• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a method of implementing a soil treatment robot and a corresponding system. This soil treatment robot comprises in particular a control and control unit, an absolute or relative positioning device, a data storage means and a transmission module. A method characterized in that before said robot (1) processes a new work area or a modified work area (6), it is lifted by means of a suitable portable device (7) equipped with an absolute or relative geolocation and / or imaging module, compatible with the positioning device of the robot (1), positioning information, determining a plurality of positions or points (9, 9 ') along the or perimeters (10, 10 ') delimiting said working area (6), transferring this information to the robot (1), possibly after correction using at least one local fixed point, and automatically defining a map and / or a strategy of moving the robot (1) for the working area (6) delimited virtually after integration of said information.
    公开号:FR3020915A1
    申请号:FR1454465
    申请日:2014-05-19
    公开日:2015-11-20
    发明作者:Pierre Wolf；Claude Treger；Laurent Delcasso
    申请人:Outils Wolf SARL；
    IPC主号:
    专利说明:

    [0001] The present invention relates to the field of consumer and professional equipment for the automated treatment of soil and land, more particularly for mowing of turf or grass areas, or for ancillary operations in connection with the maintenance of such areas. . In this context, the subject of the invention is a method for implementing a soil treatment robot, in particular a robotic lawnmower, and a system for carrying out this method. By soil treatment robot is meant, herein, an autonomous mobile device capable of performing an operation or technical work at ground level, either on the surface (for example: cleaning with or without pickup, washing with or without drying consecutive, removal of product, mowing, ...), either in engagement with the ground or the ground (for example: scarification, hoeing, ...). In addition, soils of different types may be involved: lawn, grass, herbaceous or not, concrete yard, paved or tarmac, tiled floor, terrace, ... and thus determine the type of operations achievable by a suitable robot. Typically, such a robot comprises, in addition to one or more means (s) of actuation, at least one autonomous energy source, at least one working tool, moving means and a protective casing, also a control and control unit, a device for determining its position (absolute or relative), storage means and a transmission or communication module, preferably bidirectional. At present, the treatment, working or mowing zones of the aforementioned type are generally delimited by material elements or apparent physical means (borders, walls, walls, barriers, boundary cables, etc.). As a variant, and in particular for robotic lawnmowers, these zones can also be delimited by buried perimetric wires. The introduction of these types of known delimiting means results in important specific work. In particular, the installation of the buried wires requires a tedious intervention on the part of the operator or the user which can be tricky when other conduits or cables are already present in the ground, and requires - 2 - several hours , or even days, depending on the size and complexity of the terrain. In addition, a possible modification of the perimeter of the working area is equally tedious and requires, in addition, a restoration of the soil or the ground (see for example WO 2013/041278), or at least the modified perimeter edge. Furthermore, robotic lawnmowers equipped with a satellite tracking system (GPS) are known for locating plots to be mowed and / or moving the mower robot from one plot to another 10 (US 2003/0236723 and US 2011/0125358). This type of robotic lawnmower can also use a stored digital map in combination with satellite tracking to control mowing (US 2011/0125358 and WO 2013/034345). Nevertheless, by the very fact of their embodiment, these virtual mappings are often inaccurate, do not take into account the concrete realities of the terrain and the work zone and generally require a resetting if the area of job. The present invention aims to overcome at least some of the aforementioned drawbacks in relation to the state of the art mentioned relating to soil treatment robots, especially robotic lawnmowers. To this end, the subject of the invention is a method for implementing a soil treatment robot, more particularly a robotic lawnmower or mowing robot, comprising in particular a control and steering unit, a device of absolute or relative positioning, a data storage means and a transmission module, characterized in that it consists, before said robot processes a new work area or a modified work area, to be raised by means of a suitable portable device, equipped with an absolute or relative geolocation module and / or taking images, compatible with the positioning device of the robot, positioning information, determining a plurality of positions or points along of the periphery (s) delimiting said working area, to transfer these information to the robot, possibly after correction using at least one local fixed point, and to automatically define a and / or a robot moving strategy for the work area virtually delimited after integration of said information. The invention also relates to a robotic processing system implementing this method.
    [0002] The invention will be better understood, thanks to the following description, which refers to a preferred embodiment, given by way of non-limiting example, and explained with reference to the appended diagrammatic drawings, in which: FIG. a schematic representation illustrating a possible embodiment of the method according to the invention, with the main components of the system used, for a given work area (field to be treated); FIG. 2 is a diagrammatic perspective view of an embodiment of the robot according to the invention (in the form of a robotic mower with its half-open hood) forming part of the system according to the invention; FIG. 3 is a diagrammatic perspective and partially transparent view of a portable geolocation co-location device also forming part of the system according to an advantageous embodiment of the invention, and FIGS. 4 and 5 are FIG. 1 of the accompanying drawings, in connection with FIGS. 2 to 5, illustrate the method of implementing a robotic lawn mower. FIGS. , more particularly, but not exclusively, a robotic lawnmower. Such a robot 1 comprises in particular, as shown in FIG. 2, a control and control unit 2, an absolute or relative positioning device 3, a data storage means 4 and a transmission module 5. In accordance with FIG. invention, the processing method essentially consists, before said robot 1 processes a new working area or a modified working area 6, to be read by means of a portable device 7 adapted, equipped with a module 8 of absolute or relative geolocation and / or taking images, compatible with the positioning device 3 of the robot 1, positioning information, determining a plurality of positions or points 9, 9 'along or around the periphery (s) 10, 10 'delimiting said working zone 6, to transfer this information to the robot 1, possibly after correction using at least one local fixed point, and to automatically define a map and / or a strategy of d moving the robot 1 for the work zone 6 delimited virtually after integration of said information. Thus, thanks to the invention, it is possible to define beforehand a virtual perimetric wire delimiting the working zone 6 for the robot 1 in its subsequent intervention (s). The person skilled in the art easily understands the important advantages deriving from the aforementioned inventive arrangements, namely a rapid, easy and flexible delimitation of the zones to be treated, requiring no preparatory work at ground level and making it possible to achieve a high degree of accuracy. plot, in direct connection with the topology and the actual configuration of the area to be treated. According to a first important feature of the invention, which is apparent from FIG. 1, the method may, in addition, consist, in the case of partial and / or additional modification of a working zone 6, the virtual delineation of which is recorded in FIG. robot level 1, to be read by means of the portable device 7 only the positioning information of new positions or new points 9 'corresponding to or belonging to the modified part 10 "of periphery and / or an additional part 10" of circumference, and refresh the saved virtual delineation by transmitting to robot 1 only these new positioning information. The modified perimeter (s) may have, with respect to the registered periphery (s), at least a portion of the modified perimeter 10 "contiguous to an unmodified portion of the registered perimeter. and extending or restricting the working zone 6 corresponding to the registered periphery 10, 10 ', ie at least a second or other periphery 10 "closed and independent of the registered periphery 10, 10', and delimiting at least one exclusion zone 6 ' in the working zone 6 defined peripherally, and possibly internally, by the said (s) perimeter (s) 10, 10 '30 recorded (s). As a result, not only can the user limit his lifting of positioning information (geolocation points 9, 9 'or images of the environment) to only new points 9' or new shots corresponding to part 10 " , but the subsequent operations may also be limited to only partial refreshing of the geolocation data or reference images already stored at the robot 1, resulting in limited processing and transmission. the plots of the two periphery portions 10 ", in the form of modification and addition respectively, are represented in dashed line. According to a first embodiment of the invention, the positioning information, read by means of the portable device 7 and transmitted to the robot 1 for recording, consists of shots taken from positions along the around periphery (s) 10, 10 'delimiting the working zone 6, the control and control unit 2 of the robot 1 constantly comparing, during the processing of the working zone 6 10 considered, the images provided by a system of vision equipping said robot 1 with these recorded shots, in order to determine the relative position of said robot 1 relative to the (x) periphery (s) 10, 10 'In this case, the robot 1 determines its relative position relative to the by comparing images supplied continuously by an on-board vision system with those transmitted to it by the portable device 7 and recorded in its storage means 4 (reference images). According to a second embodiment of the invention, the positioning information consists of discrete point coordinates 9, 9 'forming part of the periphery (s) 10, 10', the robot 1 being equipped with a device 3 of absolute or relative geolocation compatible with the geolocation module 8 of the portable device 7, and using the coordinates of the points 9, 9 'read and previously transmitted by the latter for the purpose of determining the position of said robot 1 with respect to 25 (x) perimeter (s) 10, 10 '. In relation with this second embodiment of the invention and in order to have good continuity in the drawing of the periphery (s) 10, 10 ', in accordance with the accuracy provided by the global geolocation system or the positioning device associated with the device 3 of the robot 1 and the module 8 of the portable device 7, it can be provided to carry out, from the coordinates of the points 9, 9 'distributed along the new periphery 10, 10' or the part additional and / or modified periphery 10, 10 ', at the level of the control and steering unit 2, an extrapolation between neighboring points 9, 9' so as to lead to the definition of a substantially continuous periphery , in particular with regard to the resolution of the geolocation device 3 of the robot 1 and the corresponding global geolocation system. According to another characteristic of the invention, the unit 2 of the robot 1 or the unit 14 of the portable device 7 can, in case of modification of a periphery 10, 10 'of the working zone 6 already recorded, a connection between the unchanged part (s) of the perimeter 10, 10 'and the modified peripheral part (s) 10 ", in particular with each time a determination of the boundary positions or the last extremal points 9 of the unchanged portion of the registered periphery 10, 10 ', providing the connection with the new points or the new positions 9' corresponding to the added and / or modified periphery portion.
    [0003] In connection with a practical variant of the invention, related to the first embodiment mentioned above, the lifting of shots at a new periphery 10, 10 'or an additional portion 10 or modified a periphery recorded is to move the portable device 7 provided with the camera module 8, along the perimeter 10, 10 'or the peripheral portion 10 "to be recorded, to be performed successively, continuously or preferentially at regular intervals, automatically or on user control, shooting during said movement, and, at the end of the course, to transmit the acquired images, possibly after pretreatment, to the robot 1.
    [0004] In accordance with another practical variant of the invention and in relation with the above-mentioned second embodiment, shown in FIGS. 1 and 3 in particular, the lifting of the coordinates of the points 9, 9 'distributed along a new periphery 10 , 10 'or an additional portion 10 "or modified a recorded periphery, consists in moving a pointing head 11 equipped with a geolocation antenna 11' and preferably mounted at the lower end of a handle 12 of the portable device 7, in the form of a hand-held tool, along the perimeter 10, 10 'or the periphery portion 10 "to be recorded, to enter successively, and preferably at regular intervals, automatically or on command of the operator, coordinates of consecutive points 9, 9 'marking said periphery 10, 10' or said portion of perimeter 10 "and, at the end of the course, and possibly after pretreatment, to transmit the geolocation data corresponding to the robot 1. In order to achieve a total similarity of positioning between the preliminary phase of defining the periphery (s) 10, 10 'via the portable tool 7 and the subsequent operating phase of the latter (s) by the mower robot 1, it is advantageously provided that the lifting of the coordinates of the points 9, 9 'or the taking of the images marking the periphery 10, 10' or the peripheral part 10 "considered is performed in similar conditions to those encountered for the positioning device 3 of the robot 1 during the processing of the corresponding delimited work zone 6, and with means and in compatible forms. Thus, it may be envisaged to take into account the positioning of the geolocation antenna 11 'in the pointing head 11 of the portable tool 7, as well as the lateral size of the latter, or even the positioning of the objective of the camera 8 shooting. Such an arrangement makes it possible in particular to adjust with precision the position of the rolling means (wheels or tracks 20) and / or the treatment or cutting member at the limits of the working zone 6, so as to avoid in particular any overflow at the work area 15 6 or any part of the work area 6 left behind (untreated). Another subject of the invention, as illustrated in FIGS. 1 to 5, is a system for robotic processing of a working zone 6, suitable and intended to implement the method as described above. This system comprises at least one soil treatment robot 1 comprising in particular a control and control unit 2, an absolute or relative positioning device 3, a data storage means 4 and a transmission module 5 capable of exchanging data. data over a wired or wireless link. This system is characterized in that it also comprises at least one portable device 7, equipped with a module 8 of absolute or relative geolocation and / or taking pictures, compatible with that of the robot 1, this portable device 7 being adapted and intended to record positioning information, determining a plurality of positions or points 9, 9 'along one or more periphery (s) 10, 10', 10 "delimiting said working zone 6 and to transfer this information to the robot 1, and in that the control and control unit 2 of the robot 1 is adapted and intended to automatically define a map and / or a strategy for moving the robot 1 for the working area 6 delimited Virtually after integration of said information As previously indicated, the robot 1 is preferably a robotic mower 1 and the positioning information consists either of shots from positions along the length of the mower. or, in geolocation coordinates of points forming part of this periphery. The geolocation system used by the robot 1 and by the portable device 7 in the context of the second embodiment may consist of a system of geolocation or global positioning of absolute nature (for example of the GPS, GALILEO®, or similar type) , of a relative nature (of the ground beacon type, optical system, or the like) or else of absolute nature with correction by means of one or more fixed point (s) (for example of the GPRS, DGPS type, or similar).
    [0005] The system for viewing and determining the position by comparing shots (recorded reference images and current image) equipping the robot 1 can correspond to one of the known existing systems. In addition, the communication between the portable device 7 and the robot 1, as well as the transmission of data between them, can be carried out via a wired connection or preferably a wireless and remote transmission, such as than a radio transmission, Bluetootht, Wi-Fit, infrared, or the like. In addition to the aforementioned means 2 to 5, the robot 1 also comprises a rechargeable battery, [ower / motor circuit] assemblies 18, 18 'and 18 "for driving the left rolling means, the right rolling means and of the rotary cutting blade respectively and various sensors and detectors 19 such as a hood lift sensor 21 ', a shock sensor, a rollover detector and a rain sensor (see FIG. functional and circuits constituting the operational members of the robot 1 is installed in a housing 21 provided with an access cover 21 'and mounted on motorized rolling means 20 in the form of wheels or preferably of tracks (see Figure 2).
    [0006] As shown in Figures 1 and 3, and according to an advantageous embodiment of the invention, the portable device 7 is in the form of a tool with a handle 12, preferably adjustable length, used in a standing position by a operator, and comprising, on the one hand, at its lower end, a pointing head 11 equipped with a geolocation antenna 11 'and / or a module for taking pictures and, on the other hand, at its upper end, a set of operational means (8, 14, 14 ', 15) for acquiring and transmitting positioning information, such as images and / or coordinates of locations or geographical points ( 9, 9 '), at which the pointing head (11) or the imaging module is successively positioned, preferably substantially flush with the ground.
    [0007] In accordance with a possible practical embodiment variant illustrated in FIG. 5, the set of operational means of the portable device 7 comprises, in particular, installed in a protection box 13, a processing and management module 14, which is associated with a storage memory 14 ', a module 8 for acquiring and possibly processing images and / or absolute or relative geolocation coordinates, a bidirectional transmission module 15 for communication with the robot 1 and an autonomous power supply 16 rechargeable, said hand-held tool 7 forming a portable device for geolocation of geographical points 9, 9 'and / or shooting further comprising an interface 17 for communication with the operator, with for example a display screen and control means and / or data input. The portable tool 7 may optionally be provided with a strap or a carrying harness (not shown) and is preferably balanced in weight between the pointing head 11 and the housing 13 opposite, containing the various operational means 8, 14 , 14 ', 15 and 16 (see Figure 3). The same portable tool 7 can, if necessary, be used for programming a plurality of robots 1, each of these possibly having a frequency or a particular communication protocol. The portable device 7 may also possibly be in the form of a mobile communication terminal such as a tablet or a smart mobile phone ("smartphone") operating with a suitable geolocalisaton application.
    [0008] Of course, the invention is not limited to the embodiment described and shown in the accompanying drawings. Modifications are possible, particularly from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. Method for implementing a soil treatment robot, more particularly a robotic mower or mowing robot, comprising in particular a control and control unit, an absolute or relative positioning device, a data storage means and a transmission module, characterized in that it consists, before said robot (1) processes a new working area or a modified working area (6), to be read by means of a portable device (7). ) adapted, equipped with a module (8) of absolute or relative geolocation and / or taking images, compatible with the device (3) for positioning the robot (1), positioning information, determining a plurality of positions or points (9, 9 ') along the periphery (s) (10, 10') delimiting said working zone (6), to transfer this information to the robot (1), possibly after correction using at least a fixed local point, and to automatically set a and a robot moving strategy (1) for the work area (6) delimited virtually after integration of said information.
    [0002]
    2. Method according to claim 1, characterized in that it consists, in case of partial and / or additional modification of a working area (6), the virtual delineation is recorded at the robot (1), to using the portable device (7) to read only the positioning information of new positions or new points (9 ') corresponding to or belonging to the modified part (10 ") of circumference and / or an additional part (10") of circumference , and to refresh the stored virtual delimitation by transmitting to the robot (1) only these new positioning information, the modified perimeter (s) with respect to the recorded perimeter (s) is at least one modified periphery (10 ") contiguous to an unmodified portion of the registered perimeter and extending or restricting the working area (6) corresponding to the registered perimeter (10, 10 '), ie at least one second or other perimeter (10 ") closed and in depending on the registered periphery (10, 10 '), and delimiting at least one exclusion zone (6') in the peripherally defined, and possibly internally defined, working zone (6) by the said periphery (s) ( s) (10, 10 ') registered .- 11-
    [0003]
    3. Method according to any one of claims 1 and 2, characterized in that the positioning information, taken by means of the portable device (7) and transmitted to the robot (1) to be recorded, consist of catches views taken from positions along the periphery (s) (10, 10 ') delimiting the working zone (6), the unit (2) for controlling and controlling the robot (1) constantly comparing, during the processing of the working zone (6) considered, the images provided by a vision system equipping said robot (1) with these recorded shots, in order to determine the relative position of said robot (1) with respect to the (x ) perimeter (s) (10, 10 ').
    [0004]
    4. Method according to any one of claims 1 and 2, characterized in that the positioning information consist of discrete point coordinates (9, 9 ') forming part of the periphery (s) (10, 10') , the robot (1) being equipped with an absolute or relative geolocation device (3) compatible with the geolocation module (8) of the portable device (7), and exploiting the coordinates of the points (9, 9 ') identified and previously transmitted by the latter to determine the position of said robot (1) relative to the (x) perimeter (s) (10, 10 ').
    [0005]
    5. Method according to any one of claims 1, 2 and 4, characterized in that it consists, from the coordinates of the points (9, 9 ') distributed along the new periphery (10, 10') or the additional and / or modified periphery portion (10, 10 ') to be made at the level of the control and steering unit (2), an extrapolation between adjacent points (9, 9') so as to lead to the definition of a substantially continuous periphery, in particular with respect to the resolution of the geolocation device (3) of the robot (1) and the corresponding global geolocation system.
    [0006]
    6. Method according to any one of claims 1 to 5, characterized in that it consists, in case of modification of a perimeter (10, 10 ') of working area (6) already recorded, to make a connection between the unchanged part (s) of the periphery (10, 10 ') and the modified edge (s) (s) (s) (10 "), including in each case a determination of the boundary positions or the last extremal points (9) of the unchanged portion of the registered periphery (10, 10 '), connecting with the new points or new positions (9') corresponding to the added and / or modified periphery portion. -
    [0007]
    7. Method according to any one of claims 1, 2 and 4 to 6, characterized in that the lifting of the coordinates of the points (9, 9 ') distributed along a new periphery (10, 10') or an additional or modified part (10 ") of a registered periphery consists of moving a pointing head (11) equipped with a geolocation antenna (11 ') and preferably mounted at the lower end of a handle (12) of the portable device (7), in the form of a manual tool with handle, along the perimeter (10, 10 ') or the perimeter portion (10 ") to be recorded, to be grasped successively, and preferably to regular intervals, automatically or on command of the operator, the coordinates of consecutive points (9, 9 ') marking said periphery (10, 10') or said periphery (10 ") and, at the end of the course, and possibly after pretreatment, transmitting the corresponding geolocation data to the robot (1).
    [0008]
    8. Method according to any one of claims 1 to 3 and 6, characterized in that the lifting of shots at a new periphery (10, 10 ') or an additional part (10 ") or modified from a registered periphery consists in moving the portable device (7) provided with the module (8) for taking pictures, along the perimeter (10, 10 ') or the peripheral part (10 ") to be recorded, performing successively, continuously or preferentially at regular intervals, automatically or at the user's command, shooting during said movement, and, at the end of the course, transmitting the acquired images, possibly after pretreatment, to the robot (1).
    [0009]
    9. Method according to any one of claims 1 to 5, characterized in that the lifting of the coordinates of the points (9, 9 ') or the shooting of the images marking the periphery (10, 10') or the part of rim (10 ") considered is performed under similar conditions to those encountered for the device (3) for positioning the robot (1) during the processing of the corresponding delimited work area (6).
    [0010]
    10. System for the robotic treatment of a work area, adapted and intended to implement the method according to any one of claims 1 to 9, said system comprising at least one soil treatment robot including a unit of control and control system, an absolute or relative positioning device, a data storage means and a transmission module, characterized in that it also comprises at least one portable device (7), equipped with a module (8). ) absolute or relative geolocation and / or taking images, compatible with that of the robot (1), this portable device (7) being adapted and intended to record positioning information, determining a plurality of positions or of points (9, 9 ') along one or more periphery (s) (10, 10', 10 ") delimiting said working area (6) and transferring this information to the robot (1), and what the control and steering unit (2) of the robot (1) is adapted and intended to automatically define a map and / or a strategy for moving the robot (1) for the working area (6) delimited virtually after integration of said information.
    [0011]
    11. System according to claim 10, characterized in that the portable device (7) is in the form of a tool with a handle (12), preferably adjustable length, usable in a standing position by an operator, and comprising, on the one hand, at its lower end, a pointing head (11) equipped with a geolocation antenna (11 ') and / or an imaging module and, on the other hand, at its end a plurality of operational means (8, 14, 14 ', 15) for acquiring and transmitting positioning information, such as images and / or coordinates of geographical positions or points (9, 9'). ), at which the pointing head (11) or the imaging module is successively positioned, preferably substantially flush with the ground.
    [0012]
    12. System according to any one of claims 10 and 11, characterized in that the set of operational means of the portable device (7) comprises in particular, installed in a protective housing (13), a module (14) treatment and management, which is associated a storage memory (14 '), a module (8) for acquiring and possibly processing images and / or absolute or relative geolocation coordinates, a module (15) bidirectional transmission for communicating with the robot (1) and an autonomous rechargeable power source (16), said hand-held tool (7) forming a portable geolocation device for geographical points (9, 9 ') and / or taking pictures including in addition, an interface (17) for communication with the operator, with for example a display screen and control means and / or data input.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2946650B1|2017-08-30|Method for implementing a soil-treatment robot and corresponding system
    EP2300888B1|2014-03-26|Method for controlling self-propelled mobile apparatus|
    US20170131718A1|2017-05-11|System, machine, and control method
    US10643377B2|2020-05-05|Garden mapping and planning via robotic vehicle
    AU2010257459A1|2011-07-21|Varying irrigation scheduling based on height of vegetation
    AU2010257458A1|2011-07-21|Adaptive scheduling of a service robot
    EP3226672B1|2018-11-28|System and method for the automatic adjustment of the height of an agricultural implement using 3d reconstruction
    IL267321D0|2019-08-29|A crop monitoring system and method
    EP3234717B1|2021-06-09|Robot vehicle parcel navigation following a minimum workload path.
    WO2014111387A1|2014-07-24|Autonomous automated agricultural device
    US10809740B2|2020-10-20|Method for identifying at least one section of a boundary edge of an area to be treated, method for operating an autonomous mobile green area maintenance robot, identifying system and green area maintenance system
    FR3046023A1|2017-06-30|ANTICIPATING ELECTRIC MOWER AND METHOD FOR CONTROLLING SUCH MOWER.
    WO2016193602A1|2016-12-08|System and method for estimating a harvest volume in a vineyard operation
    EP2689403A1|2014-01-29|Monitoring system
    FR3043304A1|2017-05-12|SYSTEM FOR AUTOMATICALLY PROCESSING AT LEAST ONE DELIQED FIELD AREA
    AU2017305597A1|2019-02-28|Smart interactive and autonomous robotic property maintenance apparatus, system, and method
    CA3131896A1|2020-10-15|Autonomous machine navigation in lowlight conditions
    WO2019186038A1|2019-10-03|Movable assembly for autonomously aerating a litter covering the ground of an enclosed space
    FR3043303A1|2017-05-12|AUTOMATIC PROCESSING SYSTEM, IN PARTICULAR FOR TURNING, OF A WORKING AREA
    JP6845485B2|2021-03-17|Onion harvesting work machine and onion harvesting work method
    FR3077721A1|2019-08-16|METHOD FOR CONTROLLING THE OPERATION OF A SOIL TREATMENT ROBOT, EQUIPMENT AND SYSTEM FOR IMPLEMENTING SAID METHOD
    FR3093613A1|2020-09-18|AGRICULTURAL TREATMENT CONTROL DEVICE
    FR3095704A1|2020-11-06|Methods of guiding an autonomous vehicle
    FR3090545A1|2020-06-26|VEHICLE REMOTE ACTUATION APPARATUS
    EP1217487A1|2002-06-26|Guidance system
    同族专利:
    公开号 | 公开日
    PT2946650T|2017-12-06|
    ES2649184T3|2018-01-10|
    FR3020915B1|2016-04-29|
    EP2946650B1|2017-08-30|
    EP2946650A1|2015-11-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR2687808A1|1992-02-24|1993-08-27|Honda Motor Co Ltd|Device for control of heading for mobile vehicle|
    WO2007091967A1|2006-02-07|2007-08-16|Hexagon Metrology Ab|Method for controlling garden or domestic machines, and garden or domestic machine.|
    EP1886549A1|2006-08-07|2008-02-13|Fabrizio Bernini|Apparatus for controlling the displacement of a self-propelling ground-based automatic vehicle|US11180204B2|2016-04-27|2021-11-23|Positec Power ToolsCo., Ltd.|Autonomous track-type moving device|US20030236723A1|2002-06-25|2003-12-25|Angott Paul G.|Automatic billing system for a lawn mowing service using GPS|
    DE102008001813A1|2008-05-15|2009-11-19|Robert Bosch Gmbh|Driving method for a robotic vehicle and robotic vehicle|
    DE102011082416A1|2011-09-09|2013-03-14|Robert Bosch Gmbh|Autonomous working device|
    DE102011083309A1|2011-09-23|2013-03-28|Robert Bosch Gmbh|Autonomous working device|US9510505B2|2014-10-10|2016-12-06|Irobot Corporation|Autonomous robot localization|
    US9516806B2|2014-10-10|2016-12-13|Irobot Corporation|Robotic lawn mowing boundary determination|
    US11115798B2|2015-07-23|2021-09-07|Irobot Corporation|Pairing a beacon with a mobile robot|
    US10034421B2|2015-07-24|2018-07-31|Irobot Corporation|Controlling robotic lawnmowers|
    US10021830B2|2016-02-02|2018-07-17|Irobot Corporation|Blade assembly for a grass cutting mobile robot|
    DE102016201530A1|2016-02-02|2017-08-03|Deutsches Zentrum für Luft- und Raumfahrt e.V.|Docking station for mobile robots and method for operating a mobile robot|
    US10459063B2|2016-02-16|2019-10-29|Irobot Corporation|Ranging and angle of arrival antenna system for a mobile robot|
    WO2019185930A1|2018-03-30|2019-10-03|Positec Power ToolsCo., Ltd|Self-moving device, working system, automatic scheduling method and method for calculating area|
    US10831212B2|2018-09-19|2020-11-10|International Business Machines Corporation|Autonomous roving vehicle management using laser barriers|
    法律状态:
    2015-05-28| PLFP| Fee payment|Year of fee payment: 2 |
    2015-11-20| PLSC| Search report ready|Effective date: 20151120 |
    2016-04-29| PLFP| Fee payment|Year of fee payment: 3 |
    2017-05-12| PLFP| Fee payment|Year of fee payment: 4 |
    2018-10-05| TP| Transmission of property|Owner name: ETESIA, FR Effective date: 20180903 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1454465A|FR3020915B1|2014-05-19|2014-05-19|METHOD FOR IMPLEMENTING A SOIL TREATMENT ROBOT AND CORRESPONDING SYSTEM|FR1454465A| FR3020915B1|2014-05-19|2014-05-19|METHOD FOR IMPLEMENTING A SOIL TREATMENT ROBOT AND CORRESPONDING SYSTEM|
    EP15305742.7A| EP2946650B1|2014-05-19|2015-05-18|Method for implementing a soil-treatment robot and corresponding system|
    PT153057427T| PT2946650T|2014-05-19|2015-05-18|Method for implementing a soil-treatment robot and corresponding system|
    ES15305742.7T| ES2649184T3|2014-05-19|2015-05-18|Procedure of realization of a robot for the treatment of the ground and corresponding system|
    [返回顶部]