System and method for performing mobile robotic work operations
First Claim
1. An automated gardening system for performing tasks in a garden comprising:
- at least seven navigation beacons positioned around a perimeter of said garden, each beacon emitting electromagnetic radiation across said garden; and
a robot for moving through the garden and performing gardening tasks;
wherein said robot includes;
a panoramic image collector which gathers and focuses said electromagnetic radiation from each navigation beacon at a common focal plane to form at least seven beam spots corresponding to the respective navigation beacons, wherein the relative position of said at least seven beam spots in said focal plane varies depending upon the position and the orientation of said robot within the garden;
an imaging camera positioned at said focal plane to detect at least seven beam spots and output electrical signals representative thereof;
a navigation module for processing said electrical signals from said imaging camera to determine the position and orientation of the robot within the garden;
a controller for controlling at least one driver motor and at least one implement, each driver motor propels said robot along a predetermined path and each implement performs a gardening task along said predetermined path; and
wherein said controller controls each driver motor to drive said robot along said predetermined path based on said detected position and orientation determined by said navigation module.
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Abstract
A precise automated work system and method is provided. One or more self-navigating robots can perform automated work operations with precision given six degrees of freedom in a undulating, sloping or irregular terrain, such as, a commercial truck garden. A self-propelled robot moves through the garden and performs gardening tasks following a specified course by dead-reckoning and periodically determining its position and orientation by a navigation fix. At least seven navigation beacons are positioned around a perimeter of a garden work area. Each beacon emits electromagnetic radiation across the garden for detection by the self-propelled robot. A panoramic image collector gathers and focuses electromagnetic radiation from each navigation beacon on an electronic camera to form at least seven beam spots. The relative position of the detected beam spots in the focal plane vary depending upon the six degrees of freedom for robot movement in a garden: the robot'"'"'s three-dimensional position (x,y,z) and the robot'"'"'s orientation (heading, pitch, and roll). A navigation module determines the position and orientation of the robot within the garden based on the output of the imaging camera. A self-propelled gardening robot performs many varied automated farming tasks from tillage, to planting, to harvesting by controlling the point of impact of a implement carried by a robot with precision, that is, to within an inch on average for any given position coordinate. Commercial feasibility of small truck gardens is improved as automation is comprehensive and accessible to the solitary farmer.
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Citations
25 Claims
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1. An automated gardening system for performing tasks in a garden comprising:
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at least seven navigation beacons positioned around a perimeter of said garden, each beacon emitting electromagnetic radiation across said garden; and a robot for moving through the garden and performing gardening tasks;
wherein said robot includes;a panoramic image collector which gathers and focuses said electromagnetic radiation from each navigation beacon at a common focal plane to form at least seven beam spots corresponding to the respective navigation beacons, wherein the relative position of said at least seven beam spots in said focal plane varies depending upon the position and the orientation of said robot within the garden; an imaging camera positioned at said focal plane to detect at least seven beam spots and output electrical signals representative thereof; a navigation module for processing said electrical signals from said imaging camera to determine the position and orientation of the robot within the garden; a controller for controlling at least one driver motor and at least one implement, each driver motor propels said robot along a predetermined path and each implement performs a gardening task along said predetermined path; and wherein said controller controls each driver motor to drive said robot along said predetermined path based on said detected position and orientation determined by said navigation module. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for controlling a robot to perform automated tasks along a path in a work area comprising the steps of:
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focusing light emitted from at least seven navigation beacons at a common focal plane to form at least seven corresponding beam spots, wherein the relative position of said at least seven beam spots in said focal plane varies depending upon changes in at least one of six degrees of movement of the robot within the work area; detecting positions of said at least seven beam spots on an imaging device and outputting electrical signals representative thereof; and processing said electrical signals to determine location and heading of the robot within the work area. - View Dependent Claims (20, 21, 22)
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23. A navigation method for a robot that performs automated tasks along a path in a work area and periodically detects n beam spots from corresponding n navigation beacons positioned around the work area and which emit light, n being an integer greater than six, wherein the relative positions of said n beam spots (i) in a focal plane varies depending upon changes in at least one of six degrees of movement of the robot within the work area;
- the navigation method comprising;
determining a set of Euler coefficients c(1) to c(8) for each beacon light position (xl(j), yl(j), zl(j)) in a set of beacon light positions and for each detected beam spot position (xu(i), yu(i), zu(i)) in a set of beam spot positions; and identifying a particular beam spot and corresponding beacon light that causes said particular beam spot;
whereby, the location and heading of the robot in the work area can be determined. - View Dependent Claims (24, 25)
- the navigation method comprising;
Specification