Multi-sensor, autonomous robotic vehicle with lawn care function

• US 10,806,075 B2
• Filed: 12/16/2015
• Issued: 10/20/2020
• Est. Priority Date: 12/17/2014
• Status: Active Grant

• Current Assignee: Husqvarna AB (HUSQVARNA)
• Original Assignee: Husqvarna AB (HUSQVARNA)
• Inventors: Grufman, Stefan, Mannefred, Bjorn, Jagenstedt, Patrik, Ohrlund, Magnus, Deimert, Johan
• Primary Examiner(s): Mawari, Redhwan K
• Application Number:
  US15/535,500
• Publication Number:
  US 20180103579A1
• Time in Patent Office: 1,770 Days
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 34/78 electric
• CPC Class Codes: A01D 69/02 electric
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• 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

Abstract

A robotic vehicle may include one or more functional components configured to execute a lawn care function, a sensor network comprising one or more sensors configured to detect conditions proximate to the robotic vehicle, an object detection module configured to 5 detect objects proximate to the robotic vehicle using contact-less detection, a positioning module configured to determine robotic vehicle position, and a mapping module configured to generate map data regarding a parcel on which the robotic vehicle operates.

Claims

1. A robotic vehicle comprising:

a mobile platform;

one or more functional components configured to execute a lawn care function coupled to the mobile platform;

a sensor network comprising one or more sensors configured to detect an environment of the robotic vehicle, the sensor network comprising a 2.5 dimension (2.5D) sensor mounted on the mobile platform at a height relative to the mobile platform, the 2.5D sensor being configured to transmit and receive energy at the height of the 2.5D sensor and generate 2.5D sensor data, the 2.5D sensor data being limited to only describing range distances to objects around the robotic vehicle that are present at a planar slice of the environment proximate the robotic vehicle only at the height of the 2.5D sensor relative to the mobile platform;

an object detection module configured to detect objects proximate to the robotic vehicle on the 2.5D sensor data;

a positioning module configured to determine a position of the robotic vehicle based on the 2.5D sensor data; and

a mapping module configured to generate map data of a parcel on which the robotic vehicle operates based on the 2.5D sensor data, wherein the mapping module is configured to generate the map data comprising object positions within the parcel based on the 2.5D sensor data in combination with positioning information from an inertial measurement unit (IMU) of the robotic vehicle.

2. The robotic vehicle of claim 1, wherein the object detection module is configured to receive the 2.5D sensor data from the 2.5D sensor.

3. The robotic vehicle of claim 2, wherein the 2.5D sensor comprises a mobile time-of-flight measurement device.

4. The robotic vehicle of claim 2, wherein the 2.5D sensor comprises a light emitting diode detection and ranging (LEDDAR) sensor.

5. The robotic vehicle of claim 1, wherein the positioning module is further configured to receive positioning information from an inertial measurement unit (IMU) and combine the positioning information with the 2.5D sensor data to determine the position of the robotic vehicle.

6. The robotic vehicle of claim 1, wherein the positioning module is configured to receive additional positioning information from a real time kinematic (RTK)-GPS receiver and combine the additional information with the 2.5D sensor data to determine the position of the robotic vehicle.

7. The robotic vehicle of claim 1, wherein the positioning module is configured to receive additional positioning information from an RF receiver and combine the additional positioning information with the 2.5D sensor data to determine the position of the robotic vehicle.

8. The robotic vehicle of claim 1, wherein the positioning module is configured to assign a probability to each input from respective ones of different sensors of the sensor network to generate a composite position estimate for the robotic vehicle based on a combination of data from the different sensors of the sensor network including the 2.5D sensor.

9. The robotic vehicle of claim 1, wherein the sensor network comprises a camera.

10. The robotic vehicle of claim 9, wherein the camera is configured to provide images of detected objects to the object detection module for classification based on stored images of known objects and for inclusion in the map data of the parcel.

11. The robotic vehicle of claim 1, wherein the object detection module is configured to detect static objects and dynamic objects, and

wherein the object detection module is configured to classify detected static objects or dynamic objects.

12. The robotic vehicle of claim 1, wherein the mapping module is further configured to generate the map data comprising a three dimensional representation of the parcel based on the 2.5D sensor data in combination with position information from the inertial measurement unit (IMU) of the robotic vehicle.