公开(公告)号：US06532404B2

公开(公告)日：2003-03-11

申请号：US10085076

申请日：2002-03-01

Applicant: André Colens

Inventor： André Colens

IPC: G05B1500

CPC classification number: A47L11/4005 ,  A47L11/4011 ,  A47L11/4061 ,  A47L2201/022 ,  A47L2201/024 ,  A47L2201/04 ,  B25J9/1694 ,  G05B2219/24136 ,  G05B2219/31004 ,  G05B2219/37266 ,  G05B2219/40522 ,  G05B2219/40621 ,  G05D1/0225 ,  G05D1/0242 ,  G05D2201/0215 ,  Y10S706/905

Abstract: System of guidance and positioning relative to a fixed station (1) for an autonomous mobile robot (7) utilizing at least a directional infra-red beam (2′) emitted by the fixed station, the mobile robot being provided with a directional system of detection (10a, 10b) of infra-red emission connected to a microcomputer incorporated in the said robot, the robot moving on a work surface in an essentially random manner, the microcomputer (44) including an algorithm able to control the return to fixed station (1) by displacement of the robot (7) towards the direction of emission of said infra-red beam (2′), characterized in that the infra-red beam (2′) is a narrow directional beam and in that the system of detection (10a, 10b) is located on a frame at the center of rotation of the robot (7), oriented in the direction of movement of the robot, precise positioning in the fixed station (1) being carried out by rotation of the machine around a vertical axis according to an algorithm based on the detection of the narrow beam (2′).

公开(公告)号：US07787989B2

公开(公告)日：2010-08-31

申请号：US10503041

申请日：2003-01-31

Applicant: André Colens

Inventor： André Colens

IPC: G06F19/00

CPC classification number: G05D1/0265

Abstract: The invention concerns a navigation device for a mobile robot comprising means for measuring the amplitude and the phase of an electromagnetic signal emitted by a wire acting as limit for a working area of the robot. The measuring means samples the amplitude of the signal during each time interval, the result of each measurement is stored in a memory and the measurements are repeated for several time intervals, the collected results being added in said memories until the content of a memory reaches a reference threshold. The number of samples required and the content of each memory is interpreted by numerical analysis to determine the distance or distance variation relative to said limiting elements. Any phase change corresponding to a passage beyond the limiting wire is easily detected and results for example in a command returning the robot to its working area.

Abstract translation: 本发明涉及一种用于移动机器人的导航装置，包括用于测量由作为机器人的工作区域的限制的导线发射的电磁信号的幅度和相位的装置。 测量装置在每个时间间隔期间对信号的振幅进行采样，将每个测量的结果存储在存储器中，并且测量重复几个时间间隔，所收集的结果被添加到所述存储器中，直到存储器的内容达到 参考阈值。 通过数值分析来解释所需的样本数量和每个存储器的内容，以确定相对于所述限制元件的距离或距离变化。 对于超过限制线的通道的任何相变容易被检测到，并且例如在将机器人返回其工作区域的命令中产生。

公开(公告)号：US07117660B1

公开(公告)日：2006-10-10

申请号：US09958868

申请日：2000-04-12

Applicant: André Colens

Inventor： André Colens

IPC: A01D34/66

CPC classification number: A01D34/74 ,  A01D34/008 ,  Y10S56/07

Abstract: A self-propelled lawn mower comprising a microprocessor and at least one cutter (10), wherein an elastic tension element (13) that is connected to the frame of the lawn mower and the at least one cutter (10) is provided. Central automatic adjustment of the height of the cutters (10) in relation to the ground is also provided. The cutters (10) consist of a rotary disk (3) with retractable blades (5) provided with a stop (4) underneath the lower surface in the form of a central extension that can come into contact with the ground.

Abstract translation: 一种自走式割草机，其包括微处理器和至少一个切割器（10），其中设置连接到割草机的框架的弹性张力元件（13）和至少一个切割器（10）。 还提供了相对于地面的刀具（10）的高度的中心自动调整。 切割器（10）由具有可伸缩叶片（5）的旋转盘（3）组成，该旋转盘（3）在下表面的下表面上设有可与地面接触的中心延伸部形式的止动件（4）。

公开(公告)号：US06321515B1

公开(公告)日：2001-11-27

申请号：US09381206

申请日：1999-09-17

Applicant: André Colens

Inventor： André Colens

IPC: A01D7500

CPC classification number: A01D34/008 ,  A01D2101/00 ,  B60L8/003 ,  B60L11/1805 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2220/46 ,  B60L2240/12 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2260/32 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7083 ,  Y02T10/72 ,  Y02T10/7275 ,  Y10S56/07

Abstract: The invention concerns a self-propelled lawn mower and a method adapted for using said machine. The machine comprises: a mobile frame (1) including at least one drive wheel (6) and at its lower surface at least two juxtaposed cutters (3), associated each with an electric motor; an electronic system for controlling the forward movement of the machine; an on-board computer; an electric power supply; means for measuring the force supplied by each cutter, said measurement being transmitted to the on-board computer; a memorized algorithm for seeking the grass surfaces to be mowed by the interaction of the machine forward movement system, said force measurements and the on-board computer; means for detecting the limits of the surface to be mowed by a magnetic field measurement or the variation of a magnetic field emitted or caused by a set or buried wire, located at said limits.

Abstract translation: 本发明涉及一种自行式割草机和适用于使用所述机器的方法。 该机器包括：移动框架（1），其包括至少一个驱动轮（6），并且在其下表面具有与电动马达相关联的至少两个并置的切割器（3）; 用于控制机器向前运动的电子系统; 一台车载电脑; 电力供应; 用于测量由每个切割器提供的力的装置，所述测量被传送到车载计算机; 用于通过机器向前运动系统，所述力测量和车载计算机的相互作用来寻找草坪的记忆算法; 用于检测通过磁场测量所形成的表面的极限或由位于所述极限处的集合或掩埋线所发射或引起的磁场变化的装置。