，并且记录第一位置点 P1内存; b）将自主机器人从第一位置点P1移动到多个位置点P2-N，并将多个位置点P2-N中的每一个记录在存储装置内; 以及c）使用中央处理单元将包括所述第一位置点P1和所述多个位置点P2-N的第一闭合几何形状定义为所述存储器件内的限制区域的周长。

公开(公告)号：US08645016B2

公开(公告)日：2014-02-04

申请号：US13567442

申请日：2012-08-06

Applicant: Larry G. Durkos ,  Michael J. Blackburn ,  Kyle B. Ruddock ,  Richard S. Koressel ,  Thomas A. McCalley

Inventor： Larry G. Durkos ,  Michael J. Blackburn ,  Kyle B. Ruddock ,  Richard S. Koressel ,  Thomas A. McCalley

IPC: G01C22/00

CPC classification number: G05D1/0246 ,  G05D1/0219 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0272 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0208

Abstract: A control system is provided for automatically moving at least one machine along a desired path.

Abstract translation: 提供一种控制系统，用于沿所需路径自动移动至少一台机器。

公开(公告)号：US20140012418A1

公开(公告)日：2014-01-09

申请号：US13544270

申请日：2012-07-09

Applicant: David August Johnson ,  Patrick Wilson Cross ,  Colin Eric Das

Inventor： David August Johnson ,  Patrick Wilson Cross ,  Colin Eric Das

IPC: G05B15/00 ,  A01D34/00 ,  G01R27/28

CPC classification number: A01D34/008 ,  A01D34/00 ,  A47L2201/04 ,  B25J9/0003 ,  G05D1/0265 ,  G05D2201/0208

Abstract: A robotic mower sensor assembly for detecting a boundary wire signal. The sensor assembly includes a plurality of analog inductive sensors with a first inductive sensor oriented along a first axis and a second inductive sensor oriented along a second, different axis. Each inductive sensor is configured to generate a signal indicative of the distance of the robotic mower from the boundary wire. A control unit communicating with the sensor assembly is configured to operate the robotic mower in response to the signals from the sensor assembly which are indicative of the distance of the robotic mower from the boundary wire.

Abstract translation: 一种用于检测边界线信号的机器人割草机传感器组件。 传感器组件包括多个模拟感应传感器，其具有沿着第一轴定位的第一感应传感器和沿第二不同轴定向的第二感应传感器。 每个感应传感器被配置为产生指示机器人割草机与边界线的距离的信号。 与传感器组件通信的控制单元被配置为响应于来自传感器组件的信号来操作机器人割草机，其指示机器人割草机与边界线的距离。