System and method for area coverage using sector decomposition
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05B-015/00
G05B-019/00
출원번호
US-0550075
(2012-07-16)
등록번호
US-8666554
(2014-03-04)
발명자
/ 주소
Anderson, Noel Wayne
출원인 / 주소
Deere & Company
대리인 / 주소
Yee & Associates, P.C.
인용정보
피인용 횟수 :
0인용 특허 :
84
초록▼
The different illustrative embodiments provide a method for generating an area coverage path plan using sector decomposition. A starting point is identified on a worksite map having a number of landmarks. A first landmark in the number of landmarks is identified. A path is generated around the first
The different illustrative embodiments provide a method for generating an area coverage path plan using sector decomposition. A starting point is identified on a worksite map having a number of landmarks. A first landmark in the number of landmarks is identified. A path is generated around the first landmark until an obstacle is detected. In response to detecting the obstacle, the path is made linear to a next landmark. The path is generated around the next landmark.
대표청구항▼
1. A method for executing an area coverage path plan that specifies a path for an autonomous vehicle to follow when the autonomous vehicle is performing an area coverage task, the method comprising: determining an expected width of a landmark in pixels for a desired distance away from the landmark;i
1. A method for executing an area coverage path plan that specifies a path for an autonomous vehicle to follow when the autonomous vehicle is performing an area coverage task, the method comprising: determining an expected width of a landmark in pixels for a desired distance away from the landmark;identifying an image having the landmark;determining an observed width of the landmark using the image;comparing the observed width of the landmark to the expected width of the landmark; andsending a message to a vehicle control process to move the autonomous vehicle based on the comparison of the observed width and the expected width. 2. The method of claim 1, further comprising: filtering the image to form a filtered image consisting of the landmark. 3. The method of claim 1, further comprising: normalizing an orientation of the landmark in a vertical direction in the image. 4. The method of claim 1, wherein comparing the observed width of the landmark to the expected width of the landmark further comprises: determining whether the observed width of the landmark is greater than the expected width of the landmark; andresponsive to a determination that the observed width is greater than the expected width, sending a message to the vehicle control process to move the autonomous vehicle away from the landmark. 5. The method of claim 4, further comprising: responsive to a determination that the observed width is not greater than the expected width, determining whether the observed width is less than the expected width;responsive to a determination that the observed width is less than the expected width, sending a message to the vehicle control process to move the autonomous vehicle toward the landmark. 6. The method of claim 5, further comprising: determining whether an obstacle is detected; andresponsive to a determination that no obstacle is detected, identifying a next image having a landmark. 7. A method for executing a path plan, the method comprising: receiving a worksite map for a worksite having a number of landmarks;generating an area coverage grid map having a number of area coverage grid elements for the worksite using the worksite map;generating a path plan for the worksite using the worksite map and the area coverage grid map;marking the number of landmarks on the worksite map as unvisited;initializing the number of area coverage grid elements as uncovered; andperforming an area coverage task at the worksite. 8. The method of claim 7, wherein the worksite map includes at least one of a number of landmark locations, a number of landmark attributes, and a number of obstacles. 9. The method of claim 7, further comprising: identifying a landmark marked as unvisited on the worksite map;sending a message to a vehicle control process to proceed to the landmark marked as unvisited; andexecuting an area coverage behavior on a path around the landmark. 10. The method of claim 9, further comprising: determining whether an obstacle is detected;responsive to a determination that the obstacle is detected, marking the landmark marked as unvisited as visited on the worksite map; andmarking associated area coverage grid elements of the landmark marked as visited as covered. 11. The method of claim 7, further comprising: determining whether there are any remaining landmarks marked as unvisited;responsive to a determination that there are remaining landmarks marked as unvisited, identifying a next landmark marked as unvisited on the worksite map; andsending a message to a vehicle control process to proceed to the next landmark marked as unvisited. 12. The method of claim 11, further comprising: responsive to a determination that there are no remaining landmarks marked as unvisited, determining whether there are any remaining area coverage grid elements marked as uncovered;responsive to a determination that there are remaining area coverage grid elements marked as uncovered, sending a message to the vehicle control process to proceed along the path plan to a visited landmark associated with an area coverage grid element marked as uncovered; andexecuting an area coverage behavior on a path around the visited landmark. 13. A method for executing a path plan, the method comprising: receiving a number of landmark attributes and obstacle information for a worksite;generating an area coverage grid map having a number of grid elements;acquiring an image of a worksite area of the worksite;determining whether a landmark is identified in the image;responsive to a determination that the landmark is identified in the image, determining whether the landmark identified has been visited; andresponsive to a determination that the landmark identified has not been visited, calculating a path plan to the landmark identified. 14. The method of claim 13, wherein the number of landmark attributes include at least one of a landmark description, landmark image, and a landmark characteristic. 15. The method of claim 13, wherein the image of the worksite area is acquired using a vision system associated with an autonomous vehicle. 16. The method of claim 13, further comprising: responsive to a determination that the landmark is not identified in the image, searching for the landmark in the worksite area using a number of cameras rotating at an amount which is the product of the field of view in degrees multiplied by a value between zero and one to provide image overlap in additional images acquired. 17. The method of claim 16, further comprising: determining wherein the landmark is identified in the additional images acquired;responsive to a determination that the landmark is not identified in the additional images acquired, determining whether the number of cameras have rotated 360 degrees; andresponsive to a determination that the number of cameras have not rotated 360 degrees, rotating the number of cameras at an amount which is the product of the field of view in degrees multiplied by a value between zero and one to provide image overlap in additional images acquired. 18. The method of claim 17, responsive to a determination that the landmark is identified in the additional images acquired, determining whether the landmark identified has been visited; and responsive to a determination that the landmark identified has not been visited, calculating a path plan to the landmark identified. 19. The method of claim 13, further comprising: responsive to a determination that the landmark identified has been visited, determining whether all grid map elements have been covered;responsive to a determination that all grid map elements have not been covered, acquiring a next image for a next worksite area; anddetermining whether a next landmark is identified in the next image. 20. The method of claim 1, wherein the landmark is a given landmark of a plurality of landmarks, and the plurality of landmarks are located along a worksite boundary that defines a worksite that is worked by the autonomous vehicle using the area coverage path plan.
Henning Pangels ; Thomas Pilarski ; Kerien Fitzpatrick ; Michael Happold ; Mark Ollis ; William Whittaker ; Anthony Stentz, Agricultural harvester with robotic control.
Waruszewski ; Jr. Harry L. (Albuquerque NM), Apparatus and method for an aircraft navigation system having improved mission management and survivability capabilities.
Beck James L. (Los Gatos CA) Kinter Malcolm L. (Sunnyvale CA), Apparatus and method for determining a distance to an object in a field for the controlled release of chemicals on plant.
Kenet Robert O. (Lakeland FL) Kenet Barney J. (Lakeland FL) Tearney Guillermo J. (Cambridge MA), Apparatus and method for monitoring visually accessible surfaces of the body.
Tanahashi Toshio,JPX ; Nakamura Norihiko,JPX ; Aoki Keiji,JPX ; Kimpara Hiromitsu,JPX, Guideway transit system and automated vehicle used in this system.
Fujisaki Tatsuo,JPX ; Nakazawa Isao,JPX ; Shiomi Yasuhiko,JPX, Image stabilizing device operable responsively to a state of optical apparatus using the same.
Sawhney,Harpreet Singh; Kumar,Rakesh; Hsu,Steve; Samarasekera,Supun, Method of pose estimation and model refinement for video representation of a three dimensional scene.
Ma,Cedric Sek Kong; Miller,Robert Henry, Mixed integer linear programming trajectory generation for autonomous nap-of-the-earth flight in a threat environment.
Evans ; Jr. John M. (Brookfield CT) King Steven J. (Woodbury CT) Weiman Carl F. R. (Westport CT), Mobile robot navigation employing retroreflective ceiling features.
Michael Kirkpatrick ; Jeffrey Casper ; Clay Ross ; D. Scott Seaton ; Christian Gellrich ; Michael Cutter ; James Binnion, Portable integrated indoor and outdoor positioning system and method.
Clegg Philip M. (521 E. 4020 North Provo UT 84604) Harris Paul C. (8717 191 st Pl. SW. Edmunds WA 98026) Genstler Curtis C. (14019 Cascadian Way Everrett WA 98208), Real time three-dimensional machine locating system.
Ono Toyoichi (Hiratsuka JPX) Ono Yoshihisa (Hadano JPX) Ichimura Yasuhiko (Hiratsuka JPX) Sakanishi Shoichi (Hiratsuka JPX), System for measuring the position of a moving body.
Goncalves,Luis Filipe Domingues; Karlsson,L. Niklas; Pirjanian,Paolo; Di Bernardo,Enrico, Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.