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    METHOD OF NAVIGATING AN UNMANNED, SELF-PROPELLED VEHICLE, AND UNMANNED, SELF-PROPELLED VEHICLE CONFIGURED TO PERFORM THE METHOD
    3.
    发明公开
    METHOD OF NAVIGATING AN UNMANNED, SELF-PROPELLED VEHICLE, AND UNMANNED, SELF-PROPELLED VEHICLE CONFIGURED TO PERFORM THE METHOD 审中-公开

    公开(公告)号：EP4386506A1

    公开(公告)日：2024-06-19

    申请号：EP23215196.9

    申请日：2023-12-08

    申请人： Lely Patent N.V.

    发明人： DEN TOOM, Matthijs ,  BUIJS, Martinus Cornelis Johannes

    IPC分类号： G05D1/00 ,  G05D101/20 ,  G05D1/243 ,  G05D1/633

    CPC分类号： G05D1/0248 ,  G05D1/0221 ,  G05D1/243 ,  G05D1/633 ,  G05D2101/2020240101

    摘要： In a method of navigating an unmanned, self-propelled vehicle in an area in which cows can move about freely, wherein the location of the vehicle in said area is determined using the steps of: gathering vehicle environment data by means of at least one sensor provided on the vehicle, selecting from these gathered data a first subset of vehicle environment data which has been gathered by means of the at least one sensor in a substantially horizontal direction at a level below standing cows' torsos, recognizing cow torsos in said vehicle environment data with the aid of data gathered by means of the at least one sensor, deducing positions of cow legs from the recognized cow torsos, relating the deduced cow leg positions to corresponding data in the first subset of vehicle environment data, filtering the data corresponding to the deduced cow leg positions out of the first subset of vehicle environment data, and comparing the resulting second subset of vehicle environment data to vehicle environment reference data, the accuracy of the vehicle localization is improved. An animal-friendly and safe method is realized. The invention also relates to an unmanned, self-propelled vehicle configured to perform the method.

    SELF-MOVING ROBOT MOVEMENT BOUNDARY DRAWING METHOD
    5.
    发明公开
    SELF-MOVING ROBOT MOVEMENT BOUNDARY DRAWING METHOD 审中-公开

    公开(公告)号：EP3200040A4

    公开(公告)日：2018-06-20

    申请号：EP15844459

    申请日：2015-09-25

    申请人： ECOVACS ROBOTICS CO LTD

    发明人： TANG JINJU

    IPC分类号： G05D1/02 ,  B25J9/16

    CPC分类号： G05D1/028 ,  B25J9/1664 ,  G05D1/0221

    摘要： In a self-moving robot movement boundary delimiting method, in step 100: setting up three or more base stations in a movement area of a self-moving robot, and establishing a coordinate system; in step 200: artificially planning a movement path in the movement area of the self-moving robot, gathering sample points on the path, and determining the coordinates of the sample points in the coordinate system; and in step 300: delimiting a boundary according to the coordinates of the gathered sample points, and setting the self-moving robot to work inside or outside the boundary. The present invention achieves a regional division by distance measurement and positioning based on stationary base stations, thus improving accuracy and convenience compared to the prior art.

    METHOD AND SYSTEM TO CONSTRUCT SURROUNDING ENVIRONMENT FOR AUTONOMOUS VEHICLES TO MAKE DRIVING DECISIONS
    6.
    发明公开
    METHOD AND SYSTEM TO CONSTRUCT SURROUNDING ENVIRONMENT FOR AUTONOMOUS VEHICLES TO MAKE DRIVING DECISIONS 审中-公开

    公开(公告)号：EP3332300A1

    公开(公告)日：2018-06-13

    申请号：EP17844576.3

    申请日：2017-01-17

    申请人： Baidu USA LLC

    发明人： LI, Liyun ,  LI, Dong ,  HU, Jiangtao ,  JIANG, Yifei ,  TAO, Jiaming ,  YANG, Guang ,  WANG, Jingao

    IPC分类号： G05D1/02

    CPC分类号： G05D1/0221 ,  G05D1/0088 ,  G05D1/0276 ,  G05D2201/0213 ,  G06N5/00

    摘要： In response to sensor data received from sensors mounted on an autonomous vehicle, a surrounding environment is perceived based on the sensor data. The surrounding environment includes multiple sub-environments. For each of the sub-environments, one of a plurality of driving scenario handlers associated with the sub-environment is identified, each driving scenario handler corresponding to one of a plurality of driving scenarios. The identified driving scenario handler is invoked to determine an individual driving condition within the corresponding sub-environment. An overall driving condition for the surrounding environment is determined based on the individual driving conditions provided by the identified driving scenario handlers. A route segment is planned based on the overall driving condition of the surrounding environment, the route segment being one of a plurality of route segments associated with a route. The autonomous vehicle is controlled and driven based on the planned route segment.

    VERFAHREN UND SYSTEM ZUR AUTOMATISCHEN STEUERUNG ZUMINDEST EINES FOLGEFAHRZEUGS MIT EINEM SCOUT-FAHRZEUG
    7.
    发明公开
    VERFAHREN UND SYSTEM ZUR AUTOMATISCHEN STEUERUNG ZUMINDEST EINES FOLGEFAHRZEUGS MIT EINEM SCOUT-FAHRZEUG 审中-公开

    公开(公告)号：EP3326040A1

    公开(公告)日：2018-05-30

    申请号：EP16735646.8

    申请日：2016-07-05

    申请人： VOLKSWAGEN AKTIENGESELLSCHAFT

    发明人： MEINECKE, Marc-Michael ,  BARTELS, Arne ,  JUNGE, Lutz ,  DARMS, Michael

    IPC分类号： G05D1/02 ,  G08G1/0965 ,  B60W50/00

    CPC分类号： G05D1/0295 ,  B60W2050/0077 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2550/402 ,  B60W2550/408 ,  G05D1/0221 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0257

    摘要： The invention relates to a method for automatic control of at least one following vehicle (1) wherein a scout trajectory is generated for a scout vehicle (2), the scout vehicle (2) is guided (201) along an actual trajectory, wherein the actual trajectory (201) of the scout vehicle (2) and environmental data of the scout vehicle (202) are detected by means of sensors (11) of the scout vehicle (2). A target trajectory (204) is generated for the following vehicle (1) and environmental data (203) of the following vehicle are detected by means of sensors (21) of the following vehicle (1). The scout trajectory and environmental data (202) of the scout vehicle are transferred to the following vehicle (1) and, if the detected actual trajectory (201) and the generated target trajectory (204) each have at least a certain trajectory similarity to the generated scout trajectory and if the environmental data of the following vehicle (203) have at least a certain environmental data similarity to the environmental data of the scout vehicle (203), an automatic control of the following vehicle (1) is activated along the target trajectory (204). The invention further relates to a system for automatic control of at least one following vehicle (2) by a scout vehicle (1).

    MOWER WITH OBJECT DETECTION SYSTEM
    8.
    发明授权
    MOWER WITH OBJECT DETECTION SYSTEM 有权
    对象检测系统

    公开(公告)号：EP2885684B1

    公开(公告)日：2018-05-09

    申请号：EP13879570.3

    申请日：2013-08-12

    申请人： Husqvarna AB

    发明人： WILLGERT, Mikael

    IPC分类号： G05D1/02 ,  A01D34/00 ,  A01D101/00

    CPC分类号： G05D1/0214 ,  A01D34/008 ,  G05D1/0221 ,  G05D1/0231 ,  G05D1/0238 ,  G05D2201/0208

    摘要： A method for processing object detection-related information may include receiving information indicative of an encounter between a robotic vehicle and an object responsive to communication received from a sensor of the robotic vehicle while the robotic vehicle transits a parcel, determining a location of the robotic vehicle at a time corresponding to occurrence of the encounter, determining whether the location corresponds to a location associated with a known object associated with the parcel, and classifying the object as an unknown object based on the location not corresponding to the location associated with the known object.

    AUTONOMOUS NAVIGATION SYSTEM
    9.
    发明公开
    AUTONOMOUS NAVIGATION SYSTEM 审中-公开
    自主导航系统

    公开(公告)号：EP3256815A1

    公开(公告)日：2017-12-20

    申请号：EP15813220.9

    申请日：2015-12-04

    申请人： Apple Inc.

    发明人： The designation of the inventor has not yet been filed

    IPC分类号： G01C21/32

    CPC分类号： G01C21/32 ,  B60W30/00 ,  G01C21/3415 ,  G05D1/0212 ,  G05D1/0221 ,  G05D1/0276 ,  G05D2201/0213

    摘要： Some embodiments provide an autonomous navigation system which enables autonomous navigation of a vehicle along one or more portions of a driving route based on monitoring, at the vehicle, various features of the route as the vehicle is manually navigated along the route to develop a characterization of the route. The characterization is progressively updated with repeated manual navigations along the route, and autonomous navigation of the route is enabled when a confidence indicator of the characterization meets a threshold indication. Characterizations can be updated in response to the vehicle encountering changes in the route and can include a set of driving rules associated with the route, where the driving rules are developed based on monitoring the navigation of one or more vehicles of the route. Characterizations can be uploaded to a remote system which processes data to develop and refine route characterizations and provide characterizations to one or more vehicles.