ROBOTIC VEHICLE WITH DRIVE MEANS AND METHOD FOR ACTIVATING DRIVE MEANS

• US 20110040409A1
• Filed: 05/15/2008
• Published: 02/17/2011
• Est. Priority Date: 05/16/2007
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Biber, Peter, Koch, Christoph
• Granted Patent: US 8,874,269 B2
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 34/828 Safety devices
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 2201/0208 Lawn mower

Abstract

The invention relates to a robotic vehicle (1), in particular a robotic vehicle (1) designed for self-contained operations, with drive means (5) for the movement of the vehicle (1) on the subsurface (11), and with control means (7) for the activation of the drive means (5) in accordance with the measured intensity of the infrared radiation. According to the invention, a light sensor (9) is provided to detect the intensity of light radiation from the visible spectrum reflected from the subsurface (11), and in addition the control means (7) are designed to activate the drive means (5) in accordance with the measured intensity of the light radiation. The invention further relates to a method of activation.

Claims

1. Robotic vehicle, in particular a robotic vehicle designed for a self-contained operation, with drive means for the movement of the vehicle on a subsurface, with an infrared sensor for the detection of the intensity of a infrared radiation reflected from the subsurface and with control means for the activation of the drive means depending on the measured intensity of the infrared radiation, wherein a light sensor is provided for the detection of the intensity of the light radiation from the visible spectrum reflected from the subsurface, and in that the control means are construed for controlling the drive means depending on the intensity of the light radiation.

2. Robotic vehicle according to claim 1 wherein the control means consider the intensity of the infrared radiation and the intensity of the light radiation as common decision criterion for the presence or absence of a certain subsurface structure.

3. Robotic vehicle according to claim 2 wherein the control means are construed in such a way, that the common decision criterion is generated by linking the intensities with a mathematic function, in particular with a mathematic function whose result is independent of the distance of the sensors to their measuring spots on the subsurface and or independent of the absolute intensities.

4. Robotic vehicle according to claim 3 wherein the control means are construed in such a way, that the decision criterion is generated by creating the relation of the intensities.

5. Robotic vehicle according to claim 1, wherein the infrared sensor and/or the light sensor work passively.

6. Robotic vehicle according to claim 1, wherein at least one sensor is provided for sending out the infrared radiation and/or the visible light radiation.

7. Robotic vehicle according to claim 6 wherein the sensor is construed as pulsed and/or amplitude-modulated diode.

8. Robotic vehicle according to claim 1, wherein the infrared sensor measures the intensity of the infrared radiation from the near infrared spectrum.

9. Robotic vehicle according to claim 1, wherein the light sensor measures the intensity of the light from the green and/or red spectrum.

10. Robotic vehicle according to claim 1, wherein the infrared sensor and the light sensor create a sensor unit, and in that several sensor units are provided.

11. Robotic vehicle according to claim 1, wherein the sensor units are arranged evenly spread along a transversal axis of the vehicle, which is oriented transversally to a vehicle axis that runs in driving direction.

12. Robotic vehicle according to claim 11 wherein the sensor units are arranged next to each other, preferably evenly spaced, directly on the transversal axis of the vehicle.

13. Robotic vehicle according to claim 10, wherein at least one of the sensor units preferably a group of sensor units, in particular each of the sensor units, is assigned to at least one sender for sending out infrared radiation and/or light from the visible spectrum.

14. Robotic vehicle according to claim 10, wherein the control means detect a border, in particular a borderline, between two differently structured subsurface sections with the aid of decision criteria, which result from the corresponding link of the intensities that have been measured by the sensors of the sensor units.

15. Robotic vehicle according to claim 14 wherein the control means that control the drive means are construed in such a way that the robotic vehicle drives along the border and/or does not leave a work surface.

16. Robotic vehicle according to claim 14, wherein the control means that control the drive means are construed in such a way that the robotic vehicle drives simultaneously over both subsurface sections.

17. Robotic vehicle according to claim 1, wherein the robotic vehicle is a lawnmower with a mower.

18. Robotic vehicle according to claim 17 wherein the lawnmower provides means for turning the mower on and off depending on the measured intensities, in particular depending on the detection of a subject and/or a living creature by the control means.

19. Method for controlling drive means for moving a robotic vehicle, in particular a robotic vehicle that is construed for a self-contained operation, on a subsurface, whereby the drive means are controlled depending on the measured intensity of an infrared radiation that is reflected from the subsurface wherein the drive means are controlled depending on the measured intensity of a light radiation from the visible spectrum that is reflected from the subsurface.