Working robot system

Patent metadata

Field	Value
Publication number	US-12468301-B2
Application number	US-202318319855-A
Country	US
Kind code	B2
Filing date	May 18, 2023
Priority date	Dec 10, 2020
Publication date	Nov 11, 2025
Grant date	Nov 11, 2025

Abstract

A working robot system includes a working robot configured to perform work while autonomously traveling, and a non-energization wire configured to partition a working area or an active area of the working robot. The working robot includes a wire detector configured to detect the wire. The working robot system includes a controller configured to control the working robot to autonomously travel within a area partitioned by the wire, based on a detection signal from the wire detector.

First claim

The invention claimed is:

1 . A working robot system comprising:
a working robot configured to perform work while autonomously traveling; a non-energization wire configured to partition a working area or an active area of the working robot; and a controller,
wherein:
the working robot includes a wire detector configured to detect the wire;
the controller includes a processor;
the processor is configured to control the working robot to autonomously travel within an area partitioned by the wire, based on a detection signal from the wire detector;
the wire detector is a wire detection sensor configured to transmit a detection wave to the wire and receive a reflected wave from the wire;
the wire detection sensor is a sensor for radar detection at a frequency equal to or higher than an extremely high frequency;
the wire has a form feature to determine whether the working robot exists inside or outside the area surrounded by the wire;
the form feature is that:
detection markers are continuously arranged at different intervals along a longitudinal direction of the wire,
the wire includes a combination of a wire that is thick in diameter and a wire that is thin in diameter, or
one of an outer surface of the wire facing the inside of the area and an outer surface of the wire facing the outside of the area is uneven; and

the wire detector scans the detection wave and the processor determines whether the working robot exists inside the area surrounded by the wire based on the form feature of the wire.

2 . The working robot system according to claim 1 , wherein the wire is not electrically connected to a charging station.

3 . The working robot system according to claim 1 , further comprising a fixing member configured to fix one end and the other end of the wire to one another.

4 . The working robot system according to claim 3 , wherein the fixing member is configured to mechanically fix the wire.

5 . The working robot system according to claim 1 , wherein the working area or the active area is surrounded by one wire.

6 . The working robot system according to claim 1 , wherein the working area or the active area is surrounded by at least two wires.

7 . The working robot system according to claim 1 , wherein the wire is provided on a on a ground surface.

8 . The working robot system according to claim 1 , wherein the working robot is configured to perform work in a construction site, a ridge, an orchard, a mountain, a grassland, a garden, and a sports practice area.

9 . The working robot system according to claim 8 , the working robot is at least one of a lawn mower, a grass mower, and a ball picker.

Assignees

• Yamabiko Corp

Inventors

• SUGI Kentaro
• ISHIHIRA Haruka

Classifications

• G05D1/43

  Control of position or course in two dimensions [2D] · CPC title

• G05D2109/10

  Land vehicles · CPC title

• G05D1/244

  using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means · CPC title

• A63B47/02

  for picking-up {or collecting} · CPC title

• A01D2101/00

  Lawn-mowers · CPC title