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    AUTONOMOUS MOBILE DEVICE
    5.
    发明公开
    AUTONOMOUS MOBILE DEVICE 审中-公开

    公开(公告)号：EP3358434A1

    公开(公告)日：2018-08-08

    申请号：EP18160674.0

    申请日：2009-08-25

    申请人： Murata Machinery, Ltd.

    发明人： TANAKA, Shoji ,  NAKANO, Tsuyoshi

    IPC分类号： G05D1/02 ,  G05D1/00

    CPC分类号： G05D1/0088 ,  G05D1/024 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207

    摘要： Provided is an autonomous mobile device capable of creating, with less burden, a highly reliable environmental map including a setting point and performing more accurate autonomous travel by using the environmental map. An electronic controller 30 configuring an autonomous mobile device 1 comprises: a self-location estimation unit 32 for estimating a self-location based on a local map that is created according to the distance/angle information relative to an object in the vicinity and the travel distance of an omni wheel 13; an environmental map creation unit 33 for creating an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick 21; a registration switch 23 for registering the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel; a storage unit 34 for storing the environmental map and the setting point; a route planning unit 35 for planning the travel route by using the setting point on the environmental map stored in the storage unit 34; and a travel control unit 36 for controlling the autonomous mobile device to autonomously travel along the travel route.

    HOST-POSITION ESTIMATION DEVICE AND HOST-POSITION ESTIMATION METHOD
    6.
    发明公开
    HOST-POSITION ESTIMATION DEVICE AND HOST-POSITION ESTIMATION METHOD 审中-公开

    公开(公告)号：EP3327532A1

    公开(公告)日：2018-05-30

    申请号：EP15899539.9

    申请日：2015-07-24

    申请人： Nissan Motor Co., Ltd.

    发明人： UEDA, Hirotoshi ,  YAMAGUCHI, Ichiro ,  TSUCHIYA, Chikao

    IPC分类号： G05D1/02

    CPC分类号： G05D1/0274 ,  B60W30/12 ,  G01C21/165 ,  G05D1/0246 ,  G05D1/0272 ,  G05D2201/0213

    摘要： A self-position estimation device includes: a target position detection unit mounted in a vehicle, the target position detection unit being configured to detect a relative position of a target present around the vehicle and the vehicle; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a target position accumulation unit configured to move the detected relative position by the estimated movement amount and to accumulate the moved relative position as target position data; a map information acquisition unit configured to acquire map information including target position information of a target present on a map; a curve start position estimation unit configured to estimate a curve start position of a travel path on which the vehicle travels; and a self-position estimation unit configured to perform comparison in which at least the target position data present around the vehicle and the target position data present between a current position of the vehicle and the estimated curve start position, of the accumulated target position data, is compared with the target position information included in the map information to estimate a self position which is the current position of the vehicle.

    IMPROVED NAVIGATION FOR A ROBOTIC LAWNMOWER
    9.
    发明公开
    IMPROVED NAVIGATION FOR A ROBOTIC LAWNMOWER 审中-公开
    改进了机器人的导航功能

    公开(公告)号：EP3236733A1

    公开(公告)日：2017-11-01

    申请号：EP15801171.8

    申请日：2015-11-26

    申请人： Husqvarna AB

    发明人： TJERNBERG, Isak ,  ALMQVIST, Jakob ,  REIGO, Peter

    IPC分类号： A01D34/00 ,  G05D1/02

    CPC分类号： A01D34/008 ,  A01D2101/00 ,  G01C21/12 ,  G01S19/14 ,  G01S19/26 ,  G01S19/48 ,  G01S19/49 ,  G05D1/0227 ,  G05D1/0265 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0208

    摘要： A robotic lawnmower (100) for movable operation within a work area (205) has a satellite navigation device (190), a deduced reckoning navigation sensor (195) and a controller (110). The controller causes the robotic lawnmower (100) to movably operate within the work area (205) in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device (190). The controller determines that a position cannot be reliably determined based on satellite signals received by the satellite navigation device (190), and in response thereto causes the robotic lawnmower (100) to movably operate within the work area (205) in a second operating mode. In the second operating mode, a deduced reckoning position estimate is obtained by the deduced reckoning navigation device (195). A search space is defined using the deduced reckoning position estimate, and the satellite navigation device (190) is recalibrated based on the defined search space. Once the satellite navigation device (190) has been recalibrated, the controller causes the robotic lawnmower (100) to again operate in the first operating mode.

    摘要翻译： 用于在工作区域（205）内可移动操作的机器人割草机（100）具有卫星导航装置（190），推导推算导航传感器（195）和控制器（110）。 控制器使机器人割草机（100）在第一操作模式中在工作区域（205）内可移动地操作，第一操作模式基于由卫星导航装置（190）接收的卫星信号确定的位置。 控制器确定基于由卫星导航装置（190）接收的卫星信号不能可靠地确定位置，并且响应于此，机器人割草机（100）在第二操作模式（205）中在工作区域（205）内可移动地操作 。 在第二操作模式中，推导推测导航设备（195）获得推导推测推测位置估计。 使用推导的推测推测位置估计来定义搜索空间，并且基于所定义的搜索空间来重新校准卫星导航设备（190）。 一旦卫星导航装置（190）已被重新校准，控制器使机器人割草机（100）再次以第一操作模式操作。

    METHOD FOR RECORDING AND PREDICTING POSITION DATA FOR AN AUTOMATED GUIDED WHEELED VEHICLE
    10.
    发明公开
    METHOD FOR RECORDING AND PREDICTING POSITION DATA FOR AN AUTOMATED GUIDED WHEELED VEHICLE 审中-公开
    记录和预测自动引导轮式车辆的位置数据的方法

    公开(公告)号：EP3234719A1

    公开(公告)日：2017-10-25

    申请号：EP15816650.4

    申请日：2015-12-14

    申请人： Conpleks Innovation APS

    发明人： JØRGENSEN, Rasmus Nyholm ,  CHRISTIANSEN, Martin Peter

    IPC分类号： G05D1/02

    CPC分类号： A01K5/0266 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0216 ,  G08G1/017

    摘要： A method for recording and predicting position data for a self-propelled wheeled vehicle (1) carrying a load (14) is provided whereby the vehicle (1) is caused to move along a ground surface (5) along a predominantly straight line trajectory (17) by rotating at least one load carrying wheel (3) in frictional engagement with the surface (5), angular rotation data of at least one wheel (3) is obtained, absolute position data are obtained at different predetermined fixed positions Pn of the vehicle (1) with respect to the surface (5) along the straight line trajectory (17), whereby the distance travels is measured independently and used to calibrate motion sensors on board the vehicle. The invention also comprises a delivery or pick up system, a program for an on-board computing device and an on-board computing device.

    摘要翻译： 提供了一种用于记录和预测承载负载（14）的自推式轮式车辆（1）的位置数据的方法，由此使得车辆（1）沿着主要直线轨迹（5）沿着地面（5） 通过旋转与所述表面（5）摩擦接合的至少一个负载轮（3），获得至少一个轮（3）的角旋转数据，在不同的预定固定位置P n处获得绝对位置数据 （1）相对于沿着直线轨迹（17）的表面（5），由此独立地测量距离行进并用于校准车辆上的运动传感器。 本发明还包括递送或拾取系统，用于车载计算设备的程序和车载计算设备。