03-02-2022 дата публикации
Номер: US20220030759A1
Принадлежит:
A method, system and robot for autonomous navigation thereof between two rows of plants, wherein said robot includes two or more sensing devices, sensor A and sensor B, mounted thereon and moves forward along an axis parallel to the rows of plants, being autonomously steered by exerting angular corrections to place the robot as close as possible to the centerline between the rows of plants, wherein the method and system includes the following: 1. A method for autonomous navigation of a robot between two rows of plants spaced Q metres apart , wherein said robot comprises two sensing devices , sensor A and sensor B , mounted at a position O thereon and moves forward along a y-axis being autonomously steered by exerting angular corrections to place the robot as close as possible to the centerline , wherein each sensing device is a device which detects electromagnetic waves or detects sound waves , and wherein when both devices detect:(A) electromagnetic waves, sensor A detects said waves at a frequency and/or field-of-view different from that of the waves detected by sensor B; and 'wherein said y-axis is a horizontal axis and said x-axis is a horizontal axis perpendicular to said y-axis,', '(B) sound waves, sensor A detects said waves at a frequency and/or field-of-view different from that of the waves detected by sensor B, and'}and wherein said method comprises the following steps:{'sub': G', 'G, 'u': {'@style': 'single', 'c'}, 'claim-text': [{'sub': min', 'max, '(a) said width extends horizontally |X| metres away from O to the left along said x-axis and horizontally Xmetres away from O to the right along said x-axis; and'}, {'sub': 'max', '(b) said length extends horizontally Ymetres away from O along said y-axis;'}, [{'br': None, 'i': X', '=−X', {'u': {'@style': 'single', 'c'}, '·/'}], 'sub': min', 'G, '2;'}, {'br': None, 'i': X', '=X', {'u': {'@style': 'single', 'c'}, '·/'}], 'sub': max', 'G, '2;'}, {'br': None, 'i': Y', '=Y', {'u': {'@style': 'single', 'c'}, ...
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