Patent AU-2020356797-B2 (AU)
Title: Nonholonomic robot field coverage method
Inventor: BARBOI MICKEY
IPC: B25J9/18
Filed: 2020-04-13
Granted: 2022-04-21
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) 
(19) World Intellectual Property 
(1) Organization11111111111111111111111I1111111111111i1111liiiii 
International Bureau (10) International Publication Number 
(43) International Publication Date W O 2021/150262 Al 
29 July 2021 (29.07.2021) W IPO I PCT 
(51) International Patent Classification: (72) Inventors: BARBOI, Mickey; 1880 Industrial Circle, 
G05D 1/02 (2020.01) B25J11/00 (2006.01) Suite E, Longmont, CO 80302 (US). GILBERT, Nevin; 
B25J5/00 (2006.01) G05D 3/00 (2006.01) 1880 Industrial Circle, Suite E, Longmont, Colorado 80302 
B25J9/16 (2006.01) (US). HOURANI, Eesam; 1880 Industrial Circle, Suite E, 
(21) International Application Number: Longmont, Colorado 80302 (US). OLKIN, Terry Michael; 
PCT/US2020/027976 8906 Little Raven Trail, Niwot, Colorado 80503 (US).  
(22) International Filing Date: (74) Agent: VOCK, Curtis A. et al.; Lathrop GPM LLP, 2440 
13 April 2020 (13.04.2020) Junction Place, Suite 300, Boulder, Colorado 80301 (US).  
(25) Filing Language: English (81) Designated States (unless otherwise 
indicated, for every 
kind of national protection available): AE, AG, AL, AM, 
(26) Publication Language: English AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, 
CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, 
(30) Priority Data DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, 
62/965,026 23January2020(23.01.2020) US HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, 
(71) Applicant: LEFT HAND ROBOTICS, INC. [US/US]; KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, 
1880 Industrial Circle, Suite E, Longmont, Colorado 80501 MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, 
(US). OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, 
(54) Title: NONHOLONOMIC ROBOT FIELD COVERAGE METHOD 
MANAGEMENTENTIT Y10 
I--------------------------------------------p 0 
I ROBOT OPERATIONS CENTER SERVICE PROVIDER 151 
(ROC) 120 
FIELD DAA154 IMBL 
PATH PROGRAM 122 
ROBOT CONTROLLER 130 
115 
130I~182 184 1 
102 
- I 103 -k 
= ... ._ ...-- --.-- - .  
FIG. I 
CA (57) Abstract: A software product and methods determine a field coverage method for a nonholonomic robot to process a field using 
parallel lanes. A cellular decomposition algorithm divides the field into a plurality of cells, each having a plurality of parallel lanes.  
Permutations of lane processing orders are determined for each cell, based upon a minimum turning radius of the robot. A cell graph is 
generated to determine a shortest path for single-time processing each lane in each cell without violating the minimum turning radius 
of the robot. A step list defining movement of the nonholonomic robot along each lane in each cell of the shortest path through the cell 
graph is generated, and transits between the lanes, and laps around the field and any obstacles are added. A path program to control the 
nonholonomic robot to process the field is generated based upon the step list.
WO 2021/150262IA1|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||| 
SC, SD, SE, SG, SK, SL, ST, SV, SY, TH, TJ, TM, TN, TR, 
TT, TZ, UA, UG, US, UZ, VC, VN, WS, ZA, ZM, ZW.  
(84) Designated States (unless otherwise indicated, for every 
kind of regional protection available): ARIPO (BW, GH, 
GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, 
UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, 
TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, 
EE, ES, Fl, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, 
MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, 
TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, 
KM, ML, MR, NE, SN, TD, TG).  
Published: 
- with international search report (Art. 21(3))