IT1401368B1 - Metodo e sistema per il controllo di un dispositivo robotizzato semovente - Google Patents

Metodo e sistema per il controllo di un dispositivo robotizzato semovente

Info

Publication number
IT1401368B1
IT1401368B1 ITTO2010A000653A ITTO20100653A IT1401368B1 IT 1401368 B1 IT1401368 B1 IT 1401368B1 IT TO2010A000653 A ITTO2010A000653 A IT TO2010A000653A IT TO20100653 A ITTO20100653 A IT TO20100653A IT 1401368 B1 IT1401368 B1 IT 1401368B1
Authority
IT
Italy
Prior art keywords
proof
self
control
robotic device
robotic
Prior art date
Application number
ITTO2010A000653A
Other languages
English (en)
Inventor
Ettore Gaiani
Alberto Griffini
Original Assignee
Active Srl
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 Active Srl filed Critical Active Srl
Priority to ITTO2010A000653A priority Critical patent/IT1401368B1/it
Priority to EP11748468.3A priority patent/EP2598965A1/en
Priority to PCT/IB2011/053274 priority patent/WO2012014134A1/en
Priority to US13/811,954 priority patent/US20130218397A1/en
Publication of ITTO20100653A1 publication Critical patent/ITTO20100653A1/it
Application granted granted Critical
Publication of IT1401368B1 publication Critical patent/IT1401368B1/it

Links

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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • 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
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Harvester Elements (AREA)
ITTO2010A000653A 2010-07-28 2010-07-28 Metodo e sistema per il controllo di un dispositivo robotizzato semovente IT1401368B1 (it)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ITTO2010A000653A IT1401368B1 (it) 2010-07-28 2010-07-28 Metodo e sistema per il controllo di un dispositivo robotizzato semovente
EP11748468.3A EP2598965A1 (en) 2010-07-28 2011-07-22 Method and system for controlling a self-propelled robot device
PCT/IB2011/053274 WO2012014134A1 (en) 2010-07-28 2011-07-22 Method and system for controlling a self-propelled robot device
US13/811,954 US20130218397A1 (en) 2010-07-28 2011-07-22 Method and system for controlling a self-propelled robot device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO2010A000653A IT1401368B1 (it) 2010-07-28 2010-07-28 Metodo e sistema per il controllo di un dispositivo robotizzato semovente

Publications (2)

Publication Number Publication Date
ITTO20100653A1 ITTO20100653A1 (it) 2012-01-29
IT1401368B1 true IT1401368B1 (it) 2013-07-18

Family

ID=43638609

Family Applications (1)

Application Number Title Priority Date Filing Date
ITTO2010A000653A IT1401368B1 (it) 2010-07-28 2010-07-28 Metodo e sistema per il controllo di un dispositivo robotizzato semovente

Country Status (4)

Country Link
US (1) US20130218397A1 (it)
EP (1) EP2598965A1 (it)
IT (1) IT1401368B1 (it)
WO (1) WO2012014134A1 (it)

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WO2015072897A1 (en) 2013-11-12 2015-05-21 Husqvarna Ab Improved navigation for a robotic working tool
US10136576B2 (en) 2013-11-12 2018-11-27 Husqvarna Ab Navigation for a robotic working tool
US9892296B2 (en) 2014-11-12 2018-02-13 Joseph E. Kovarik Method and system for autonomous vehicles
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GB201518652D0 (en) * 2015-10-21 2015-12-02 F Robotics Acquisitions Ltd Domestic robotic system and method
CN106717462B (zh) * 2015-11-19 2020-07-14 苏州宝时得电动工具有限公司 智能割草机及其工作方法
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EP3381257B1 (en) 2017-03-28 2020-12-02 Honda Research Institute Europe GmbH Method for generating a representation of a working area of an autonomous lawn mower and autonomous lawn mower system
KR102292267B1 (ko) * 2018-08-03 2021-08-24 엘지전자 주식회사 이동 로봇, 이동 로봇 시스템 및 이동 로봇의 충전대 이동 방법
EP3829833A4 (en) 2018-08-05 2022-06-08 LG Electronics Inc. MOVABLE ROBOT AND CONTROL METHOD THEREOF
KR102238352B1 (ko) 2018-08-05 2021-04-09 엘지전자 주식회사 스테이션 장치 및 이동 로봇 시스템
CN113971846B (zh) * 2020-07-22 2023-05-09 宇通客车股份有限公司 一种自动驾驶车辆的定位失效检测方法及装置
CN112425344A (zh) * 2020-11-25 2021-03-02 西南大学 一种果园自走式除草机及其自主导航避障方法

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Also Published As

Publication number Publication date
US20130218397A1 (en) 2013-08-22
EP2598965A1 (en) 2013-06-05
ITTO20100653A1 (it) 2012-01-29
WO2012014134A1 (en) 2012-02-02

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