公开(公告)号：US11841706B2

公开(公告)日：2023-12-12

申请号：US17188688

申请日：2021-03-01

Applicant: Electronics and Telecommunications Research Institute

Inventor： Su Yong An ,  Hea-Min Lee ,  Dongyeop Kang ,  Wookyong Kwon ,  Song Li ,  Ki Young Moon ,  Yun Su Chung

IPC: G01S17/89 ,  G05D1/02 ,  G05D1/00

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.

公开(公告)号：US20230400862A1

公开(公告)日：2023-12-14

申请号：US18142758

申请日：2023-05-03

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Su Yong An ,  Dongyeop Kang ,  Song Li

IPC: G05D1/02 ,  A01M7/00

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.