Robotic vehicle learning site boundary

Patent metadata

Field	Value
Publication number	US-10444760-B2
Application number	US-201515532383-A
Country	US
Kind code	B2
Filing date	Nov 17, 2015
Priority date	Dec 17, 2014
Publication date	Oct 15, 2019
Grant date	Oct 15, 2019

Abstract

A method for employing learnable boundary positions for bounding operation of a robotic vehicle may include detecting temporary indicia of a boundary on a parcel via at least one sensor of a robotic vehicle, generating coordinate or location based boundary information 5 based on the temporary indicia, and operating the robotic vehicle within the boundary based on the generated coordinate or location based boundary information.

First claim

That which is claimed:

1. A robotic vehicle comprising:
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; and
processing circuitry configured to:
detect temporary indicia of a boundary on a parcel via at least one sensor of the sensor network;
generate a location based boundary information based on the temporary indicia, wherein being configured to generate the location based boundary information includes being configured to:
store image data, received from the sensor network, as reference images, the reference images comprising the temporary indicia,
compare currently captured images to the reference images to determine matched references images, and
combine the location based boundary information with the currently captured images based on the temporary indicia within the matched reference images by superimposing the location based boundary information on the currently captured images to form an augmented reality boundary as a projected boundary for use by a navigation system configured to operate the robotic vehicle; and

operate the robotic vehicle within the projected boundary.

2. The robotic vehicle of claim 1 , wherein the processing circuitry is configured for detecting the temporary indicia by detecting a painted line provided at the boundary.

3. The robotic vehicle of claim 1 , wherein the processing circuitry is configured for detecting the temporary indicia by detecting a ribbon, rope or other flexible material laid on top of the ground at the boundary.

4. The robotic vehicle of claim 1 , wherein the processing circuitry is configured for detecting the temporary indicia by detecting the temporary indicia via a camera.

5. The robotic vehicle of claim 1 , wherein the processing circuitry is configured to generate the location based boundary information by operating the robotic vehicle to substantially trace the boundary defined by the temporary indicia and recording coordinates or locations of the robotic vehicle as corresponding coordinate or location based boundary information while tracing the boundary.

6. The robotic vehicle of claim 5 , wherein the sensor network comprises a first sensor configured to facilitate tracing the boundary, and a second sensor configured to record the coordinates or locations.

7. The robotic vehicle of claim 1 , wherein the temporary indicia further comprises a directional indicator to indicate which side of the temporary indicia is inside or outside of the boundary.

8. The robotic vehicle of claim 1 , wherein the processing circuitry is configured to operate the robotic vehicle within the projected boundary without reference to the temporary indicia or after removal of the temporary indicia.

9. The robotic vehicle of claim 1 , wherein the processing circuitry is configured to provide the operator with a mode selection option to enable the operator to select a boundary learning mode in which the processing circuitry is configured for generating the location based boundary information based on the temporary indicia, and an operating mode in which the processing circuitry is configured to operate the robotic vehicle within the projected boundary.

10. A method comprising:
detecting temporary indicia of a boundary on a parcel via at least one sensor of a robotic vehicle;
generating location based boundary information based on the temporary indicia, wherein generating the location based boundary information comprises:
storing image data, received from the at least one sensor, as reference images, the reference images comprising the temporary indicia,
comparing currently captured images to the reference images to determine matched references images, and
combining the location based boundary information with the currently captured images based on the temporary indicia within the matched reference images by superimposing the location based boundary information on the currently captured images to form an augmented reality boundary as a projected boundary for use by a navigation system configured to operate the robotic vehicle; and

operating the robotic vehicle within the projected boundary.

11. The method of claim 10 , wherein detecting the temporary indicia comprises detecting a painted line provided at the boundary.

12. The method of claim 10 , wherein detecting the temporary indicia comprises detecting a ribbon, rope or other flexible material laid on top of the ground at the boundary.

13. The method of claim 10 , wherein detecting the temporary indicia comprises detecting the temporary indicia via a camera.

14. The method of claim 10 , wherein generating the location based boundary information comprises operating the robotic vehicle to substantially trace the boundary defined by the temporary indicia and recording coordinates or locations of the robotic vehicle as corresponding location based boundary information while tracing the boundary, and
wherein operating the robotic vehicle comprises using a first sensor to trace the boundary, and wherein recording the coordinates or locations comprises recording coordinate or location data obtained from a second sensor.

15. The method of claim 10 , wherein the temporary indicia further comprise a directional indicator to indicate which side of the temporary indicia is inside or outside of the boundary.

16. The method of claim 10 , wherein operating the robotic vehicle within the projected boundary comprises operating the robotic vehicle within the boundary without reference to the temporary indicia or after removal of the temporary indicia.

17. The method of claim 10 , further comprising enabling an operator to select between a boundary learning mode in which generating the location based boundary information based on the temporary indicia is performed, and an operating mode in which operating the robotic vehicle within the projected boundary is performed.

Assignees

• Husqvarna Ab

Inventors

• Grufman Stefan
• Öhrlund Magnus
• Willgert Mikael
• Mattsson Anders

Classifications

• A01D2101/00

  Lawn-mowers · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• G05D1/0246 Primary

  using a video camera in combination with image processing means · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title

• G05D1/0221

  involving a learning process · CPC title