Patent Description:
Conventionally, there has been known a working robot configured to perform work such as lawn mowing along a traveling route while autonomously traveling in a working area, which is disclosed, for example, in <CIT>. According to this related art, the working area is divided into a plurality of areas via virtual borders previously designated by a user to set a preferential working area in the working area, and a machine is autonomously traveled in the set preferential working area to perform the work.

In addition, there has been known a robotic lawn mower configured to move between a plurality of areas along traveling routes set between the plurality of areas, which is disclosed, for example, in <CIT>.

With the related art disclosed in <CIT>, after the work is done in one preferential working area, the machine is moved to another area of the plurality of divided areas, and the work is performed in this area. Then, when the remaining amount of a battery of the machine is equal to or lower than a set value and therefore the battery needs to be charged, the machine is returned to a charging base. However, this conventional art does not specifically describe how to travel between the areas.

In addition, with the related art disclosed in <CIT>, when the robotic lawn mower moves between a plurality of areas, a traveling route from the work end point in the first area to the work start point in the second area is set. Therefore, when the battery needs to be charged on the way, a shuttle route is set to shuttle from the origin of the traveling route toward the second area to the charging base. In this case, the traveling routes overlap on the shuttle route, and this causes a problem that the damage of the field becomes worse due to the tire marks of the machine traveling on the traveling routes.

<CIT> discloses a robotic working apparatus according to the preamble of claim <NUM>. This document describes a moving robot comprising: a body; a traveler which moves the body; a boundary signal detector which detects a boundary signal generated in a boundary of a traveling area and a docking position signal generated in a docking device; an azimuth sensor which senses an acceleration of the body; and a controller which defines the traveling area based on the boundary signal, wherein when a position correction of the moving robot is required while the moving robot travels the traveling area, the controller resets a position of a moving robot based on a position of the docking device after the moving robot moves to the docking device.

The present invention is proposed to address the above-described problems. It is therefore an object of the invention to provide a robotic working apparatus capable of reducing the damage of the field by eliminating the overlap between the traveling routes as much as possible, and capable of allowing efficient movement between a plurality of areas even taking into account the charging of the battery.

To achieve the above-described object, the invention provides a robotic working apparatus according to claim <NUM>.

According to the invention, it is possible to reduce the damage of the field by eliminating the overlap of the traveling routes as much as possible, and allow efficient movement between a plurality of areas even taking into account the charging of the battery.

The same basic numbers in the different drawings indicate the same functional sections, and therefore repeated description for each of the drawings is omitted.

As illustrated in <FIG>, a robotic working apparatus <NUM> includes a working robot <NUM> configured to perform work on a field F. The working robot <NUM> includes a working tool described later to perform work on the field F, and performs work while autonomously traveling on the field F. The work performed by the working robot <NUM> is not limited but may be, for example, mowing work, collection work, and cleaning work.

The robotic working apparatus <NUM> includes a base <NUM> for the field F. The base <NUM> may be provided in the field F, and may be provided outside the field F as illustrated. The base <NUM> is, for example, a charging base for the electric working robot <NUM>, and is a discharge place where collected target objects are discharged when the working robot <NUM> performs the collection work.

In addition, the robotic working apparatus <NUM> includes a management device <NUM> as needed. The management device <NUM> is configured to remotely control the working robot <NUM>, but may be omitted when the working robot <NUM> is operated by its own controller, or when the base <NUM> also serves as a management device to remotely control the working robot <NUM>. The management device <NUM> may be provided in the field F, or in a facility outside and adjacent to the field F.

The robotic working apparatus <NUM> sets working areas Wa for the working robot <NUM> on the field F. The working robot <NUM> performs work while autonomously traveling in the set working areas Wa. As illustrated in <FIG>, when a plurality of working areas Wa are set, the working robot <NUM> completes the work in one working area Wa, and then moves to a different working area Wa. Here, the working areas Wa may be set on the system as virtual areas based on position information, but may be set as physical areas in the field F by using wire, a marker, or a beacon.

In the working area Wa, the working robot <NUM> travels along a set traveling route or travels randomly in any direction to travel in the whole working area Wa and performs work. The traveling route Rw set in the working area Wa is not limited to the straight route as illustrated, but any route may be set.

<FIG> and <FIG> illustrate examples of the configuration of the robotic working apparatus <NUM>. The working robot <NUM> includes: a traveling part <NUM> having wheels to travel on the field F; a working tool <NUM> configured to perform work on the field F; a traveling drive part (motor) 11A configured to drive the traveling part <NUM>; a working drive part (motor) 12A configured to drive the working tool <NUM>; a controller (CPU) 10A configured to control the operation of the traveling drive part 11A and the operation of the working drive part 12A; and a battery <NUM> as a power source of the working robot <NUM>.

The traveling part <NUM> includes right and left traveling wheels, and the traveling drive part 11A is controlled to individually drive the wheels. By this means, the working robot <NUM> can move forward and backward, turn right and left, and steer in any direction.

With an example illustrated in <FIG>, the working tool <NUM> of the working robot <NUM> is a blade device <NUM> for mowing on the field F. The blade device <NUM> is rotated or linearly reciprocated by the working drive part 12A to mow grass on the field F.

In addition, the working robot <NUM> includes a position detector <NUM> for the autonomous travel. As an example of the position detector <NUM>, a GNSS (global navigation satellite system) sensor configured to receive radio signals sent from satellites <NUM> of a GNSS system such as a GPS, or a receiver configured to receive radio waves generated by beacons disposed in or around the field F may be used. Here, there may be a plurality of position detectors <NUM>.

To achieve the autonomous travel of the working robot <NUM>, the position detected by the position detector <NUM> is inputted to the controller 10A, and the controller 10A controls the traveling drive part 11A such that the position of the set traveling route matches the detected position, or the detected position is within the set area Wa.

The working robot <NUM> includes a communication part <NUM> configured to transmit and receive information to and from other devices as needed. By using the communication part <NUM>, the working robot <NUM> transmits and receives the information to and from, for example, a management device <NUM> installed in a facility, and a controller 20A of the base <NUM>. In addition, the working robot <NUM> can transmit and receive the information to and from other working robots deployed on the field F.

The management device <NUM> is a computer provided in the facility, or a server connected to a network, and includes a communication part <NUM> configured to transmit and receive the information to and from the communication part <NUM> of the working robot <NUM>. The base <NUM> includes the controller 20A and a charging device <NUM> configured to charge the battery <NUM>. The controller 20A includes a communication part <NUM> configured to transmit and receive the information to and from the communication part <NUM> of the working robot <NUM>. The communication parts <NUM>, <NUM>, and <NUM> can communicate with each other directly or via a network. Here, when the controller 10A of the working robot <NUM> independently performs the processing for the control, the communication parts <NUM>, <NUM>, and <NUM>, and the management device <NUM> may be omitted. The controller 20A of the base <NUM> may also serve as the management device <NUM>.

<FIG> illustrates an example where the working robot <NUM> includes a collection device 12P as the working tool <NUM> configured to pick up target objects O and put them into an accommodation part <NUM>. With this example, one or each of the collection device 12P and the accommodation part <NUM> includes a measurement part <NUM> configured to measure the amount of the collected target objects O. The measurement part <NUM> may be a counter configured to count the quantity of the target objects O picked up by the collection device 12P, a scale configured to measure the quantity or the weight of the target objects O accommodated in the accommodation part <NUM>, or a load meter configured to measure the work load of the working tool <NUM>. The information measured by the measurement part <NUM> is inputted to the controller 10A. The other components of the working robot <NUM> illustrated in <FIG> are the same as those of the example illustrated in <FIG>.

<FIG> illustrates an example of the system configuration of the robotic working apparatus <NUM>. The controller 10A of the working robot <NUM> transmits and receives information via the communication part <NUM> as described above, and a controller (CPU) 30A of the management device <NUM> transmits and receives information via the communication part <NUM>. In addition, a controller (CPU) 20A of the base <NUM> transmits and receives information via the communication part <NUM>.

The controllers 10A, 20A and 30A include timers <NUM>, <NUM>, and <NUM> such as real-time clocks configured to measure and output the time, and memories <NUM>, <NUM>, and <NUM> configured to store information and programs, respectively. In addition, the controllers 10A, 20A, and 30A constitute a controller U which is unified by the exchange of information among the communication parts <NUM>, <NUM>, and <NUM>, and the functions of the controllers 10A, 20A and 30A can be substituted for each other.

The controller 10A of the working robot <NUM> receives work instruction information (the existing work schedule, the working area, and the traveling route) from a setting input part <NUM>, receives information from a working state detector 10T, receives information about the current position of the working robot <NUM> from the position detector <NUM>, and receives information about the remaining amount of the battery from the battery <NUM>. Then, the controller 10A controls the traveling drive part 11A and the working drive part 12A based on the inputted information, and performs the work of the working robot <NUM> according to the inputted work instruction information.

When the working tool <NUM> is the blade device <NUM>, the working state detector 10T is configured to detect the drive state of the load on a blade. Meanwhile, when the working tool <NUM> is the collection device 12P, the working state detector 10T is configured to detect the information about the amount of the collected target objects O from the measurement part <NUM>.

The controller 20A provided in the base <NUM> receives charging process information and so forth from the charging device <NUM> charging the battery <NUM> of the working robot <NUM>.

The controller 30A of the management device <NUM> receives work instruction information (the work schedule, the working area, and the traveling route) and management facility information (business hours, users, use places, the state of the field F, information about the growth of plants on the field F, the amount of feed of the target objects O, events of the management facility, and event times) from a setting input part <NUM>.

As illustrated in <FIG>, the controller U (10A, 20A, and 30A) of the robotic working apparatus <NUM> includes a traveling motion controller P1 to control the autonomous travel of the traveling part <NUM> (traveling drive part 11A), a working motion controller P2 to control the motion of the working tool <NUM> (working drive part 12A), and a setting controller P3 to set the traveling route of the working robot <NUM>. Here, the traveling motion controller P1, the working motion controller P2 and the setting controller P3 are programs to control the operation of the CPU of the controller U (10A, 20A, and 30A).

Hereinafter, examples of the setting of traveling routes by the controller U (10A, 20A, and 30A) will be described with reference to <FIG>. Here, through <FIG>, a first area Wa(<NUM>) and a second area Wa(<NUM>) are set as a plurality of working areas, and traveling routes for the working robots <NUM> are set to move from a work end point G1 in the first area Wa(<NUM>) to a work start point G2 in the second area Wa(<NUM>).

In this case, a traveling route to move from the work end point G1 in the first area Wa(<NUM>) directly to the work start point G2 in the second area Wa(<NUM>) is not set, but a traveling route from the work end point G1 to the base <NUM>, and a traveling route from the base <NUM> to the work start point G2 are set. By this means, in a case where the working robot <NUM> completes the work for the first area Wa(<NUM>) and then goes to the second area Wa(<NUM>), the working robot <NUM> can return to the base <NUM> once and be charged. Therefore, it is possible to prevent run out of charge during the work for the second area Wa(<NUM>), and consequently to perform efficient work.

The traveling route from the work end point G1 to the base <NUM> is set to be different at least in part from the traveling route from the base <NUM> to the work start point G2. By this means, it is possible to eliminate the overlap between the traveling route to return to the base <NUM> and the traveling route from the base <NUM> to go to the working area Wa as much as possible, and therefore to reduce the damage of the field F due to the tire marks of the working robot <NUM>.

Here, each of the traveling route from the work end point G1 to the base <NUM> and the traveling route from the base <NUM> to the work start point G2 may be a straight route or a non-straight route. In addition, each of the traveling route from the work end point G1 to the base <NUM> and the traveling route from the base <NUM> to the work start point G2 may be a direct route or a route with a relay point.

With the example illustrated in <FIG>, which is not part of the present invention, a traveling route Rw for work is set in each of the first area Wa(<NUM>) and the second area Wa(<NUM>). Here, the traveling routes Rw are set for patterned traveling, and with the illustrated example, are formed in a stripe pattern in which straight and parallel lines are alternately inversed. The traveling route Rw in the first area Wa(<NUM>) is a route from a work start point G0 to the work end point G1. The traveling route Rw in the second area Wa(<NUM>) is a route from the work start point G2 to a work end point G3.

In addition, a traveling route Rs from the base <NUM> to the work start point G0 in the first area Wa(<NUM>), a traveling route Rt from the work end point G1 in the first area Wa(<NUM>) to the base <NUM>, and a traveling route Rd from the base <NUM> to the work start point G2 in the second area Wa(<NUM>) are set not to overlap each other. With the example illustrated in <FIG>, each of the traveling routes Rs, Rt, and Rd is a direct and straight route.

With an example illustrated in <FIG>, a relay point Pr is provided in the traveling route Rd. As illustrated in <FIG>, when an avoidance area Av to avoid an obstacle and so forth is set between the base <NUM> and the work start point G2 in the second area Wa(<NUM>), the relay point Pr is set to provide an alternative route to bypass the avoidance area Av. This relay point Pr may be provided between the work end point G1 and the base <NUM> and/or between the base <NUM> and the work start point G2, and also provided between the base <NUM> and the work start point G0 as needed.

According to the invention, there are a plurality of relay points. For example, when RTK-GNSS (GPS) is adopted, the location accuracy is improved, and therefore when only one relay point is set, the working robot <NUM> travels and turns intensively at the location of the relay point. This may cause the damage of the field F. To reduce the damage, a plurality of relay points are set, and one of them is randomly selected. By this means, it is possible to prevent the damage of the field F.

<FIG> illustrates an example where a plurality of relay points Pr(<NUM>), Pr(<NUM>), Pr(<NUM>), and Pr(<NUM>) are provided. Here, the relay point Pr(<NUM>) is provided between the base <NUM> and the work start point G0 in the first area Wa(<NUM>); the relay point Pr(<NUM>) is provided between the work end point G1 in the first area Wa(<NUM>) and the base <NUM>; and the relay point Pr(<NUM>) and the relay point Pr(<NUM>) are provided between the base <NUM> and the work start point G2 in the second area Wa(<NUM>). In this way, when the plurality of relay points are provided, these relay points are appropriately selected. By this means, it is possible to optionally set the traveling routes Rs, Rt, and Rd while preventing the overlap of them.

With an example illustrated in <FIG>, which is not part of the present invention, at least one of the work start point G0 in the first area Wa(<NUM>), the work end point G1 in the first area Wa(<NUM>), and the work start point G2 in the second area Wa(<NUM>) is different from that set in the past.

That is, in a case where the work start point G0 in the first area Wa(<NUM>), the work end point G1 in the first area Wa(<NUM>), and the work start point G2 in the second area Wa(<NUM>) are set as illustrated in <FIG> last time or several times ago, the work start point G0 in the first area Wa(<NUM>), the work end point G1 in the first area Wa(<NUM>), and the work start point G2 in the second area Wa(<NUM>) are changed to different points as illustrated in <FIG> this time. By this means, it is possible to prevent the traveling routes Rs, Rt, and Rd set this time from overlapping with the traveling routes Rs, Rt, and Rd set last time.

<FIG> illustrate an example which is not part of the present invention, where the patterned traveling is set for the first area Wa(<NUM>) and the second area Wa(<NUM>), and the angle of the patterned traveling set this time is changed from the angle of the patterned traveling set in the past.

That is, in a case where the traveling routes Rw in the first area Wa(<NUM>) and the second area Wa(<NUM>) set last time or several times ago form the patterned traveling in the stripe pattern along Y direction as illustrated in <FIG>, the patterned traveling of the traveling routes Rw in the first area Wa(<NUM>) and the second area Wa(<NUM>) are changed to that in the stripe pattern along X direction as illustrated in <FIG> this time. In this way, the angle of the patterned traveling is changed. By this means, it is possible to change the work start point G0 in the first area Wa(<NUM>), the work end point G1 in the first area Wa(<NUM>), and the work start point G2 in the second area Wa(<NUM>) to different points, respectively, and consequently to prevent the traveling routes Rs, Rt, and Rd set this time from overlapping with the traveling routes Rs, Rt, and Rd set last time, respectively. Here, as illustrated in <FIG>, the angle of the patterned traveling is changed to <NUM> degrees. However, this is by no means limiting but the angle may be changed by any value.

<FIG> illustrate an example which is not part of the present invention, where the work end point G1 in the first area Wa(<NUM>) and the work start point G2 in the second area Wa(<NUM>) set this time are shifted from those set in the past, respectively. That is, in a case where the work end point G1 in the first area Wa(<NUM>) and the work start point G2 in the second area Wa(<NUM>) are set as illustrated in <FIG> last time or several times ago, each of the work end point G1 and the work start point G2 is shifted in the Y direction by a predetermined distance as illustrated in <FIG> this time. By this means, it is possible to prevent the traveling routes Rt and Rd set this time from overlapping with the traveling routes Rt and Rd set last time, respectively. The shifted points may be the work start point G0 in the first area Wa(<NUM>) and the work end point G3 in the second area Wa(<NUM>), and any point may be selected. In addition, the direction to shift the point may be the X direction, and any direction may be selected.

Here, with the examples illustrated in <FIG>, the work end point G1 in the first area Wa(<NUM>) and the work start point G2 in the second area Wa(<NUM>) are set to be different from one another. In contrast, as illustrated in <FIG>, the work end point G1 in the first area Wa(<NUM>) and the work start point G2 in the second area Wa(<NUM>) may be set to the same point. In this case, the relay point Pr is set as illustrated in <FIG>, and therefore it is possible to prevent the traveling route Rd from overlapping with the traveling route Rt.

Moreover, as illustrated in <FIG>, the work end point G1 in the first area Wa(<NUM>), the work start point G2 in the second area Wa(<NUM>), and the base <NUM> may be arranged linearly (the work start point G2 is located on the extended line of the line connecting the base <NUM> to the work end point G1). In this case, the relay point Pr is set as illustrated in <FIG>, and therefore it is possible to prevent the traveling route Rd from overlapping with the traveling route Rt.

Furthermore, as illustrated in <FIG>, a space area Sa may be provided between the first area Wa(<NUM>) and the second area Wa(<NUM>). In this case, when a traveling route Rd2 is set between the work end point G1 in the first area Wa(<NUM>) and the work start point G2 in the second area Wa(<NUM>), the relay point Pr is set as illustrated in <FIG>. By this means, it is possible to prevent a traveling route Rd1 from the base <NUM> to the work end point G1 in the first area Wa(<NUM>) via the relay point Pr from overlapping with the traveling route Rt from the work end point G1 to the base <NUM>. In this case, the traveling route from the base <NUM> to the work start point G2 in the second area Wa(<NUM>) is a route obtained by adding the traveling route Rd2 to the traveling route Rd1.

With the above-described embodiment, the working tool <NUM> of the working robot <NUM> is actuated and working on the traveling routes Rw in the first area Wa(<NUM>) and the second area Wa(<NUM>). When the working tool <NUM> is the blade device <NUM>, the mowing work is performed along the traveling routes Rw. Meanwhile, when the working tool <NUM> is the collection device 12P, the collection work to collect the target objects O is performed along the traveling routes Rw.

Claim 1:
A robotic working apparatus (<NUM>) comprising:
a working robot (<NUM>) having a working tool (<NUM>) configured to perform a work on a field (F), said working robot configured to perform the work with the working tool (<NUM>) while autonomously traveling on the field (F); and
a controller (10A, 20A, 30A, U) configured to set a traveling route (Rw, Rs, Rt, Rd, Rd1, Rd2) for the working robot (<NUM>) and control motion of the working robot (<NUM>), wherein:
a first area (Wa(<NUM>)) and a second area (Wa(<NUM>)) are set on the field (F) as working areas of the working robot (<NUM>), when the working robot (<NUM>) moves from a work end point (G1) in the first area (Wa(<NUM>)) to a work start point (G2) in the second area (Wa(<NUM>)), the controller (10A, 20A, 30A, U) sets a route (Rt) from the work end point (G1) to a base (<NUM>), and a route (Rd) from the base (<NUM>) to the work start point (G2); and
the route (Rt) from the work end point (G1) to the base (<NUM>) is different at least in part from the route (Rd) from the base (<NUM>) to the work start point (G2),
characterized in that
one relay point (Pr(<NUM>), Pr(<NUM>), Pr(<NUM>)) is selected from a plurality of relays points (Pr(<NUM>), Pr(<NUM>), Pr(<NUM>)) and
the route (Rd) between the base (<NUM>) and the work start point (G2) in the second area (Wa(<NUM>)) consists of a straight line from the base (<NUM>) to the selected relay point (Pr(<NUM>), Pr(<NUM>), Pr(<NUM>)) and a straight line from the selected relay point (Pr(<NUM>), Pr(<NUM>), Pr(<NUM>)) to the work start point (G2) in the second area (Wa(<NUM>)), and/or
the route (Rt) between work end point (G1) in the first area (Wa(<NUM>)) and the base (<NUM>) consists of a straight line from work end point (G1) in the first area (Wa(<NUM>)) to the selected relay point (Pr(<NUM>), Pr(<NUM>), Pr(<NUM>)) and a straight line from the selected relay point (Pr(<NUM>), Pr(<NUM>), Pr(<NUM>)) to the base (<NUM>).