Path setting apparatus, path setting method, and non-transitory computer-readable storage medium
AssigneeHonda Motor Co., Ltd.
InventorToru Kawai
Life of this patent
Estimating the term…
Abstract
A path setting apparatus for an autonomous working machine that autonomously conducts a work while moving in a working site with recognizing a current location based on a GNSS signal, includes an obtaining unit configured to obtain information regarding reception strength of the GNSS signal on the working site, and a setting unit configured to set a movement path of the autonomous working machine in the working site based on the information obtained by the obtaining unit.
Claims13
A path setting apparatus for an autonomous working machine that autonomously conducts a work as the autonomous working machine moves in a working site while recognizing a current location based on a global navigation satellite system (GNSS) signal, the path setting apparatus comprising:
- at least one processor;
- and
- at least one memory coupled to the at least one processor, the at least one memory storing instructions that, when executed by the at least one processor, cause the at least one processor to:
- move the autonomous working machine along a test path to obtain information regarding reception strength of the GNSS signal on the working site;
- set a movement path of the autonomous working machine in the working site based on the information obtained by the at least one processor, the movement path being set such that the work is started from an end point of the test path;
- and
- control the autonomous working machine to move along the movement path,
- wherein the instructions being configured to cause the at least one processor to set the movement path such that:
- while the autonomous working machine is reciprocating in a first direction in the working site, the autonomous working machine moves in a second direction that intersects the first direction;
- and
- a movement pitch in the second direction is shorter in an area where the reception strength is lower than a threshold than a movement pitch in an area where the reception strength is equal to or higher than the threshold in the working site, and
- the autonomous working machine moves in the area where the reception strength is lower than the threshold while recognizing the current location based on the GNSS signal.
A path setting method for an autonomous working machine that autonomously conducts a work as the autonomous working machine moves in a working site while recognizing a current location based on a global navigation satellite system (GNSS) signal, the path setting method comprising:
- moving the autonomous working machine along a test path to obtain information regarding reception strength of the GNSS signal on the working site;
- setting a movement path of the autonomous working machine in the working site based on the information obtained by the obtaining, the movement path being set such that the work is started from an end point of the test path;
- and
- control the autonomous working machine to move along the movement path,
- wherein the movement path is set such that:
- while the autonomous working machine is reciprocating in a first direction in the working site, the autonomous working machine moves in a second direction that intersects the first direction;
- and
- a movement pitch in the second direction is shorter in an area where the reception strength is lower than a threshold than a movement pitch in an area where the reception strength is equal to or higher than the threshold in the working site, and
- the autonomous working machine moves in the area where the reception strength is lower than the threshold while recognizing the current location based on the GNSS signal.
A non-transitory computer-readable storage medium storing a program that, when executed by a computer, causes the computer to perform a path setting method for an autonomous working machine that autonomously conducts a work as the autonomous working machine moves in a working site while recognizing a current location based on a global navigation satellite system (GNSS) signal, the path setting method comprising:
- moving the autonomous working machine along a test path to obtain information regarding reception strength of the GNSS signal on the working site;
- setting a movement path of the autonomous working machine in the working site based on the information obtained by the obtaining, the movement path being set such that the work is started from an end point of the test path;
- and
- control the autonomous working machine to move along the movement path,
- wherein the movement path is set such that:
- while the autonomous working machine is reciprocating in a first direction in the working site, the autonomous working machine moves in a second direction that intersects the first direction;
- and
- a movement pitch in the second direction is shorter in an area where the reception strength is lower than a threshold than a movement pitch in an area where the reception strength is equal to or higher than the threshold in the working site,
- the autonomous working machine moves in the area where the reception strength is lower than the threshold while recognizing the current location based on the GNSS signal.
A path setting apparatus for an autonomous working machine that autonomously conducts a work as the autonomous working machine moves in a working site while recognizing a current location based on a global navigation satellite system (GNSS) signal, the path setting apparatus comprising:
- at least one processor;
- and
- at least one memory coupled to the at least one processor, the at least one memory storing instructions that, when executed by the at least one processor, cause the at least one processor to:
- obtain information regarding reception strength of the GNSS signal on the working site;
- set a movement path of the autonomous working machine in the working site based on the information obtained by the at least one processor;
- and
- control the autonomous working machine to move along the movement path,
- wherein the instructions further cause the at least one processor to set the movement path such that:
- while the autonomous working machine is reciprocating in a first direction in the working site, the autonomous working machine moves in a second direction that intersects the first direction;
- and
- a movement stroke in the first direction is shorter in an area where the reception strength is lower than a threshold than a movement stroke in an area where the reception strength is equal to or higher than the threshold in the working site, and
- wherein the instructions further cause the at least one processor to notify another autonomous working machine to conduct the work in an unworked area as a result of the shortened movement stroke in the first direction of the autonomous working machine in the area where the reception strength is equal to or higher than the threshold, the another autonomous working machine including a GNSS receiver with higher accuracy than the autonomous working machine.
A path setting method for an autonomous working machine that autonomously conducts a work as the autonomous working machine moves in a working site while recognizing a current location based on a global navigation satellite system (GNSS) signal, the path setting method comprising:
- obtaining information regarding reception strength of the GNSS signal on the working site;
- setting a movement path of the autonomous working machine in the working site based on the information obtained by the obtaining;
- and
- control the autonomous working machine to move along the movement path,
- wherein the movement path is set such that:
- while the autonomous working machine is reciprocating in a first direction in the working site, the autonomous working machine moves in a second direction that intersects the first direction;
- and
- a movement stroke in the first direction is shorter in an area where the reception strength is lower than a threshold than a movement stroke in an area where the reception strength is equal to or higher than the threshold in the working site, and
- wherein the path setting method comprises notifying another autonomous working machine to conduct the work in an unworked area as a result of the shortened movement stroke in the first direction of the autonomous working machine in the area where the reception strength is equal to or higher than the threshold, the another autonomous working machine including a GNSS receiver with higher accuracy than the autonomous working machine.
A non-transitory computer-readable storage medium storing a program that, when executed by a computer, causes the computer to perform a path setting method for an autonomous working machine that autonomously conducts a work as the autonomous working machine moves in a working site while recognizing a current location based on a global navigation satellite system (GNSS) signal, the path setting method comprising:
- obtaining information regarding reception strength of the GNSS signal on the working site;
- setting a movement path of the autonomous working machine in the working site based on the information obtained by the obtaining;
- and
- control the autonomous working machine to move along the movement path,
- wherein the movement path is set such that:
- while the autonomous working machine is reciprocating in a first direction in the working site, the autonomous working machine moves in a second direction that intersects the first direction;
- and
- a movement stroke in the first direction is shorter in an area where the reception strength is lower than a threshold than a movement stroke in an area where the reception strength is equal to or higher than the threshold in the working site,
- wherein the path setting method comprises notifying another autonomous working machine to conduct the work in an unworked area as a result of the shortened movement stroke in the first direction of the autonomous working machine in the area where the reception strength is equal to or higher than the threshold, the another autonomous working machine including a GNSS receiver with higher accuracy than the autonomous working machine.
Dependencies are inferred from the claim text.