ROBOTIC VEHICLE CONTROLLER

• US 20120303202A1
• Filed: 08/06/2012
• Published: 11/29/2012
• Est. Priority Date: 01/18/2006
• Status: Active Grant

• Current Assignee: I-Guide Robotics, Inc.
• Original Assignee: I-Guide Robotics, Inc.
• Inventors: Durkos, Larry G., Blackburn, Michael J., Ruddock, Kyle B., Koressel, Richard S., McCalley, Thomas A.
• Granted Patent: US 8,645,016 B2
• Time in Patent Office: Days
• US Class Current: 701/26
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A control system is provided for automatically moving at least one machine along a desired path.

Claims

1. A self-propelled vehicle comprising:

a frame;

a plurality of wheels coupled to the frame;

a hydraulic motor supported by the frame, the hydraulic motor being coupled to at least one drive wheel selected from the plurality of wheels to provide power to rotate the at least one drive wheel;

a hydraulic control valve coupled to the hydraulic motor; and

a stepper motor coupled to the hydraulic control valve, the stepper motor being configured to adjust an output from the hydraulic control valve to control the hydraulic motor and adjust the speed and direction of rotation of the at least one drive wheel.

2. The vehicle of claim 1, wherein the hydraulic control valve includes a rotatable control shaft configured to adjust an output of the hydraulic control valve, the stepper motor being coupled to the control shaft to selectively rotate the control shaft in first and second directions to adjust the speed and direction of the at least one drive wheel.

3. The vehicle of claim 1, further comprising an encoder coupled to the hydraulic motor to detect a speed and a direction of the at least one drive wheel, and a controller coupled to the encoder, the encoder transmitting signals indicative of the speed and direction of the at least one drive wheel to the controller.

4. The vehicle of claim 3, wherein the controller is coupled to the stepper motor, the controller providing a control signal to the stepper motor to adjust the speed and direction of the at least one drive wheel.

5. A method of moving at least two machines along a desired path comprising:

storing path data indicating a desired path of travel for the at least two machines;

providing at least two machines located at different positions on the desired path; and

automatically moving the at least two machines simultaneously to traverse the desired path using the stored path data.

6. The method of claim 5, wherein the at least two machines begin at spaced apart starting positions along the desired path so that together the at least two machines traverse the entire desired path without overlap.

7. The method of claim 5, wherein a first machine starts at a first starting position along the desired path and a second machine starts at a second starting position along the desired path, the a first machine being stopped after reaching the second starting position so that together the first and second machines traverse the entire path without overlap.

8. The method of claim 5, further comprising:

storing a plurality of GPS locations linked to particular points along the desired path;

detecting GPS location signals at a plurality of locations along the paths actually traveled by the at least two machines;

comparing the GPS location signals at a plurality of locations along the traveled paths with the corresponding stored GPS locations that were linked to particular points along the desired path; and

correcting positions of the at least two machines if it is determined that the at least two machines have moved away from the desired path by a predetermined amount based on the comparing step.

9. The method of claim 8, further comprising transmitting a GPS reference signal to the at least two machines to correct the detected GPS locations;

determining a corrected GPS location at a plurality of locations along the path actually traveled by the at least two machines based on detected GPS location signals and the GPS reference signal;

and comparing the corrected GPS locations at the plurality of locations along the path actually traveled by the at least two machines with the corresponding stored GPS locations that were linked to particular points along the desired path during the comparing step.

10. The method of claim 9, further comprising charging a fee based on usage of the GPS reference signal.

11. The method of claim 5, wherein the at least two machines are lawn mowers.

12. The method of claim 5, further comprising the step of selecting a path offset and adjusting the stored path data to provide the selected offset from the initially stored path data so that the at least two machines do not follow the exact same path each time the at least two machines are moved along the desired path.

13. The method of claim 5, wherein a first machine is a master machine and at least one other machine is a slave machine.

14. The method of claim 13, wherein the master machine communicates the stored path data to the at least one slave machine.

15. The method of claim 13, wherein the master machine communicates stored GPS locations linked to particular points along the desired path to the at least one slave machine.

16. The method of claim 5, further comprising charging a fee based on an amount of time the machines are operated.

17. The method of claim 5, further comprising:

wherein the step of storing path data indicating a desired path of travel for the at least two machines includes detecting and storing path data including a plurality of GPS locations linked to particular points along the desired path of travel during operation of a machine in a manual learn mode to traverse the entire desired path to be followed by the machines during subsequent operation in a robotic mode;

detecting GPS location signals at a plurality of locations along the path actually traveled by the at least two machines in the robotic mode;

receiving a GPS reference signal with the least two machines;

determining a corrected GPS location at each of the plurality of locations along the path actually traveled by the least two machines based on detected GPS location signals and the GPS reference signal;

automatically comparing the corrected GPS locations at a plurality of locations along the traveled path during the robotic mode with the corresponding stored GPS locations that were linked to particular points along the desired path;

using the compared GPS locations during operation of the least two machines in the robotic mode.

18. The method of claim 5, wherein the at least two machines are mowers, and further comprising providing a control panel having a plurality of user inputs to initiate operation of a mower in the manual learn mode, to initiate operation of the at least two mowers in the robotic mode, to start and stop the at least two mowers, and to start and stop a blade of the at least two mowers.