SE540794C2 - An autonomous mobile robot comprising radar sensors - Google Patents
An autonomous mobile robot comprising radar sensorsInfo
- Publication number
- SE540794C2 SE540794C2 SE1750101A SE1750101A SE540794C2 SE 540794 C2 SE540794 C2 SE 540794C2 SE 1750101 A SE1750101 A SE 1750101A SE 1750101 A SE1750101 A SE 1750101A SE 540794 C2 SE540794 C2 SE 540794C2
- Authority
- SE
- Sweden
- Prior art keywords
- radar
- mobile robot
- lobe
- main
- autonomous mobile
- Prior art date
Links
- 238000001514 detection method Methods 0.000 claims abstract description 114
- 230000005540 biological transmission Effects 0.000 claims description 78
- 230000008901 benefit Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000010408 sweeping Methods 0.000 description 5
- 230000004927 fusion Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009510 drug design Methods 0.000 description 1
- VJYFKVYYMZPMAB-UHFFFAOYSA-N ethoprophos Chemical compound CCCSP(=O)(OCC)SCCC VJYFKVYYMZPMAB-UHFFFAOYSA-N 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
- A01D34/828—Safety devices
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
-
- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/20—Devices for protecting men or animals
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/147—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using electro-magnetic technology, e.g. tags or radar
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/003—Bistatic radar systems; Multistatic radar systems
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/881—Radar or analogous systems specially adapted for specific applications for robotics
-
- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2101/00—Details of software or hardware architectures used for the control of position
- G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE1750101A SE540794C2 (sv) | 2017-02-06 | 2017-02-06 | An autonomous mobile robot comprising radar sensors |
PCT/SE2018/050098 WO2018143887A1 (en) | 2017-02-06 | 2018-02-05 | An autonomous mobile robot comprising radar sensors |
US16/483,825 US11493626B2 (en) | 2017-02-06 | 2018-02-05 | Autonomous mobile robot comprising radar sensors |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE1750101A SE540794C2 (sv) | 2017-02-06 | 2017-02-06 | An autonomous mobile robot comprising radar sensors |
Publications (2)
Publication Number | Publication Date |
---|---|
SE1750101A1 SE1750101A1 (sv) | 2018-08-07 |
SE540794C2 true SE540794C2 (sv) | 2018-11-13 |
Family
ID=63039954
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE1750101A SE540794C2 (sv) | 2017-02-06 | 2017-02-06 | An autonomous mobile robot comprising radar sensors |
Country Status (3)
Country | Link |
---|---|
US (1) | US11493626B2 (sv) |
SE (1) | SE540794C2 (sv) |
WO (1) | WO2018143887A1 (sv) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3909412A1 (en) | 2020-05-08 | 2021-11-17 | Husqvarna Ab | An outdoor robotic work tool comprising an environmental detection system |
SE2250230A1 (en) * | 2022-02-21 | 2023-08-22 | Husqvarna Ab | An outdoor robotic work tool comprising an environmental detection system adapted to detect obstacles |
WO2023234820A1 (en) | 2022-06-03 | 2023-12-07 | Husqvarna Ab | Enhanced drive motor control in a robotic lawnmower |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3864430B1 (en) * | 2018-10-12 | 2024-04-03 | Perisens GmbH | Radome measuring system and method |
IT201900016946A1 (it) | 2019-09-23 | 2021-03-23 | Fabrizio Bernini | Robot tagliaerba e procedimento corrispondente |
CN111407187A (zh) * | 2020-03-06 | 2020-07-14 | 珠海格力电器股份有限公司 | 一种扫地机器人、扫地机器人清扫路线调整方法及装置 |
EP4285800A1 (fr) * | 2022-05-31 | 2023-12-06 | Maxime Cassagne-Lory | Equipement d'enlèvement de la poussière pour surface sous meuble |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19648203C2 (de) * | 1996-11-21 | 1999-06-10 | Bosch Gmbh Robert | Mehrstrahliges Kraftfahrzeug-Radarsystem |
EP1441632B1 (en) | 2001-09-26 | 2013-05-01 | F. Robotics Acquisitions Ltd. | Robotic vacuum cleaner |
DE102005042729A1 (de) * | 2005-09-05 | 2007-03-08 | Valeo Schalter Und Sensoren Gmbh | Kraftfahrzeug-Radarsystem mit horizontaler und vertikaler Auflösung |
IT1401368B1 (it) * | 2010-07-28 | 2013-07-18 | Active Srl | Metodo e sistema per il controllo di un dispositivo robotizzato semovente |
DE102011078641A1 (de) * | 2011-07-05 | 2013-01-10 | Robert Bosch Gmbh | Radarsystem für Kraftfahrzeuge sowie Kraftfahrzeug mit einem Radarsystem |
EP2689650B1 (en) | 2012-07-27 | 2014-09-10 | Honda Research Institute Europe GmbH | Trainable autonomous lawn mower |
JP6135481B2 (ja) * | 2013-11-28 | 2017-05-31 | トヨタ自動車株式会社 | 自律移動体 |
CN206950128U (zh) * | 2013-12-18 | 2018-02-02 | 艾罗伯特公司 | 自主移动机器人 |
KR101622693B1 (ko) | 2014-04-30 | 2016-05-19 | 엘지전자 주식회사 | 잔디 깎기 로봇 및 그 제어 방법 |
DE102014212418A1 (de) * | 2014-06-27 | 2015-12-31 | Robert Bosch Gmbh | Autonomer Serviceroboter |
JP6408860B2 (ja) | 2014-10-22 | 2018-10-17 | 株式会社デンソー | 物体検知装置 |
US9919425B2 (en) * | 2015-07-01 | 2018-03-20 | Irobot Corporation | Robot navigational sensor system |
DE102016005620A1 (de) * | 2016-05-06 | 2017-11-09 | Audi Ag | Kraftfahrzeug mit wenigstens zwei Radarsensoren |
-
2017
- 2017-02-06 SE SE1750101A patent/SE540794C2/sv unknown
-
2018
- 2018-02-05 US US16/483,825 patent/US11493626B2/en active Active
- 2018-02-05 WO PCT/SE2018/050098 patent/WO2018143887A1/en active Application Filing
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3909412A1 (en) | 2020-05-08 | 2021-11-17 | Husqvarna Ab | An outdoor robotic work tool comprising an environmental detection system |
SE2250230A1 (en) * | 2022-02-21 | 2023-08-22 | Husqvarna Ab | An outdoor robotic work tool comprising an environmental detection system adapted to detect obstacles |
DE102023103665A1 (de) | 2022-02-21 | 2023-08-24 | Husqvarna Ab | Ein Roboterarbeitswerkzeug für den Außenbereich mit einem Umgebungserfassungssystem, das geeignet ist, Hindernisse zu erkennen |
WO2023234820A1 (en) | 2022-06-03 | 2023-12-07 | Husqvarna Ab | Enhanced drive motor control in a robotic lawnmower |
Also Published As
Publication number | Publication date |
---|---|
SE1750101A1 (sv) | 2018-08-07 |
WO2018143887A1 (en) | 2018-08-09 |
US20200096631A1 (en) | 2020-03-26 |
US11493626B2 (en) | 2022-11-08 |
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