公开(公告)号：US06255793B1

公开(公告)日：2001-07-03

申请号：US08554691

申请日：1995-11-07

申请人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

发明人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

IPC分类号： G05D100

CPC分类号： A01D34/008 ,  A01D2101/00 ,  G01C22/00 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/0263 ,  G05D1/0265 ,  G05D1/0274 ,  G05D2201/0208 ,  G05D2201/0216

摘要： A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed. The method includes the steps of: 1) providing the following elements: a proximity sensor positioned on the robot, a boundary along the perimeter of the working area and along the perimeter of each area enclosed in the working area in which the robot should not operate, the boundaries being detectable by the proximity sensor, a processing unit connected to the proximity sensor and receiving an input therefrom, a navigation unit on the robot to determine the coordinates of the robot relative to an arbitrary origin, a direction finder, and a memory to store values generated by the processing unit; and 2) causing the robot to move along each of the boundaries provided around or within the working area, to detect the boundaries and to memorize their shape, and to store in the memory values representative of the coordinates of the boundaries, thereby to generate a basic map of the working area. When the robot is to operate within the area, the method includes the steps of: (a) causing the robot to start from a starting point having known coordinates within the basic map of the working area; (b) continuously determining the coordinates of the robot by analyzing data obtained from the navigation unit and by detecting the vicinity of a boundary; and (c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.

摘要翻译： 公开了一种在封闭区域内自动操作连接到割草机或其他无人机器的机器人的方法。 该方法包括以下步骤：1）提供以下元件：定位在机器人上的接近传感器，沿着工作区域的周边的边界，以及围绕在机器人不应该操作的工作区域中的每个区域的周边 边界可由接近传感器检测，处理单元连接到接近传感器并从其接收输入;机器人上的导航单元，用于确定机器人相对于任意原点的坐标，方向取景器和存储器 存储由处理单元生成的值; 和2）使机器人沿着设置在工作区域周围或内部的每个边界移动，以检测边界并记住它们的形状，并将存储在存储器中的值代表边界的坐标，从而产生 工作区基本图。 当机器人在该区域内操作时，该方法包括以下步骤：（a）使机器人从工作区域的基本图中具有已知坐标的起点开始; （b）通过分析从导航单元得到的数据和检测边界附近，连续地确定机器人的坐标; 和（c）通过比较计算出的每个检测到的边界的实际坐标来校正机器人在基本地图上的实际位置。

公开(公告)号：US06984952B2

公开(公告)日：2006-01-10

申请号：US10913596

申请日：2004-08-06

申请人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

发明人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

IPC分类号： G05D1/00

CPC分类号： A01D34/008 ,  A01D2101/00 ,  G01C22/00 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/0263 ,  G05D1/0265 ,  G05D1/0274 ,  G05D2201/0208 ,  G05D2201/0216

摘要： A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed. The method includes the steps of: 1) providing the following elements: a proximity sensor positioned on the robot, a boundary along the perimeter of the working area and along the perimeter of each area enclosed in the working area in which the robot should not operate, the boundaries being detectable by the proximity sensor, a processing unit connected to the proximity sensor and receiving an input therefrom, a navigation unit on the robot to determine the coordinates of the robot relative to an arbitrary origin, a direction finder, and a memory to store values generated by the processing unit; and 2) causing the robot to move along each of the boundaries provided around or within the working area, to detect the boundaries and to memorize their shape, and to store in the memory values representative of the coordinates of the boundaries, thereby to generate a basic map of the working area. When the robot is to operate within the area, the method includes the steps of: (a) causing the robot to start from a starting point having known coordinates within the basic map of the working area; (b) continuously determining the coordinates of the robot by analyzing data obtained from the navigation unit and by detecting the vicinity of a boundary; and (c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.

公开(公告)号：US20050007057A1

公开(公告)日：2005-01-13

申请号：US10913596

申请日：2004-08-06

申请人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

发明人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

IPC分类号： A01D34/00 ,  G05D1/02 ,  G05D1/00

CPC分类号： A01D34/008 ,  A01D2101/00 ,  G01C22/00 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/0263 ,  G05D1/0265 ,  G05D1/0274 ,  G05D2201/0208 ,  G05D2201/0216

摘要： A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed. The method includes the steps of: 1) providing the following elements: a proximity sensor positioned on the robot, a boundary along the perimeter of the working area and along the perimeter of each area enclosed in the working area in which the robot should not operate, the boundaries being detectable by the proximity sensor, a processing unit connected to the proximity sensor and receiving an input therefrom, a navigation unit on the robot to determine the coordinates of the robot relative to an arbitrary origin, a direction finder, and a memory to store values generated by the processing unit; and 2) causing the robot to move along each of the boundaries provided around or within the working area, to detect the boundaries and to memorize their shape, and to store in the memory values representative of the coordinates of the boundaries, thereby to generate a basic map of the working area. When the robot is to operate within the area, the method includes the steps of: (a) causing the robot to start from a starting point having known coordinates within the basic map of the working area; (b) continuously determining the coordinates of the robot by analyzing data obtained from the navigation unit and by detecting the vicinity of a boundary; and (c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.

摘要翻译： 公开了一种在封闭区域内自动操作连接到割草机或其他无人机器的机器人的方法。 该方法包括以下步骤：1）提供以下元件：定位在机器人上的接近传感器，沿着工作区域的周边的边界，以及围绕在机器人不应该操作的工作区域中的每个区域的周边 边界可由接近传感器检测，处理单元连接到接近传感器并从其接收输入;机器人上的导航单元，用于确定机器人相对于任意原点的坐标，方向取景器和存储器 存储由处理单元生成的值; 和2）使机器人沿着设置在工作区域周围或内部的每个边界移动，以检测边界并记住它们的形状，并将存储在存储器中的值代表边界的坐标，从而产生 工作区基本图。 当机器人在该区域内操作时，该方法包括以下步骤：（a）使机器人从工作区域的基本图中具有已知坐标的起点开始; （b）通过分析从导航单元得到的数据和检测边界附近，连续地确定机器人的坐标; 和（c）通过比较计算出的每个检测到的边界的实际坐标来校正机器人在基本地图上的实际位置。

公开(公告)号：US06850024B2

公开(公告)日：2005-02-01

申请号：US10147661

申请日：2002-05-16

申请人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

发明人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

IPC分类号： A01D34/00 ,  G05D1/02 ,  G05D1/00

CPC分类号： A01D34/008 ,  A01D2101/00 ,  G01C22/00 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/0263 ,  G05D1/0265 ,  G05D1/0274 ,  G05D2201/0208 ,  G05D2201/0216

摘要： A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed. The method includes the steps of: 1) providing the following elements: a proximity sensor positioned on the robot, a boundary along the perimeter of the working area and along the perimeter of each area enclosed in the working area in which the robot should not operate, the boundaries being detectable by the proximity sensor, a processing unit connected to the proximity sensor and receiving an input therefrom, a navigation unit on the robot to determine the coordinates of the robot relative to an arbitrary origin, a direction finder, and a memory to store values generated by the processing unit; and 2) causing the robot to move along each of the boundaries provided around or within the working area, to detect the boundaries and to memorize their shape, and to store in the memory values representative of the coordinates of the boundaries, thereby to generate a basic map of the working area. When the robot is to operate within the area, the method includes the steps of: (a) causing the robot to start from a starting point having known coordinates within the basic map of the working area; (b) continuously determining the coordinates of the robot by analyzing data obtained from the navigation unit and by detecting the vicinity of a boundary; and (c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.

公开(公告)号：US06417641B2

公开(公告)日：2002-07-09

申请号：US09841511

申请日：2001-04-23

申请人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

发明人： Ehud Peless ,  Shai Abramson ,  Gideon Dror

IPC分类号： G05D100

CPC分类号： A01D34/008 ,  A01D2101/00 ,  G01C22/00 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/0263 ,  G05D1/0265 ,  G05D1/0274 ,  G05D2201/0208 ,  G05D2201/0216

摘要： A system for operating an autonomous robot for performing tasks, such as lawn mowing, includes an indicator and a robot configured for detecting the indicator and generating a map of the working area bounded by the indicator and correcting the position of the robot in accordance with the generated map of the working area.

摘要翻译： 用于操作用于执行诸如草坪割草等任务的自主机器人的系统包括指示器和机器人，其被配置用于检测指示器并且生成由指示器限定的工作区域的映射，并根据 生成工作区的地图。

公开(公告)号：US20070150109A1

公开(公告)日：2007-06-28

申请号：US11644383

申请日：2006-12-22

申请人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

发明人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

IPC分类号： G06F19/00

CPC分类号： G05D1/0274 ,  A01D34/008 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0236 ,  G05D1/0261 ,  G05D1/0265 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0208

摘要： There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) that navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the area to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).

摘要翻译： 因此，根据本发明的优选实施例，提供一种用于系统地围绕要覆盖的区域移动的机器人系统。 所述系统包括沿着被覆盖的区域的外边缘定位的至少一个边界标记（48），具有导航系统（41）的机器人（40），导航系统（41）将机器人（40）从大致直线的平行线 初始位置并且当机器人（40）遇到边界标记（48）之一时转动机器人（40），从而系统地围绕待覆盖的区域移动。 传感器单元（43）感测到至少一个边界标记（48）中的一个接近。

公开(公告)号：US20050113990A1

公开(公告)日：2005-05-26

申请号：US10987486

申请日：2004-11-12

申请人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

发明人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

IPC分类号： G05D1/02 ,  G01C22/00

CPC分类号： G05D1/0274 ,  A01D34/008 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0236 ,  G05D1/0261 ,  G05D1/0265 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0208

摘要： There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the are to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).

摘要翻译： 因此，根据本发明的优选实施例，提供一种用于系统地围绕要覆盖的区域移动的机器人系统。 该系统包括位于待覆盖区域的外边缘的至少一个边界标记（48），具有导航系统（41）的机器人（40）将机器人（40）从初始的 当机器人（40）遇到边界标记（48）之一时，定位并转动机器人（40），从而系统地围绕被覆盖物移动。 传感器单元（43）感测到至少一个边界标记（48）中的一个接近。

公开(公告)号：US06885912B2

公开(公告)日：2005-04-26

申请号：US10445658

申请日：2003-05-27

申请人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

发明人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

IPC分类号： G05D1/02 ,  G06F19/00

CPC分类号： G05D1/0274 ,  A01D34/008 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0236 ,  G05D1/0261 ,  G05D1/0265 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0208

摘要： There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) and a sensor unit (43). The navigation system (41) navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the area to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).

摘要翻译： 因此，根据本发明的优选实施例，提供一种用于系统地围绕要覆盖的区域移动的机器人系统。 该系统包括位于待覆盖区域的外缘的至少一个边界标记（48），具有导航系统（41）和传感器单元（43）的机器人（40）。 导航系统（41）从初始位置导航机器人（40）大致直线的平行线，并且当机器人（40）遇到边界标记（48）之一时转动机器人（40），由此系统地围绕 要覆盖的地区。 传感器单元（43）感测到至少一个边界标记（48）中的一个接近。

公开(公告)号：US20080167753A1

公开(公告)日：2008-07-10

申请号：US12054123

申请日：2008-03-24

申请人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

发明人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

IPC分类号： G05B13/00

CPC分类号： G05D1/0274 ,  A01D34/008 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0236 ,  G05D1/0261 ,  G05D1/0265 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0208

摘要： There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) that navigated the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the area to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).

摘要翻译： 因此，根据本发明的优选实施例，提供一种用于系统地围绕要覆盖的区域移动的机器人系统。 所述系统包括沿着被覆盖的区域的外边缘定位的至少一个边界标记（48），具有导航系统（41）的机器人（40），导航系统（41）将机器人（40）从大致直线的平行线 初始位置并且当机器人（40）遇到边界标记（48）之一时转动机器人（40），从而系统地围绕待覆盖的区域移动。 传感器单元（43）感测到至少一个边界标记（48）中的一个接近。

公开(公告)号：US06615108B1

公开(公告)日：2003-09-02

申请号：US09700211

申请日：2001-04-13

申请人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

发明人： Ehud Peless ,  Shai Abramson ,  Ronen Friedman ,  Ilan Peleg

IPC分类号： G06F1900

CPC分类号： G05D1/0274 ,  A01D34/008 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0236 ,  G05D1/0261 ,  G05D1/0265 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0208

摘要： There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) and a sensor unit (43). The navigation system (41) navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the area to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).

摘要翻译： 因此，根据本发明的优选实施例，提供一种用于系统地围绕要覆盖的区域移动的机器人系统。 该系统包括位于待覆盖区域的外缘的至少一个边界标记（48），具有导航系统（41）和传感器单元（43）的机器人（40）。 导航系统（41）从初始位置导航机器人（40）大致直线的平行线，并且当机器人（40）遇到边界标记（48）之一时转动机器人（40），由此系统地围绕 要覆盖的地区。 传感器单元（43）感测到至少一个边界标记（48）中的一个接近。