PHEROMONE FOR ROBOTIC BOUNDARY

• US 20110190931A1
• Filed: 02/02/2010
• Published: 08/04/2011
• Est. Priority Date: 02/02/2010
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Paulino, Heidi, Dickson, Monte, Anderson, Noel Wayne
• Granted Patent: US 8,996,171 B2
• Time in Patent Office: Days
• US Class Current: 700/253
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058

Abstract

A method for regenerating a boundary of an area for containing a mobile machine is provided. An emitter is detected in an area designated to contain the mobile machine. In response to detecting the emitter, a function is performed. In addition, the emitter is reapplied on a predetermined time interval basis over an existing detected emitter to minimize deterioration of a strength of the emitter due to time and environmental factors.

Claims

1. A method for regenerating a boundary of an area for containing a mobile machine, the method comprising:

detecting an emitter in an area designated to contain the mobile machine;

responding to the emitter by performing a function; and

reapplying the emitter on a predetermined time interval basis over an existing detected emitter to minimize deterioration of a strength of the emitter due to time and environmental factors.

2. The method of claim 1, further comprising:

determining whether the strength of the emitter is less than a threshold level during a task; and

responsive to determining that the strength of the emitter is less than the threshold level, reapplying the emitter over the existing detected emitter where the strength of the emitter is less than the threshold level.

3. The method of claim 1, wherein the function is at least one of changing a course of movement away from the emitter, initiating an action, stopping an action, and performing an act.

4. The method of claim 1, wherein the emitter is one of a pheromone, a radio frequency identification tag, a fleck of visible material, or a non-visible pigment.

5. The method of claim 1, wherein the emitter is placed along a boundary of the area designated to contain the mobile machine.

6. The method of claim 1, wherein the emitter is disseminated over an entire area designated to contain the mobile machine.

7. The method of claim 1, wherein the emitter is included in a boundary application substance.

8. The method of claim 7, wherein the boundary application substance includes a color, and wherein the boundary application substance is one of a gel, a liquid, or a powder.

9. The method of claim 8, wherein the color of the boundary application substance disappears after a period of time.

10. The method of claim 4, wherein the radio frequency identification tag is one of a plurality of radio frequency identification tags, and wherein a portion of the plurality of radio frequency identification tags includes a sensor to monitor a condition of grass.

11. The method of claim 10, wherein a size of the plurality of radio frequency identification tags is between 0.1 millimeters×

0.1 millimeters and 0.05 millimeters×

0.05 millimeters.

12. The method of claim 1, wherein a plurality of different densities of radio frequency identification tags are disseminated in the area designated to contain the mobile machine.

13. The method of claim 12, wherein a specific density within the plurality of different densities of radio frequency identification tags specifies a specific function for the mobile machine.

14. The method of claim 10, wherein different functions are encoded within different radio frequency identification tags within the plurality of radio frequency identification tags.

15. The method of claim 4, wherein the pheromone is used to attract beneficial creatures and repel undesirable creatures.

16. The method of claim 1, wherein the mobile machine is a robotic mower.

17. A mobile machine comprising:

a task payload system;

a propulsion system;

a steering system;

a braking system;

a sensor system for collecting data regarding an operating environment for the mobile machine;

an emitter application system for maintaining a strength of an emitter; and

a machine controller coupled to the task payload system, the propulsion system, the steering system, the braking system, the sensor system, and the emitter application system;

wherein the machine controller detects the emitter in an area designated to contain the mobile machine using the sensor system, responds to the emitter by directing the mobile machine to perform a function; and

reapplies the emitter on a predetermined time interval basis over an existing detected emitter using the emitter application system to minimize deterioration of a strength of the emitter due to time and environmental factors.

18. The mobile machine of claim 17, wherein the machine controller determines whether the strength of the emitter is less than a threshold level during a task;

and wherein the machine controller reapplies the emitter over the existing detected emitter using the emitter application system where the strength of the emitter is less than the threshold level in response to determining that the strength of the emitter is less than the threshold level.

19. The mobile machine of claim 17, wherein the function is at least one of changing a course of movement away from the emitter, initiating an action, stopping an action, and performing an act.

20. The mobile machine of claim 17, wherein the emitter is one of a pheromone, a radio frequency identification tag, a fleck of visible material, or a non-visible pigment.