Robotic vehicle with drive means and method for activating drive means

• US 8,874,269 B2
• Filed: 05/15/2008
• Issued: 10/28/2014
• Est. Priority Date: 05/16/2007
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Biber, Peter, Koch, Christoph
• Primary Examiner(s): Tran, Dalena
• Assistant Examiner(s): Figueroa, Jaime
• Application Number:
  US12/599,985
• Publication Number:
  US 20110040409A1
• Time in Patent Office: 2,357 Days
• Field of Search: 700/245, 700/253, 700/258, 700/259, 318/568.12, 318/568.16, 180/168, 180/169, 348/164, 382/108, 382/110
• 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

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. A robotic vehicle designed for self-contained operation, comprising:

drive means for the movement of the vehicle on a surface;

an infrared sensor configured to detect the intensity of an infrared radiation reflected from the surface;

control means for the activation of the drive means depending on the measured intensity of the infrared radiation;

a light sensor configured to detect the intensity of the light radiation from the visible spectrum reflected from the surface,

wherein the control means are configured to control the drive means depending on the intensity of the light radiation,

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 surface structure, and

wherein the common decision criterion is generated by linking the intensities with a mathematic function whose result is independent of the distance of the sensors to their measuring spots on the surface or independent of the absolute intensities.

2. The robotic vehicle according to claim 1, wherein the decision criterion is generated by creating the relation of the intensities.

3. The robotic vehicle according to claim 1, wherein the infrared sensor or the light sensor work passively.

4. The robotic vehicle according to claim 1, wherein at least one sensor is provided for sending out the infrared radiation or the visible light radiation.

5. The robotic vehicle according to claim 4 wherein the sensor is construed as pulsed or amplitude-modulated diode.

6. The robotic vehicle according to claim 1, wherein the infrared sensor measures the intensity of the infrared radiation from the near infrared spectrum.

7. The robotic vehicle according to claim 1, wherein the light sensor measures the intensity of the light from the green or red spectrum.

8. The robotic vehicle according to claim 1, further comprising more than one sensor unit, wherein the infrared sensor and the light sensor comprise a sensor unit.

9. The robotic vehicle according to claim 8, wherein the sensor units are arranged evenly spread along a transversal axis of the vehicle, the transversal axis of the vehicle oriented transversally to a vehicle axis that runs in driving direction.

10. The robotic vehicle according to claim 9 wherein the sensor units are arranged next to each other, evenly spaced, aligned on the transversal axis of the vehicle.

11. The robotic vehicle according to claim 8, wherein at least one of the sensor units is assigned to at least one sender for sending out infrared radiation or light from the visible spectrum.

12. The robotic vehicle according to claim 8, wherein the control means detect a borderline between two differently structured surface sections with the aid of decision criteria, the borderline resulting from the corresponding link of the intensities that have been measured by the sensors of the sensor units.

13. The robotic vehicle according to claim 12, wherein the control means that control the drive means are construed in such a way that the robotic vehicle drives along the border or does not leave a work surface.

14. The robotic vehicle according to claim 12, wherein the control means that control the drive means are construed in such a way that the robotic vehicle drives simultaneously over both surface sections.

15. The robotic vehicle according to claim 1, wherein the robotic vehicle is a lawnmower with a mower.

16. The robotic vehicle according to claim 15 wherein the lawnmower provides means for turning the mower on and off depending on the measured intensities depending on the detection of a subject or a living creature by the control means.

17. A method for controlling drive means for moving a robotic vehicle configured for self-contained operation, comprising:

measuring the intensity of an infrared radiation reflected from a surface; and

controlling the drive means using the measured intensity of a light radiation from the visible spectrum that is reflected from the surface as common decision criterion for the presence or absence of a certain surface structure,

wherein the common decision criterion is generated by linking the intensities with a mathematic function whose result is independent of the distance of the sensors to their measuring spots on the surface or independent of the absolute intensities.