FR3073297B1 - ELECTRONIC SECURITY SYSTEM FOR MOBILE ROBOTS - Google Patents
ELECTRONIC SECURITY SYSTEM FOR MOBILE ROBOTS Download PDFInfo
- Publication number
- FR3073297B1 FR3073297B1 FR1760523A FR1760523A FR3073297B1 FR 3073297 B1 FR3073297 B1 FR 3073297B1 FR 1760523 A FR1760523 A FR 1760523A FR 1760523 A FR1760523 A FR 1760523A FR 3073297 B1 FR3073297 B1 FR 3073297B1
- Authority
- FR
- France
- Prior art keywords
- wire
- robot
- generator
- robots
- security system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- VJYFKVYYMZPMAB-UHFFFAOYSA-N ethoprophos Chemical compound CCCSP(=O)(OCC)SCCC VJYFKVYYMZPMAB-UHFFFAOYSA-N 0.000 title 1
- 230000005672 electromagnetic field Effects 0.000 abstract 3
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
La présente invention se rapporte à un système (10) de sécurité électronique pour robots (11) mobiles, permettant de définir une zone de travail, dont lesdits robots (11) ne sont pas autorisés à sortir, ladite zone de travail étant délimitée par un fil (14) relié à un générateur (15), dans lequel ledit générateur (15) transmet dans ledit fil (14) un signal électrique codé afin de créer un champ électromagnétique autour dudit fil (14), chacun desdits robots (11) étant équipé d'un module (16) de sécurité qui, en fonction de l'intensité dudit champ électromagnétique, détermine la distance (D) entre ledit robot (11) et ledit fil (14), dans lequel ledit module (16) de sécurité comporte des moyens pour arrêter ledit robot (11) lorsque la distance (D) entre ledit robot (11) et ledit fil (14) est inférieure à un seuil (S) prédéterminé, et dans lequel ledit générateur (15) comporte des moyens pour asservir le signal envoyé dans ledit fil (14) afin de conserver un champ électromagnétique constant.The present invention relates to an electronic security system (10) for mobile robots (11), making it possible to define a work area, from which said robots (11) are not authorized to leave, said work area being delimited by a wire (14) connected to a generator (15), wherein said generator (15) transmits in said wire (14) an encoded electrical signal to create an electromagnetic field around said wire (14), each of said robots (11) being equipped with a safety module (16) which, depending on the intensity of said electromagnetic field, determines the distance (D) between said robot (11) and said wire (14), wherein said safety module (16) comprises means for stopping said robot (11) when the distance (D) between said robot (11) and said wire (14) is less than a predetermined threshold (S), and in which said generator (15) comprises means for slaving the signal sent in said wire (14) in order to maintain a constant electromagnetic field t.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1760523A FR3073297B1 (en) | 2017-11-09 | 2017-11-09 | ELECTRONIC SECURITY SYSTEM FOR MOBILE ROBOTS |
PCT/EP2018/080619 WO2019092107A1 (en) | 2017-11-09 | 2018-11-08 | Electronic security system for mobile robots |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1760523 | 2017-11-09 | ||
FR1760523A FR3073297B1 (en) | 2017-11-09 | 2017-11-09 | ELECTRONIC SECURITY SYSTEM FOR MOBILE ROBOTS |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3073297A1 FR3073297A1 (en) | 2019-05-10 |
FR3073297B1 true FR3073297B1 (en) | 2022-04-22 |
Family
ID=61521601
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1760523A Active FR3073297B1 (en) | 2017-11-09 | 2017-11-09 | ELECTRONIC SECURITY SYSTEM FOR MOBILE ROBOTS |
Country Status (2)
Country | Link |
---|---|
FR (1) | FR3073297B1 (en) |
WO (1) | WO2019092107A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110537412A (en) * | 2019-08-02 | 2019-12-06 | 宁波大叶园林设备股份有限公司 | path planning method of intelligent mower |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE510524C2 (en) * | 1997-09-19 | 1999-05-31 | Electrolux Ab | Electronic demarcation system |
US20060112901A1 (en) * | 2004-11-16 | 2006-06-01 | Gomez David R | Electronic pet containment system with improved transmitter with constant field generation |
WO2012005642A1 (en) | 2010-07-07 | 2012-01-12 | Husqvarna Ab | Communication and safety device for boundary aided systems |
US9072218B2 (en) * | 2012-07-09 | 2015-07-07 | Deere & Company | Boundary sensor assembly for a robotic lawn mower, robotic lawn mower and robotic lawn mower system |
US9740210B2 (en) * | 2014-01-30 | 2017-08-22 | Husqvarna Ab | Robotic working tool system with a boundary wire |
US9375842B2 (en) | 2014-05-15 | 2016-06-28 | Irobot Corporation | Autonomous mobile robot confinement system |
SE538868C2 (en) * | 2015-05-04 | 2017-01-17 | Husqvarna Ab | Improved error detection and resetting of a robotic work tool |
-
2017
- 2017-11-09 FR FR1760523A patent/FR3073297B1/en active Active
-
2018
- 2018-11-08 WO PCT/EP2018/080619 patent/WO2019092107A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2019092107A1 (en) | 2019-05-16 |
FR3073297A1 (en) | 2019-05-10 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PLSC | Publication of the preliminary search report |
Effective date: 20190510 |
|
PLFP | Fee payment |
Year of fee payment: 3 |
|
TP | Transmission of property |
Owner name: INSTITUT NATIONAL DE RECHERCHE POUR L'AGRICULT, FR Effective date: 20200407 |
|
PLFP | Fee payment |
Year of fee payment: 4 |
|
PLFP | Fee payment |
Year of fee payment: 5 |
|
PLFP | Fee payment |
Year of fee payment: 6 |
|
PLFP | Fee payment |
Year of fee payment: 7 |