US 12,222,721 B2
Autonomous work machine, autonomous work machine control method, and storage medium
Takamasa Udagawa, Wako (JP); Makoto Yamamura, Wako (JP); Hiroto Takahashi, Wako (JP); and Masaya Honji, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Jan. 18, 2022, as Appl. No. 17/577,916.
Application 17/577,916 is a continuation of application No. PCT/JP2019/028902, filed on Jul. 23, 2019.
Prior Publication US 2022/0137632 A1, May 5, 2022
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0251 (2013.01)] 26 Claims
OG exemplary drawing
 
1. An autonomous work machine that works in a work area, the autonomous work machine comprising:
at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
detect a plurality of markers arranged to define the work area;
specify marker information based on a detection result of the detecting of the markers;
set a virtual line connecting the plurality of markers based on the specified marker information and
control the autonomous work machine such that the autonomous work machine does not deviate to a region beyond the virtual line,
wherein a time required for the autonomous work machine to reach the virtual line is calculated, and the autonomous work machine is controlled based on the calculated time.