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SE547667C2 - Improved determination of pose for a robotic work tool - Google Patents

Improved determination of pose for a robotic work tool

Info

Publication number
SE547667C2
SE547667C2 SE2250834A SE2250834A SE547667C2 SE 547667 C2 SE547667 C2 SE 547667C2 SE 2250834 A SE2250834 A SE 2250834A SE 2250834 A SE2250834 A SE 2250834A SE 547667 C2 SE547667 C2 SE 547667C2
Authority
SE
Sweden
Prior art keywords
pose
work tool
robotic work
improved determination
determination
Prior art date
Application number
SE2250834A
Other versions
SE2250834A1 (en
Inventor
Odi Dahan
Sergey Liflandsky
Original Assignee
Husqvarna Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Husqvarna Ab filed Critical Husqvarna Ab
Priority to SE2250834A priority Critical patent/SE547667C2/en
Priority to PCT/SE2023/050369 priority patent/WO2024010503A1/en
Priority to EP23721026.5A priority patent/EP4552000A1/en
Publication of SE2250834A1 publication Critical patent/SE2250834A1/en
Publication of SE547667C2 publication Critical patent/SE547667C2/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/28—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/224—Output arrangements on the remote controller, e.g. displays, haptics or speakers
    • G05D1/2244—Optic
    • G05D1/2245—Optic providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G05D1/2435—Extracting 3D information
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/60—Combination of two or more signals
    • G05D2111/63—Combination of two or more signals of the same type, e.g. stereovision or optical flow
    • G05D2111/65—Combination of two or more signals of the same type, e.g. stereovision or optical flow taken successively, e.g. visual odometry or optical flow

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
SE2250834A 2022-07-04 2022-07-04 Improved determination of pose for a robotic work tool SE547667C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE2250834A SE547667C2 (en) 2022-07-04 2022-07-04 Improved determination of pose for a robotic work tool
PCT/SE2023/050369 WO2024010503A1 (en) 2022-07-04 2023-04-21 Improved determination of pose for a robotic work tool
EP23721026.5A EP4552000A1 (en) 2022-07-04 2023-04-21 Improved determination of pose for a robotic work tool

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2250834A SE547667C2 (en) 2022-07-04 2022-07-04 Improved determination of pose for a robotic work tool

Publications (2)

Publication Number Publication Date
SE2250834A1 SE2250834A1 (en) 2024-01-05
SE547667C2 true SE547667C2 (en) 2025-11-04

Family

ID=86286150

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2250834A SE547667C2 (en) 2022-07-04 2022-07-04 Improved determination of pose for a robotic work tool

Country Status (3)

Country Link
EP (1) EP4552000A1 (en)
SE (1) SE547667C2 (en)
WO (1) WO2024010503A1 (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4694639A (en) * 1985-12-30 1987-09-22 Chen Sheng K Robotic lawn mower
WO2007051972A1 (en) * 2005-10-31 2007-05-10 Qinetiq Limited Navigation system
US10037038B2 (en) * 2006-03-17 2018-07-31 Irobot Corporation Lawn care robot
US20190054621A1 (en) * 2017-08-16 2019-02-21 Franklin Robotics, Inc. Inertial Collision Detection Method For Outdoor Robots
US20200108499A1 (en) * 2015-03-18 2020-04-09 Irobot Corporation Localization and Mapping Using Physical Features
US20200409382A1 (en) * 2017-12-19 2020-12-31 Carnegie Mellon University Intelligent cleaning robot
US20210089034A1 (en) * 2019-09-25 2021-03-25 Husqvarna Ab Propulsion Control Arrangement, Robotic Tool, Method of Propelling Robotic Tool, and Related Devices
US20210289695A1 (en) * 2017-04-18 2021-09-23 Husqvarna Ab Method for Detecting Lifting of a Self-Propelled Tool from the Ground
US20220066456A1 (en) * 2016-02-29 2022-03-03 AI Incorporated Obstacle recognition method for autonomous robots

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2692667B1 (en) * 1992-06-18 1994-08-19 Alsthom Cge Alcatel Displacement measurement device for a vehicle, in particular for an all-terrain robot, and vehicle equipped with such a device.
PT106439A (en) * 2012-07-11 2014-01-13 Introsys Integration For Robotic Systems Integracao De Sist S Roboticos S A ROBOTIZED AND SELF-EMPLOYED ALL-O-VEHICLE
US11199853B1 (en) * 2018-07-11 2021-12-14 AI Incorporated Versatile mobile platform
SE544298C2 (en) * 2020-04-14 2022-03-29 Husqvarna Ab Robotic work tool system and method for defining a working area

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4694639A (en) * 1985-12-30 1987-09-22 Chen Sheng K Robotic lawn mower
WO2007051972A1 (en) * 2005-10-31 2007-05-10 Qinetiq Limited Navigation system
US10037038B2 (en) * 2006-03-17 2018-07-31 Irobot Corporation Lawn care robot
US20200108499A1 (en) * 2015-03-18 2020-04-09 Irobot Corporation Localization and Mapping Using Physical Features
US20220066456A1 (en) * 2016-02-29 2022-03-03 AI Incorporated Obstacle recognition method for autonomous robots
US20210289695A1 (en) * 2017-04-18 2021-09-23 Husqvarna Ab Method for Detecting Lifting of a Self-Propelled Tool from the Ground
US20190054621A1 (en) * 2017-08-16 2019-02-21 Franklin Robotics, Inc. Inertial Collision Detection Method For Outdoor Robots
US20200409382A1 (en) * 2017-12-19 2020-12-31 Carnegie Mellon University Intelligent cleaning robot
US20210089034A1 (en) * 2019-09-25 2021-03-25 Husqvarna Ab Propulsion Control Arrangement, Robotic Tool, Method of Propelling Robotic Tool, and Related Devices

Also Published As

Publication number Publication date
SE2250834A1 (en) 2024-01-05
EP4552000A1 (en) 2025-05-14
WO2024010503A1 (en) 2024-01-11

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