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公开(公告)号：US11480974B2
公开(公告)日：2022-10-25
申请号：US16374033
申请日：2019-04-03
Inventor： Yu-Cheol Lee , Won-Pil Yu , Song Li
Abstract: Disclosed herein are an apparatus and method for generating a topological map for navigation of a robot. The method for generating a topological map for navigation of a robot, performed by the apparatus for building the topological map for the navigation of the robot, includes calculating the physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate, extracting the physical coordinates of the pixel on the metric map, building node data and edge data for the navigation of the mobile robot using the physical coordinates, and generating a topological map for the navigation of the mobile robot based on the built node data and the built edge data.
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公开(公告)号：US11841706B2
公开(公告)日：2023-12-12
申请号：US17188688
申请日：2021-03-01
Inventor： Su Yong An , Hea-Min Lee , Dongyeop Kang , Wookyong Kwon , Song Li , Ki Young Moon , Yun Su Chung
CPC classification number: G05D1/0212 , G01S17/89 , G05D1/0088 , G05D1/0238 , G05D2201/0201
Abstract: A method and an apparatus for recognition a position and generating a path for autonomous driving of a mobile robot in an orchard environment are provided. The method converts three-dimensional (3D) point cloud data for the orchard environment into a 2D grid map, obtains a position of the mobile robot by performing local scan matching and global scan matching on the 2D grid map, and extracts a tree from the 2D grid map based on occupancy of each grid of the 2D grid map. Then, an effective line based on center points of extracted trees is obtained, a destination based on the obtained effective line is generated, and a driving path according to the generated destination and the position of the mobile robot is generated.
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公开(公告)号：US20150173307A1
公开(公告)日：2015-06-25
申请号：US14188870
申请日：2014-02-25
Inventor： Dong Wan RYOO , Hae Dong LEE , Ae Kyeung MOON , Jang Sik BAE , Sang Ho Lee , Song Li , Jin Hong Kim , Soo In Lee
IPC: A01G9/14
CPC classification number: A01G9/241 , Y02A40/268
Abstract: Provided is an adaptive greenhouse control method that can control a greenhouse to provide an optimized environment by automatically and daily adapting to an external environment and a type of the greenhouse. The method includes performing a P-Band setting operation of setting a P-Band to determine a degree of which a greenhouse window is opened according to a current greenhouse inside temperature based on a predetermined set temperature, performing a greenhouse control operation of controlling the degree of which a greenhouse window is opened according to the P-Band, performing a greenhouse environment parameter measurement operation of measuring a greenhouse environment parameter value applied to set the P-Band, performing a P-Band changing operation of changing the P-Band according to the greenhouse environment parameter value, and performing a greenhouse change control operation of controlling the degree of which a greenhouse window is opened according to the P-Band changed in the P-Band changing operation.
Abstract translation: 提供了一种适应性温室控制方法，其可以通过自动和日常地适应外部环境和温室的类型来控制温室来提供优化的环境。 该方法包括进行P波段设定动作，根据预先设定的温度，根据目前的温室内温度，确定温室窗口打开的程度，进行控制程度的温室控制动作 其中根据P波段打开温室窗口，执行测量应用于设置P波段的温室环境参数值的温室环境参数测量操作，执行改变P波段的P波段改变操作 到温室环境参数值，并且根据在P波段改变操作中改变的P波段执行控制温室窗口打开程度的温室变化控制操作。
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公开(公告)号：US20230400862A1
公开(公告)日：2023-12-14
申请号：US18142758
申请日：2023-05-03
Inventor： Su Yong An , Dongyeop Kang , Song Li
CPC classification number: G05D1/0225 , A01M7/0021 , G05D1/0246 , G05D2201/0201
Abstract: The unmanned sprayer apparatus according to the present invention includes a vehicle body of the unmanned sprayer apparatus that moves automatically in a greenhouse including a first rail and a second rail installed on flat land, and a controller configured to control the vehicle body to be switched and moved between the first rail and the second rail while the vehicle body travels on the flat land. The controller is configured to travel the vehicle body rearward on the first rail and when a front end of the first rail is detected, stop the vehicle body, to move the vehicle body laterally toward the second rail and when a front end of the second rail is detected, stop the vehicle body, and to align the vehicle body in a direction of the second rail and then dock the vehicle body to the second rail.
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