Garden mapping and planning via robotic vehicle

• US 10,643,377 B2
• Filed: 10/19/2015
• Issued: 05/05/2020
• Est. Priority Date: 12/22/2014
• Status: Active Grant

• Current Assignee: Husqvarna AB (HUSQVARNA)
• Original Assignee: Husqvarna AB (HUSQVARNA)
• Inventors: Grufman, Stefan, Mannefred, Bjorn, Willgert, Mikael, Mattsson, Anders, Reigo, Peter
• Primary Examiner(s): Rodriguez, Daniel
• Application Number:
  US15/536,147
• Publication Number:
  US 20170345210A1
• Time in Patent Office: 1,660 Days
• Field of Search: 715764
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06F 3/04842 Selection of displayed objects or displayed text elements G06F3/0482 takes precedence
• CPC Class Codes: G06F 3/04845 for image manipulation, e.g. dragging, rotation, expansion or change of colour
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04L 67/125 involving control of end-device applications over a network
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services

Abstract

A method for mapping and planning a parcel or garden may include receiving information indicative of position data of a robotic vehicle transiting a parcel and corresponding image data captured by the robotic vehicle at one or more locations on the parcel. The method may further include generating a base-map of the parcel based on the information received and providing a graphical representation of the parcel based on the base-map. The method may further include enabling an operator to generate a modified-map.

Claims

1. A method comprising:

receiving information indicative of position data of a robotic vehicle transiting an outdoor parcel and corresponding image data captured by the robotic vehicle at one or more locations on the outdoor parcel;

receiving supplemental information comprising supplemental image data with supplemental location information at one or more locations of an external device on the parcel, the external device having captured the supplemental image data via an external device image sensor, the supplemental information further comprising soil characteristic data captured by a soil detection sensor, the soil characteristic data indicating characteristics about soil at a sensor location within the outdoor parcel;

generating a base-map of the parcel based on the information received, wherein generating the base-map comprises synchronizing the information received with the supplemental information and incorporating the supplemental information into the base-map to enhance the base-map with the supplemental information;

providing a graphical representation of the parcel based on the base-map; and

enabling an operator to generate a modified-map, wherein enabling the operator to generate the modified-map includes permitting selection of vegetation to be virtually added to the modified-map based on the soil characteristic data.

2. The method of claim 1, wherein enabling the operator to generate the modified-map comprises enabling an operator to interact with the graphical representation to virtually remove one or more existing objects identified on the base-map, populate the base-map with one or more virtual content objects, or both to provide the modified-map.

3. The method of claim 1, wherein the modified-map comprises a landscaping plan for the parcel.

4. The method of claim 1, further comprising enabling the operator to interact with the graphical representation to view one or more content items associated with respective ones of the one or more locations.

5. The method of claim 2, wherein the virtual content objects comprise vegetation including grass, bushes, trees, flowers, plants, or any combination thereof.

6. The method of claim 2, wherein the virtual content objects comprise one or more building structures.

7. The method of claim 1, wherein generating the base-map comprises generating the base-map at a charge station or a remote device relative to the robotic vehicle responsive to the information received being received from the robotic vehicle.

8. The method of claim 1, wherein providing the graphical representation comprises generating a two dimensional or three dimensional interactive representation of the parcel.

9. The method of claim 1, wherein providing the graphical representation comprises providing an event log defining a series of events in association with the respective ones of the one or more locations.

10. The method of claim 1, wherein providing the graphical representation comprises providing the graphical representation of the parcel at selected times and for a selected content item, in response to receipt of a user selection of the selected content item and the selected time, to indicate changes to the parcel over time.

11. The method of claim 1, wherein providing the graphical representation comprises providing an event log defining a series of events in association with the respective ones of the one or more locations;

wherein the event log includes a plurality of images associated with the respective ones of the one or more locations at a selected time or range of times; and

wherein the event log further includes sensor data gathered at the respective ones of the one or more locations at the selected time or range of times.

12. The method of claim 4, wherein enabling the operator to interact with the graphical representation comprises enabling the operator to define an area within the parcel and associate one or more virtual content objects to be located therein.

13. The method of claim 1, wherein generating the base map comprises generating the base map based on aggregating data regarding objects surrounding the robotic vehicle from multiple sensors on the robotic vehicle.

14. An apparatus comprising processing circuitry configured for:

receiving information indicative of position data of a robotic vehicle transiting an outdoor parcel and corresponding image data captured by the robotic vehicle at one or more locations on the outdoor parcel;

receiving supplemental information comprising supplemental image data with supplemental location information at one or more locations of an external device on the parcel, the external device having captured the supplemental image data via an external device image sensor, the supplemental information further comprising soil characteristic data captured by a soil detection sensor, the soil characteristic data indicating characteristics about soil at a sensor location within the outdoor parcel;

generating a base-map of the parcel based on the information received, wherein generating the base-map comprises synchronizing the information received with the supplemental information and incorporating the supplemental information into the base-map to enhance the base-map with the supplemental information;

providing a graphical representation of the parcel based on the base-map; and

enabling an operator to generate a modified-map, wherein enabling the operator to generate the modified-map includes permitting selection of vegetation to be virtually added to the modified-map based on the soil characteristic data.

15. The apparatus of claim 14, wherein the processing circuitry is further configured for enabling the operator to generate the modified-map comprising enabling the operator to interact with the graphical representation to virtually remove one or more existing objects identified on the base-map, populate the base-map with one or more virtual content objects, or both to provide the modified-map.

16. The apparatus of claim 14, wherein the modified-map comprises a landscaping plan for the parcel.

17. The apparatus of claim 14, wherein the processing circuitry is further configured for enabling the operator to interact with the graphical representation to view one or more content items associated with respective ones of the one or more locations.

18. The apparatus of claim 14, wherein the supplemental image data is captured at different perspectives relative to perspectives of the image data captured by the robotic vehicle;

and

wherein the processing circuitry configured for synchronizing and incorporating the supplemental information includes being configured for using position data of the supplemental information for incorporation of the supplemental information with the information received from the robotic vehicle to generate the base-map with perspectives from the robotic vehicle and the supplemental information.

19. The apparatus of claim 14, wherein the information indicative of the position data of the robotic vehicle includes information generated by a light sensor disposed on the robotic vehicle and an inertial measurement sensor disposed on the robotic vehicle;

wherein the processing circuitry is further configured to accumulate and aggregate the information generated by a light sensor and an inertial measurement sensor for use in generating the base-map.

20. An apparatus comprising processing circuitry configured to:

receive information indicative of position data of a robotic vehicle transiting an outdoor parcel while operating a cutting blade to cut grass on the outdoor parcel and corresponding image data captured by the robotic vehicle at one or more locations on the outdoor parcel while operating the cutting blade to cut grass on the outdoor parcel;

receive soil moisture content information from a soil detection sensor at a sensor location within the outdoor parcel;

generate a base-map of the parcel based on the position data, the corresponding image data, and the soil moisture content information;

provide a graphical representation of the parcel based on the base-map; and

enable an operator to generate a modified-map, wherein being configured to enable the operator to generate the modified-map includes being configured to permit selection of vegetation to be virtually added to the modified-map by a user based on the soil moisture content data.