System of autonomous vehicles

• US 9,541,923 B2
• Filed: 03/14/2013
• Issued: 01/10/2017
• Est. Priority Date: 04/20/2012
• Status: Active Grant

• Current Assignee: Lely Patent N.V. (Lely)
• Original Assignee: Lely Patent N.V. (Lely)
• Inventors: Van Kuilenburg, Jan Martinus, Van Den Berg, Karel
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/394,941
• Publication Number:
  US 20150073638A1
• Time in Patent Office: 1,398 Days
• US Class Current: 1/1
• CPC Class Codes: A01K 1/0128 by means of scrapers or the like moving continuously
• CPC Class Codes: A01K 1/105 Movable feed barriers, slides or fences
• CPC Class Codes: A01K 5/0266 with stable trolleys, e.g. suspended
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G08G 1/20 Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles

Abstract

A system and method for control of the system, with a plurality of autonomous vehicles having intersecting routes, a control, an operational area, and a predefined place with positions provided with a vehicle presence detection device. The method includes detecting the presence of the vehicles in a detection device, and beginning to travel with a first vehicle according to a travel action. The travel action is chosen from travelling of a route through the operational area from a predefined place, and an advancing action within a predefined place from a first detection device to a second detection device which is not yet occupied. Beginning to travel is carried out only if each of the vehicles has been detected as present at one of the predefined places, or, at most one vehicle has the status “not present at one of the predefined places” if the travel action relates to an advancing action.

Claims

1. A method for controlling a system including of:

N unmanned autonomous vehicles, where N≧

2,

a control device for at least partially controlling at least one of the autonomous vehicles,

an operational area with a floor over which the vehicles can move, wherein the vehicles are each configured to travel independently over one or more routes which are possible for that vehicle, wherein for at least one vehicle at least one of the possible routes intersects at least at one point with at least one possible route of another of the vehicles, and also

at least one predefined place which adjoins the operational area, with in total M predefined positions which are each provided with at least one detection device to detect the presence of one of the vehicles and to signal the presence to the control device, where M≧

2

the method comprising;

collecting in the control device of a presence status of each of the vehicles to determine a condition for the system, wherein the presence status comprises the presence of the vehicle at a predefined place as detected by the at least one detection device;

determining on the basis of the presence statuses whether a condition is ‘

safe’

for the system; and

controlling, by way of the control device, a first vehicle to perform a travel action only if the condition is identified as ‘

safe’

for the system and for this travel action,

wherein the travel action is chosen from;

a route travel action, comprising the travelling of a route through the operational area, starting from one of the predefined places, and

an advancing action, comprising the travelling within one of the predefined places from a first detection device to a second detection device which is not yet occupied, in particular via an advancing route,

and wherein the condition is ‘

safe’

, if;

the travel action relates to a route travel action or an advancing action, and each of the vehicles has a presence status “

detected as present at one of the predefined places”

, or

the travel action relates to an advancing action, and at most one vehicle has the status “

not present at one of the predefined places”

.

2. The method according to claim 1, further comprising:

counting of the number of vehicles with the presence status “

detected as present at one of the predefined places”

; and

determining that the condition of the system is “

safe”

, if

the number of vehicles is equal to N if the travel action relates to a route travel action, or

the number of vehicles is greater than or equal to N−

1 if the travel action relates to an advancing action.

3. The method according to claim 1, further comprising:

for at least one vehicle to which the status “

detected as present at one of the predefined places”

applies;

performing a first action at a first position within the predefined place,

then performing an advancing action to a second position within the predefined place if the condition of the system is “

safe”

, and

performing a second action which differs from the first action.

4. The method according to claim 3, wherein the first action comprises one of charging of energy, including power, and loading of a material, including animal feed or a cleansing agent, or a combination thereof, and the second action comprises a different one of charging of energy, and loading of a material, including animal feed or a cleansing agent, or a combination thereof.

5. The method according to claim 1, wherein, in the case of an advancing action which is to be carried out, the condition is designated as “

safe”

only if the at most one vehicle with the status “

not present at one of the predefined locations”

is carrying out a route travel action.

6. The method according to claim 1, wherein at least one predefined place comprises an area of physical extent with at least two physically separated parking positions, each with a detection device to detect the presence of one of the vehicles and to signal the presence to the control device.

7. The method according to claim 1, wherein at least one predefined place comprises a separate and single parking position which is completely encircled by the operational area.

8. The method according to claim 1, wherein at least one parking position comprises at least one charging device for the charging of energy, including power, or a material, including animal feed or a cleansing agent or a combination thereof.

9. The method according to claim 6, wherein a parking position with a feed-loading device, also a charging device, and also with a dedicated detection device to detect the presence of one of the vehicles and to signal the presence to the control device are provided at the at least one predefined place, and in total at least N−

1 separate charging devices are additionally provided at the at least one predefined place.

10. The method according to claim 1, wherein the detection device is configured to measure an electrical parameter, including a charge current, a conductivity or a resistance, and is furthermore configured to detect the presence status of a vehicle as “

present”

if the measured electrical parameter shows at least a predefined change or exceeds a predefined threshold value.

11. A system comprising:

N unmanned autonomous vehicles, where N≧

2;

a control device for at least partially controlling at least one of the autonomous vehicles;

an operational area with a floor over which the vehicles can move, wherein the vehicles are each configured to travel independently over one or more routes which are possible for that vehicle, wherein for at least one vehicle at least one of the possible routes intersects at least at one point with at least one possible route of another of the vehicles;

at least one predefined place which adjoins the operational area, with in total M predefined positions which are each provided with at least one detection device to detect the presence of one of the vehicles and to signal the presence to the control device, where M≧

2,

wherein the control device is

configured to

collect in the control device of a presence status of each of the vehicles to determine a condition for the system, and wherein the presence status comprises the presence of the vehicle at a predefined place as detected by the at least one detection device,

determine on the basis of the presence statuses whether a condition is ‘

safe’

for the system,

control by way of the control device a first vehicle to perform a travel action only if the condition is identified as ‘

safe’

for the system and for this travel action,

wherein the travel action is chosen from;

a route travel action, comprising the travelling of a route through the operational area, starting from one of the predefined places, and

an advancing action, comprising the travelling within one of the predefined places from a first detection device to a second detection device which is not yet occupied, in particular via an advancing route,

and wherein the condition is ‘

safe’

, if;

the travel action relates to a route travel action or an advancing action, and each of the vehicles has a presence status “

detected as present at one of the predefined places”

, or

the travel action relates to an advancing action, and at most one vehicle has the status “

not present at one of the predefined places”

.

12. The system according to claim 11, wherein, in the case of an advancing action which is to be carried out, the condition is designated as “

safe”

only if the at most one vehicle with the status “

not present at one of the predefined locations”

is carrying out a route travel action.

13. The system according to claim 11, wherein at least one predefined place comprises an area of physical extent with at least two physically separated parking positions, each with a detection device to detect the presence of one of the vehicles and to signal the presence to the control device.

14. The system according to claim 11, wherein at least one predefined place comprises a separate and single parking position which is completely encircled by the operational area.

15. The system according to claim 13, wherein at least one parking position comprises at least one charging device for the charging of energy, including power, or a material, including animal feed or a cleansing agent or a combination thereof.

16. The system according to claim 13, wherein a parking position with a feed-loading device, also a charging device, and also with a dedicated detection device to detect the presence of one of the vehicles and to signal the presence to the control device are provided at the at least one predefined place, and in total at least N−

1 separate charging devices are additionally provided at the at least one predefined place.

17. The system according to claim 11, wherein the detection device is configured to measure an electrical parameter, including a charge current, a conductivity or a resistance, and is furthermore configured to detect the presence status of a vehicle as “

present”

if the measured electrical parameter shows at least a predefined change or exceeds a predefined threshold value.

18. A system comprising:

N unmanned autonomous vehicles, where N≧

2;

control means for at least partially controlling at least one of the autonomous vehicles;

an operational area with a floor over which the vehicles can move, wherein the vehicles are each configured to travel independently over one or more routes which are possible for that vehicle, wherein for at least one vehicle at least one of the possible routes intersects at least at one point with at least one possible route of another of the vehicles;

at least one predefined place which adjoins the operational area, with in total M predefined positions which are each provided with at least one detection device to detect the presence of one of the vehicles and to signal the presence to the control means, where M≧

2,

wherein the control means is further a means for

collecting a presence status of each of the vehicles to determine a condition for the system, and wherein the presence status comprises the presence of the vehicle at one of the predefined places as detected by the at least one detection device,

determining on the basis of the presence states whether a condition is ‘

safe’

for the system,

controlling a first vehicle to perform a travel action only if the condition is identified as ‘

safe’

for the system and for this travel action,

wherein the travel action is chosen from;

a route travel action, comprising the travelling of a route through the operational area, starting from one of the predefined places, and

an advancing action, comprising the travelling within one of the predefined places from a first detection device to a second detection device which is not yet occupied, in particular via an advancing route,

and wherein the condition is ‘

safe’

, if;

the travel action relates to a route travel action or an advancing action, and each of the vehicles has a presence status “

detected as present at one of the predefined places”

, or

the travel action relates to an advancing action, and at most one vehicle has the status “

not present at one of the predefined places”

.