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Autonomous gardening vehicle with camera

A gardening and vehicle technology, applied in motor vehicles, vehicle position/route/height control, gardening, etc., can solve problems such as time-consuming and environmental intrusion

Active Publication Date: 2015-06-17
HEXAGON TECH CENT GMBH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, preparing the terrain for individual autonomous lawnmowers is quite time-consuming and involves environmental intrusion

Method used

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  • Autonomous gardening vehicle with camera
  • Autonomous gardening vehicle with camera
  • Autonomous gardening vehicle with camera

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Embodiment Construction

[0078] figure 1An unmanned autonomous garden vehicle according to the invention is shown, realized as an unmanned autonomous lawnmower 1 , comprising a set of two drive wheels 5 , guide wheels 6 , lawnmower implements 7 and a camera 10 . With respect to the direction of travel according to the arrow A shown, the drive wheels 5 are arranged on opposite sides (left and right) at the rear of the lawnmower 1 . The drive wheels 5 are driven in an independent manner to provide the direction of the lawn mower 1 according to the respective rotation rates of the wheels 5 . In particular, two motors are provided - each connected to one of the drive wheels - for controlling the movement of the lawnmower as the rate of rotation of the wheels 5 .

[0079] According to an alternative embodiment of the invention (not shown), at least one wheel 5 is driven by a motor and guidance of the mower 1 is achieved by turning the guide wheel 6 in a given direction.

[0080] The lawnmower tool 7 comp...

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PUM

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Abstract

Method for generating scaled terrain information with an unmanned autonomous gardening vehicle (1), the gardening vehicle (1) comprising a driving unit comprising a set of at least one drive wheel (5) and a motor connected to the at least one drive wheel for providing movability of the gardening vehicle (1), a gardening-tool (7) and a camera (10a-b) for capturing images of a terrain, the camera (10a-b) being positioned and aligned in known manner relative to the gardening vehicle (1). In context of the method the gardening vehicle (1) is moved in the terrain whilst concurrently generating a set of image data by capturing an image series of terrain sections so that at least two (successive) images of the image series cover an amount of identical points in the terrain, wherein the terrain sections are defined by a viewing area of the camera (10a-b) at respective positions of the camera while moving. Furthermore, a simultaneous localisation and mapping (SLAM) algorithm is applied to the set of image data and thereby terrain data is derived, the terrain data comprising a point cloud representing the captured terrain and position data relating to a relative position of the gardening vehicle (1) in the terrain. Additionally, the point cloud is scaled by applying absolute scale information to the terrain data, particularly wherein the position data is scaled.

Description

technical field [0001] The present invention mainly relates to an unmanned autonomous garden vehicle including a camera and a method of generating terrain information with the help of a garden vehicle in motion. Background technique [0002] Common autonomous garden vehicles such as lawnmowers usually contain many sensors for providing detection of environmental data, which allow to control the vehicle such that possible obstacles in the terrain are recognized and avoided. Furthermore, autonomous lawnmowers typically move according to random paths over the terrain to be mowed, where a defined area of ​​the terrain is cut within a given period of time. That period of time is relatively long due to the multiple (random type) moves of the mower over the same terrain portion, arriving at other portions of the terrain for the first time very late. [0003] Furthermore, it is known from WO 2007 / 051972 that lawnmowers use a mapping function to collect positional information of the...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0253G05D1/0274A01G25/09A01D34/008G05D1/0251G05D1/0246
Inventor 波·佩特尔松
Owner HEXAGON TECH CENT GMBH
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