Robotic lawn mower with boundary stands

• US 10,098,277 B2
• Filed: 09/02/2016
• Issued: 10/16/2018
• Est. Priority Date: 08/11/2011
• Status: Active Grant

• Current Assignee: Chien Ouyang
• Original Assignee: Chien Ouyang
• Inventors: Ouyang, Chien
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/256,374
• Publication Number:
  US 20160366818A1
• Time in Patent Office: 774 Days
• Field of Search: 701 2
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

At least some embodiments of the present invention disclose a robotic lawn mowing system coupled with boundary stands to control and to monitor the moving of the robotic lawn mower. The robotic lawn mower uses boundary stands to identify the lawn boundary, to determine the position of the robotic lawn mower in a lawn, and to define the mowing routes. The ultrasonic and RF devices are placed on the robotic lawn mower and on the boundary stands. Based on the disclosed technology, users can define and design the mowing routes to mow the lawn according to their preferences. The control of the robotic lawn mower may be wireless, and users may monitor and control the robotic lawn mower with a computer, a cell phone, or a tablet through a wireless network.

Claims

1. A mowing system for mowing a lawn, comprising:

a robotic lawn mower and a plurality of boundary stands, wherein said boundary stands are placed near a boundary of the lawn, wherein each boundary stand of said boundary stands does not store location coordinates of the boundary stand;

an ultrasonic transmitter is placed on said robotic lawn mower to broadcast ultrasonic waves toward said boundary stands, an ultrasonic receiver is placed on each boundary stand to receive ultrasonic waves from said robotic lawn mower, the time-of-flights of ultrasonic waves are measured to obtain the distances in between said robotic lawn mower and said boundary stands, an RF transceiver is placed on said robotic lawn mower and on each boundary stand to transmit and receive RF signals,

said RF transceiver placed on said robotic lawn mower transmits RF signal toward said boundary stands to synchronize and calibrate the time clocks of said boundary stands, and to receive distance data from said boundary stands,

said RF transceiver placed on each boundary stand receives RF signal from said robotic lawn mower to synchronize and calibrate the time clock of each boundary stand, and to transmit distance data to said robotic lawn mower,

wherein said robotic lawn mower moves first predetermined length in first predetermined direction to first position to broadcast first ultrasonic wave to collect first set of relative distances in between said robotic lawn mower and boundary stands, and said robotic lawn mower moves second predetermined length in second predetermined direction to second position to broadcast second ultrasonic wave to collect second set of relative distances in between said robotic lawn mower and boundary stands, such that said robotic lawn mower, with the continuous moving and the collection of said relative distances, determines its relative position with respect to said boundary stands, thereby, said robotic lawn mower defines a route to mow the lawn.

2. The mowing system of claim 1, wherein said boundary stands comprising:

boundary stands located at outer border of the lawn to confine said robotic lawn mower from traveling to outside of the lawn and to define outer lawn boundary,

boundary stands located at the interior of lawn to guide the moving of said robotic lawn mower,

and boundary stands located along the border of objects located in the lawn to prevent said robotic lawn mower from going across.

3. The mowing system of claim 2, wherein said boundary stands located at outer border of the lawn comprise said RF transceivers to transmit condition signals to said robotic lawn mower, said condition signals indicate said boundary stands are at the outer border of the lawn,

said boundary stands located at the interior of lawn comprise said RF transceivers to transmit condition signals to said robotic lawn mower, said condition signals indicate said boundary stands are at the interior of lawn,

said boundary stands located along the borders of objects located in the lawn comprise said RF transceivers to transmit condition signals to said robotic lawn mower, said condition signals indicate said boundary stands are along the border of objects in the lawn,

each boundary stand contains an ID number, such that said RF transceiver on each boundary stand transmits said ID number to said robotic lawn mower,

such that said robotic lawn mower distinguishes said boundary stands are at the outer border of the lawn, at the interior of lawn, along the borders of objects in the lawn, and said ID numbers of said boundary stands.

4. The mowing system of claim 1, wherein said boundary stands comprises a plurality of group ID to define a plurality of lawn areas, each group of said boundary stands encloses a lawn area, said RF transceivers on each group of said boundary stands transmit said group ID to said robotic lawn mower,

such that said robotic lawn mower determines its location with respect to the group of said boundary stands, and determines the mowing route.