Control apparatus for omnidirectional, polar coordinated platform for lawnmower and the like
First Claim
1. Control apparatus for a drivable, steerable platform having a plurality of wheel members, said control apparatus comprising:
- line selector means having at least one steering command line and at least one driving command line for selectively activating at least one of said command lines;
manual angle selector means coupled to said at least one steering command line for outputting a steering angle signal;
compass means for producing a compass signal;
angle comparator means coupled to said manual angle selector means and to said compass means for receiving said steering angle signal and said compass signal, and for selectively outputting a steering signal;
steering counter means coupled to said angle comparator means for receiving said steering signal, for outputting a steering counter signal, and for outputting a coordination signal;
first means coupled to said steering counter means for receiving said steering counter signal and for outputting an output steering signal;
steering sensor means for sensing the orientation of at least one of said plurality of wheel members, for outputting a wheel orientation signal representative of said orientation, and for coupling said wheel orientation signal to said steering counter means;
manual moving selector means coupled to said at least one driving command line and to said steering counter means for receiving said coordination signal and for outputting a drive signal;
driving sensor means for sensing the distance travelled by at least one of said plurality of wheel members and for outputting a distance signal;
driving counter means coupled to said driving sensor means for receiving said distance signal and for outputting a distance travelled signal representative of the distance travelled by at least one of said plurality of wheel members;
driving comparator means coupled to said manual moving selector means and to said driving counter means for selectively receiving said drive signal, for receiving said distance travelled signal, and for outputting a driving comparator signal; and
second means coupled to said driving comparator means for receiving said driving comparator signal and for outputting an output driving signal.
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Accused Products
Abstract
Control apparatus for an omnidirectional, polar coordinated platform for a lawnmower and the like is disclosed in which a line selector has at least one steering command line coupled to an angle selector, and at least one driving command line coupled to a moving selector. The angle selector produces a steering angle signal which is combined with a compass signal in an angle comparator to produce a steering signal, which is received by a steering counter that selectively activates a steering device. The moving selector produces a drive signal which is received by a driving comparator that selectively activates a driving device.
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Citations
20 Claims
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1. Control apparatus for a drivable, steerable platform having a plurality of wheel members, said control apparatus comprising:
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line selector means having at least one steering command line and at least one driving command line for selectively activating at least one of said command lines; manual angle selector means coupled to said at least one steering command line for outputting a steering angle signal; compass means for producing a compass signal; angle comparator means coupled to said manual angle selector means and to said compass means for receiving said steering angle signal and said compass signal, and for selectively outputting a steering signal; steering counter means coupled to said angle comparator means for receiving said steering signal, for outputting a steering counter signal, and for outputting a coordination signal; first means coupled to said steering counter means for receiving said steering counter signal and for outputting an output steering signal; steering sensor means for sensing the orientation of at least one of said plurality of wheel members, for outputting a wheel orientation signal representative of said orientation, and for coupling said wheel orientation signal to said steering counter means; manual moving selector means coupled to said at least one driving command line and to said steering counter means for receiving said coordination signal and for outputting a drive signal; driving sensor means for sensing the distance travelled by at least one of said plurality of wheel members and for outputting a distance signal; driving counter means coupled to said driving sensor means for receiving said distance signal and for outputting a distance travelled signal representative of the distance travelled by at least one of said plurality of wheel members; driving comparator means coupled to said manual moving selector means and to said driving counter means for selectively receiving said drive signal, for receiving said distance travelled signal, and for outputting a driving comparator signal; and second means coupled to said driving comparator means for receiving said driving comparator signal and for outputting an output driving signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A drivable, steerable platform having control apparatus, said platform comprising:
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a frame member, said member being generally disposed in a frame member plane; at least three wheel assemblies, each of said wheel assemblies including; first support structure rotatably connected to said frame member such that said support structure rotates about an axis substantially perpendicular to said frame member plane, said first support structure being endlessly rotatable through an angle of 360°
;a wheel member rotably mounted on said first support structure such that said wheel member rotates in a wheel rotation plane about an axis substantially parallel to said frame member plane; first drive structure to drive said wheel member about its axis of rotation in said wheel rotation plane; and first steering structure to rotate said first support structure about its axis of rotation, whereby said wheel member is endlessly steerable through an angle of 360°
;a first endless device drivingly connected to each of said first drive structures to rotate each of said wheel members substantially in synchronism; a second endless device drivingly connected to each of said first steering structures to rotate each of said first support structures substantially in synchronism; and drive means for selectively driving said first and second endless devices, said means including; a driving device; first coupling structure to selectively couple and uncouple said driving device and said first endless device; and second coupling structure to selectively couple and uncouple said driving device and said second endless device; wherein the wheel rotation planes of said at least three wheel members are disposed substantially parallel to each other; and said control apparatus comprising; line selector means having at least one steering command line and at least one driving command line for selectively activating at least one of said command lines; manual angle selector means coupled to said at least one steering command line for outputting a steering angle signal; compass means for producing a compass signal; angle comparator means coupled to said manual angle selector means and to said compass means for receiving said steering angle signal and said compass signal, and for selectively outputting a steering signal; steering counter means coupled to said angle comparator means for receiving said steering signal, for outputting a steering counter signal, and for outputting a coordination signal; first means coupled to said steering counter means for receiving said steering counter signal and for outputting an output steering signal; steering sensor means for sensing the orientation of at least one of said wheel assemblies for outputting a wheel orientation signal representative of said orientation, and for coupling said wheel orientation signal to said steering counter means; manual moving selector means coupled to said at least one driving command line and to said steering counter means for receiving said coordination signal and for outputting a drive signal; driving sensor means for sensing the distance traveled by at least one of said wheel members and for outputting a distance signal; driving counter means coupled to said driving sensor means for receiving said distance signal and for outputting a distance traveled signal representative of the distance traveled by at least one of said wheel members; driving comparator means coupled to said manual moving selector means and to said driving counter means for selectively receiving said drive signal, for receiving said distance traveled signal, and for outputting a driving comparator signal; and second means coupled to said driving comparator means for receiving said driving comparator signal and for outputting an output driving signal. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification