FR3073297B1 - ELECTRONIC SECURITY SYSTEM FOR MOBILE ROBOTS - Google Patents

ELECTRONIC SECURITY SYSTEM FOR MOBILE ROBOTS Download PDF

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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
Application number
FR1760523A
Other languages
French (fr)
Other versions
FR3073297A1 (en
Inventor
Arvis Laure Moiroux
Philippe Rameau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Institut National de Recherche pour lAgriculture lAlimentation et lEnvironnement
Original Assignee
Institut National de Recherche en Sciences et Technologies Pour Lenvironnement et lAgriculture IRSTEA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Institut National de Recherche en Sciences et Technologies Pour Lenvironnement et lAgriculture IRSTEA filed Critical Institut National de Recherche en Sciences et Technologies Pour Lenvironnement et lAgriculture IRSTEA
Priority to FR1760523A priority Critical patent/FR3073297B1/en
Priority to PCT/EP2018/080619 priority patent/WO2019092107A1/en
Publication of FR3073297A1 publication Critical patent/FR3073297A1/en
Application granted granted Critical
Publication of FR3073297B1 publication Critical patent/FR3073297B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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.

FR1760523A 2017-11-09 2017-11-09 ELECTRONIC SECURITY SYSTEM FOR MOBILE ROBOTS Active FR3073297B1 (en)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
WO2019092107A1 (en) 2019-05-16
FR3073297A1 (en) 2019-05-10

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