Autonomous robot apparatus and method for controlling the same

• US 10,113,280 B2
• Filed: 12/23/2013
• Issued: 10/30/2018
• Est. Priority Date: 12/21/2012
• Status: Active Grant

• Current Assignee: Futuregen Technologies Incorporated
• Original Assignee: Michael Todd Letsky
• Inventors: Letsky, Michael Todd
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US14/139,218
• Publication Number:
  US 20140180478A1
• Time in Patent Office: 1,772 Days
• Field of Search: 700245-264
• CPC Class Codes: E01H 5/00 Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice by applying de-icing agents E01H10/00; obstruction removers on vehicles B60R19/00; sand, gravel or salt spreaders E01C19/20
• CPC Class Codes: E01H 5/098 about horizontal or substantially horizontal axises perpendicular or substantially perpendicular to the direction of clearing
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

An autonomous robot apparatus that is activated to perform a work routine upon detecting the accumulation of precipitation. In one aspect, the invention can be an autonomous robot apparatus comprising: a chassis; a plurality of wheels mounted to the chassis; a drive system mounted to the chassis and operably coupled to the plurality of wheels; a control module operably coupled to the drive system; a precipitation sensing module comprising an accumulation level sensor configured to generate and transmit, to the control module, a first signal upon a predetermined initial accumulation level being detected; and the control module configured to activate the autonomous robot apparatus to perform a first instance of a work routine upon receipt of the first signal.

Claims

1. An autonomous robot apparatus comprising:

a chassis;

a plurality of wheels mounted to the chassis;

a drive system mounted to the chassis and operably coupled to the plurality of wheels;

a control module operably coupled to the drive system;

a precipitation sensing module comprising an accumulation cavity, wherein a floor of the accumulation cavity comprises at least one drainage aperture, an accumulation level sensor configured to generate and transmit, to the control module, a first signal upon a predetermined initial accumulation level of precipitation being detected, and wherein the predetermined initial accumulation level is an adjustable parameter that can be modified by an end user, wherein the accumulation level sensor comprises a plurality of sensors mounted on a wall of the accumulation cavity;

the control module configured to activate the autonomous robot apparatus to perform a first instance of a work routine upon receipt of the first signal;

the precipitation sensing module further configured to generate and transmit, to the control module, a second signal upon a predetermined secondary accumulation level of the precipitation being detected, the predetermined secondary accumulation level of the precipitation being a greater accumulation of the precipitation than the predetermined initial accumulation level of the precipitation;

the control module further configured to cause the autonomous robot apparatus to perform a second instance of the work routine, after completion of the first instance of the work routine, upon receipt of the second signal.

2. The autonomous robot apparatus of claim 1 wherein the control module comprises a central processing unit and a memory device, the memory device storing instructions for the autonomous robot apparatus to perform the work routine.

3. The autonomous robot apparatus of claim 1 further comprising:

a proximity sensor configured to detect presence of an undesired object and, upon detection of the undesired object, generate and transmit a detection signal to the control module; and

wherein the control module is further configured to prohibit the activation of the autonomous robot apparatus if the detection signal is received.

4. The autonomous robot apparatus of claim 1 wherein the precipitation sensing module is coupled directly to the autonomous robot apparatus.

5. The autonomous robot apparatus of claim 1 further comprising a snow-removal sub-system mounted to the chassis, the snow-removal sub-system operably coupled to the control module, and wherein the snow-removal sub-system comprises a directing device configured to output extracted snow in a desired direction relative to the chassis.

6. The autonomous robot apparatus of claim 5 wherein the directing device is alterable between at least:

(1) a first state in which the extracted snow is outputted in a first desired direction relative to the chassis; and

(2) a second state in which the extracted snow is outputted in a second desired direction relative to the chassis, the second desired direction being different than the first desired direction.

7. The autonomous robot apparatus of claim 6 further comprising:

a location and orientation identification (LOI) module configured to determine a location and orientation of the chassis relative to a boundary of a work area in which the work routine is being performed, the LOI module operably coupled to the control module;

the control module further configured to select and switch between a desired one of the first state and the second state for the directing device based on the location and orientation of the chassis relative to the boundary of the work area to ensure that the extracted snow is output to a location external to the work area.

8. The autonomous robot apparatus of claim 1 further comprising:

a docking station; and

wherein the precipitation sensing module is mounted to the docking station, the accumulation level sensor level comprising the plurality of sensors mounted at different vertical heights.

9. The autonomous robot apparatus of claim 1 further comprising a heating sub-system mounted to the chassis, the heating sub-system configured to generate and direct thermal energy to a position below the chassis.

10. A method of controlling an autonomous robot comprising a chassis, a plurality of wheels mounted to the chassis, a drive system mounted to the chassis and operably coupled to the plurality of wheels, a control module operably coupled to the drive system, and a precipitation sensing module comprising an accumulation cavity, wherein a floor of the accumulation cavity comprises at least one drainage aperture, an accumulation level sensor configured to generate and transmit, to the control module, a first signal upon a predetermined initial accumulation level of precipitation being detected, and wherein the predetermined initial accumulation level is an adjustable parameter that can be modified by an end user, wherein the accumulation level sensor comprises a plurality of sensors mounted on a wall of the accumulation cavity, the method comprising:

a) detecting, with the accumulation level sensor, precipitation accumulation levels;

b) upon the predetermined initial accumulation level being detected by the accumulation level sensor, generating and transmitting to the control module the first signal;

c) upon the control module receiving the first signal, activating the autonomous robot to perform a first instance of a work routine;

d) continuing to detect precipitation accumulation levels while the autonomous robot is performing the first instance of the work routine;

e) upon a predetermined secondary accumulation level that is a greater level of precipitation than the predetermined initial accumulation level being detected by the accumulation level sensor, generating and transmitting to the control module a second signal; and

f) upon the control module receiving the second signal, activating the autonomous robot to perform a second instance of the work routine.

11. The method of claim 10 wherein step b) further comprises wirelessly transmitting the first signal to the control module from the precipitation sensing module that comprises the accumulation level sensor.

12. The method of claim 11 wherein the precipitation sensing module is mounted to a docking station.

13. The method of claim 11 wherein the precipitation sensing module is coupled directly to the autonomous robot.

14. The method of claim 10 wherein if the second signal is received by the control module prior to completion of the first instance of the work routine, the control module logs instruction to perform the second instance of the work routine subsequent to completion of the first instance of the work routine.

15. The method of claim 10 wherein the autonomous robot further comprises a proximity sensor configured to detect presence of an undesired object adjacent the chassis, and wherein step c) further comprises prohibiting activation of the autonomous robot if a detection signal is received from the proximity sensor.

16. The method of claim 15 wherein step c) further comprises resuming activation of the autonomous robot upon the detection signal not being received from the proximity sensor.

17. The method of claim 10 wherein the autonomous robot comprises a snow-removal sub-system mounted to the chassis, the snow-removal sub-system operably coupled to the control module, a location and orientation identification (LOI) module configured to determine a location and orientation of the chassis, the LOI module operably coupled to the control module, the method further comprising:

the LOI module transmitting to the control module information indicative of the chassis'"'"' location and orientation relative to a boundary of a work area in which the work routine is being performed; and

the control module selecting and switching between a desired one of a first state and a second state for a directing device of the snow-removal sub-system based on the location and orientation of the chassis relative to the boundary of the work area to ensure that the extracted snow is output to a location external to the work area, wherein in the first state, the extracted snow is outputted in a first desired direction relative to the chassis and wherein in the second state the extracted snow is outputted in a second desired direction relative to the chassis, the second desired direction being different than the first desired direction.