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公开(公告)号：EP3384317A1
公开(公告)日：2018-10-10
申请号：EP15802165.9
申请日：2015-12-02
申请人： Husqvarna AB
发明人： REIGO, Peter
CPC分类号： G05D1/0278 , G01S19/14 , G01S19/41 , G01S19/43 , G05D1/0219 , G05D2201/0208
摘要： A robotic work tool for movable operation within a work area. The robotic lawnmower comprises a satellite navigation device; and a controller, the controller being configured to cause the robotic work tool to movably operate within the work area based on positions partly or in whole determined from satellite signals received by the satellite navigation device being a differential satellite navigation device and on phase information received from a reference station, by: receiving phase information from the reference station for a satellite signal received by the reference station; storing the phase information; determining that further phase information from the reference station for the satellite signal received by the reference station is not available or erroneous, and in response thereto; extrapolating phase information based on the stored phase information; receiving a satellite signal received by the robotic work tool; comparing the extrapolated phase information to phase information of the satellite signal received by the robotic work tool; determining a position based on the comparison for movably operating the robotic work tool.
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公开(公告)号：EP2547191B1
公开(公告)日：2018-09-19
申请号：EP10848075.7
申请日：2010-03-17
申请人： Husqvarna AB
发明人： MARKUSSON, Olle , ANDERSSON, Gunnar , ADOLFSSON, Johan , PETTERSSON, Patrick , ÖSTER, Johan , JÄGENSTEDT, Patrik
CPC分类号： G05D1/0225 , A01D34/008 , G05D1/0265 , G05D2201/0208
摘要： The present invention relates to a method (400) and a system (100) for guiding a robotic garden tool to a predetermined position. The robotic garden tool includes a control unit (104) and a sensor unit (102) to detect guiding signals. The sensor unit (102) detects a first guiding signal (110) from a first signal source (106) and the robotic garden tool follows the first guiding signal (110) at a variable distance from the first signal source (106) towards the predetermined position. While within a predetermined distance (D) from the predetermined position, the sensor unit (102) detects a second guiding signal (112) from a second signal source (108). Within the predetermined distance (D), the robotic garden tool follows one of the first and the second guiding signals (110 or 112) towards the predetermined position at a pre-configured distance from the corresponding signal source.
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公开(公告)号：EP2564281B1
公开(公告)日：2018-09-05
申请号：EP11706533.4
申请日：2011-02-28
申请人： Robert Bosch GmbH
发明人： PETEREIT, Steffen , ALBERT, Amos
CPC分类号： H03K5/22 , A01K15/023 , G05D1/0265 , G05D2201/0201 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215
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公开(公告)号：EP2901840B1
公开(公告)日：2018-05-16
申请号：EP14177619.5
申请日：2014-07-18
申请人： LG Electronics Inc.
发明人： Nam, Dongkyun , Woo, Jongjin , Kim, Dongseong
CPC分类号： A01D34/008 , B60L11/1838 , B60L2200/22 , B60L2260/32 , G05D1/0265 , G05D2201/0208 , Y02T10/7005 , Y02T10/7072 , Y02T90/121 , Y02T90/128 , Y02T90/14 , Y02T90/163
摘要： Disclosed herein are a lawn mower robot and a method of controlling the same. The method includes receiving a signal generated by a boundary wire, determining a maximum value and a minimum value of the received signal for a predetermined time, and determining a position of a main body, which receives the signal, relative to the boundary wire by identifying and comparing the number of upper inflection portions present within a constant maximum value range and the number of lower inflection portions present within a constant minimum value range for the predetermined time, wherein each of the upper inflection portions means a portion at which a waveform of the signal is changed from ascending to descending and each of the lower inflection portions means a portion at which a waveform of the signal is changed from descending to ascending.
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5.发明授权Boundary sensor assembly for a robotic lawn mower, robotic lawn mower and robotic lawn mower system 有权机器人割草机，机器人割草机和机器人割草机系统的边界传感器组件
公开(公告)号：EP2684438B1
公开(公告)日：2018-04-04
申请号：EP13003434.1
申请日：2013-07-08
申请人： Deere & Company
CPC分类号： A01D34/008 , A01D34/00 , A47L2201/04 , B25J9/0003 , G05D1/0265 , G05D2201/0208
摘要： A robotic mower sensor assembly (119) for detecting a boundary wire signal. The sensor assembly (119) includes a plurality of analog inductive sensors with a first inductive sensor (120) oriented along a first axis (Z) and a second inductive sensor (122) oriented along a second, different axis (X). Each inductive sensor (120, 122, 124) is configured to generate a signal indicative of the distance of the robotic mower (100) from the boundary wire (103, 104). A control unit (101) communicating with the sensor assembly (119) is configured to operate the robotic mower (100) in response to the signals from the sensor assembly (119) which are indicative of the distance of the robotic mower (100) from the boundary wire (103, 104).
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公开(公告)号：EP3298874A1
公开(公告)日：2018-03-28
申请号：EP16190124.4
申请日：2016-09-22
发明人： Franzius, Mathias , Einecke, Nils
CPC分类号： A01D34/008 , A01D75/185 , G05D1/0227 , G05D2201/0208 , G06K9/6212 , G06N99/005 , G06T7/20 , G06T7/75 , G06T2207/20081
摘要： The invention regards a robotic gardening device comprising driving means (2) for propelling the robotic gardening device, a working tool (3) for performing dedicated gardening work and a controlling unit (4) for controlling said driving means (2) and the working tool (3) and a method for controlling the same. The robotic gardening device further comprises at least one environment sensor (6) generating a signal indicative of objects in the environment of the robotic gardening device, a computing unit (7) for classifying these objects, wherein the classes comprise at least two different classes for objects being determined to be humans. The computing unit (7) is configured to control the driving means (2) and/or the working device (3) according to a predetermined behavior associated with the respective objects class.
摘要翻译： 本发明涉及一种机器人园艺装置，包括用于推动机器人园艺装置的驱动装置（2），用于执行专门园艺工作的工作工具（3）以及用于控制所述驱动装置（2）和工作工具的控制单元（4） （3）及其控制方法。 该机器人园艺装置还包括至少一个生成指示机器人园艺装置的环境中的物体的信号的环境传感器（6），用于对这些物体进行分类的计算单元（7），其中这些类包括至少两个不同类 物体被确定为人类。 计算单元（7）被配置为根据与各个对象类别相关联的预定行为来控制驱动装置（2）和/或工作装置（3）。
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公开(公告)号：EP2590495A4
公开(公告)日：2017-11-01
申请号：EP10854511
申请日：2010-07-07
申请人： HUSQVARNA AB
发明人： JÄGENSTEDT PATRIK , MARKUSSON OLLE
CPC分类号： A01D34/008 , A01B79/005 , G05D1/0265 , G05D2201/0208
摘要： The present invention relates to a method 400 and a system 100 for controlling a robotic garden tool 202 around a working area 204 in a boundary wire aided system. The system includes the robotic garden tool 202 to perform an operation within the working area 204, which is at least partly defined by a boundary. The boundary separates the working area 204 from a non-working area. The robotic garden tool also includes detecting means for detecting the boundary. Further, the robotic garden tool 202 is adapted to receive a status signal 110 sent from a signal source and the robotic garden tool 202 is configured to stop the operation, when the status signal 110 provides a stopping signal.
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公开(公告)号：EP3234721A1
公开(公告)日：2017-10-25
申请号：EP15823026.8
申请日：2015-12-17
申请人： Husqvarna AB
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , G01S19/13 , G05D1/0214 , G05D2201/0208
摘要： A method for recording data from at least one sensor of a robotic vehicle responsive to the robotic vehicle transiting a portion of a parcel and determining a confidence score associated with the recorded data for each of a plurality of potential detection events. The confidence score may correspond to a probability that the recorded data corresponds to an object or feature. The method may further include generating map data comprising one or more objects or features correlated to potential detection events based at least in part on the confidence score of the respective objects or features.
摘要翻译： 一种用于记录来自机器人车辆的至少一个传感器的数据的方法，所述数据响应于机器人车辆过境一部分包裹并且针对多个潜在检测事件中的每一个确定与所记录的数据相关联的置信度得分。 置信度分数可以对应于记录的数据对应于对象或特征的概率。 该方法可以进一步包括至少部分地基于各个对象或特征的置信度得分来生成包括与潜在检测事件相关的一个或多个对象或特征的地图数据。
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公开(公告)号：EP3234718A1
公开(公告)日：2017-10-25
申请号：EP15801949.7
申请日：2015-11-17
申请人： Husqvarna AB
CPC分类号： G05D1/0246 , A01D34/008 , A01D2101/00 , G05D1/0219 , G05D1/0221 , G05D1/0234 , G05D1/0274 , G05D2201/0208
摘要： A method for employing learnable boundary positions for bounding operation of a robotic vehicle may include detecting temporary indicia of a boundary on a parcel via at least one sensor of a robotic vehicle, generating coordinate or location based boundary information 5 based on the temporary indicia, and operating the robotic vehicle within the boundary based on the generated coordinate or location based boundary information.
摘要翻译： 用于采用可学习的边界位置来限制机器人车辆的操作的方法可以包括：经由机器人车辆的至少一个传感器来检测包裹上的边界的临时标记，基于临时标记产生基于坐标或基于位置的边界信息5，以及 基于所生成的坐标或基于位置的边界信息在边界内操作机器人车辆。
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10.发明公开
公开(公告)号：EP3234717A1
公开(公告)日：2017-10-25
申请号：EP15797455.1
申请日：2015-11-10
申请人： Husqvarna AB
CPC分类号： A01D34/008 , G05D1/0265 , G05D1/0274 , G05D2201/0208
摘要： A method for determining and mapping a parcel of land may include receiving positioning-information indicative of position data of a robotic vehicle transiting a parcel at one or more locations on the parcel and receiving workload-information indicative of workload data of a robotic vehicle transiting the parcel at one or more locations on the parcel. The method may further include generating a virtual map of the parcel based on the positioning-information and the workload-information received.
摘要翻译： 用于确定和映射地块的方法可以包括接收指示机器人车辆在包裹上的一个或多个位置处过境的机器人车辆的位置数据的定位信息，并且接收指示机器人车辆的工作量数据的工作量信息， 包裹在包裹上的一个或多个位置。 该方法可以进一步包括基于接收到的定位信息和工作负荷信息生成地块的虚拟地图。
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