Automatic working vehicular system

• US 4,919,224 A
• Filed: 05/09/1988
• Issued: 04/24/1990
• Est. Priority Date: 05/16/1988
• Status: Expired due to Fees

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Chang, Chih-Li, Shyu, Jia-Ming
• Primary Examiner(s): Marmor, Charles A.
• Assistant Examiner(s): Culbreth, Eric
• Application Number:
  US07/191,974
• Time in Patent Office: 715 Days
• Field of Search: 180/167, 180/168, 180/169, 318/587, 364/424.01, 364/424.02, 56/10.2, 56/DIG. 15
• US Class Current: 180/168
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• 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 1/0255 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: Y10S 56/15 Condition responsive

Abstract

An automatic working vehicular system comprises a guiding signal device and an automatic working vehicle which has a power source, driving devices, detecting devices and control devices. By means of a guide wire device for limiting the operational area, the vehicle can start at a preset time, travel from a position in a garage to a specific operation site, complete the required range of operation along a parallel reciprocating course of travel, and return to the garage. The vehicle also comprises devices to control the garage door, detect the fuel level, return itself to the garage when raining, adapt to load variations, change speed automatically, warn moving obstacles, detour obstacles, and prevent its theft.

Claims

1. An automatic working vehicular system comprising:

(1) a guiding signal device comprising;

a signal generator for generating a plurality of alternating currents having at least three different frequencies;

a first wire carrying an alternating current at a first frequency, said first wire loops from said signal generator at a parking location to a first corner of a job site and along one side of the job site to a second corner thereof and back to said signal generator;

a second wire carrying an alternating current at a second frequency, said second wire loops from said signal generator at the parking location and around an external circumference of the job site and back to said signal generator;

a third wire carrying an alternating current at a third frequency, said third wire loops from said signal generator at the parking location and around an external circumference of each barrier area located within the job site; and

(2) an automatic working vehicle comprising;

a frame having a front end, a rear end, and two sides;

a travelling mechanism for turning said frame and moving said frame forwards, backwards, and sideways;

a dynamic source for driving said travelling mechanism;

an electric power source for storing and supplying a required power;

a timer for providing a starting signal enabling said vehicle to begin operating at a desired time;

a plurality of wire sensors for sensing a signal from said guiding signal device and producing a wire location signal;

a distance measuring device for measuring a distance between said vehicle and obstacles and producing an obstacle signal;

a margin sensor mounted for sensing a boundary location between an already operated area and a non-operated area and producing a boundary location signal;

a microcomputer, having stored control programs, for controlling the operation of said vehicle;

wherein said vehicle starts automatically when it receives said starting signal, and according to said guiding signal device, travels from the parking location to the job site, operates over the job site in a parallel reciprocating manner, and returns to the parking location.

2. An automatic working vehicular system according to claim 1, further comprising a remote control signal unit, controlled by said microcomputer, for producing remote control signals before departing from the parking location and after returning thereto.

3. An automatic working vehicular system according to claim 1, wherein said microcomputer comprises:

a means for controlling said vehicle to move along said first wire from the parking location to the job site;

a means for controlling said vehicle to move along said second wire from the first corner to the second corner of the job site;

a means for controlling said vehicle to move sideways one operational width at the second corner of the job site;

a means for controlling said vehicle one of forward or backward according to the boundary location signal from said margin detector until receiving another wire location signal;

a means for controlling said vehicle to repeat sideways movement upon receiving the wire location signal and one of forward and backward movement according to the boundary location signal in a parallel reciprocating manner until one of encountering said third wire and completing a job;

a means for controlling said vehicle, upon encountering said third wire, to continue in the parallel reciprocating manner between said third wire and said second wire until one side of the barrier is completed, and then to follow said third wire around to another side of the barrier until receiving a boundary location signal from said margin detector, and then to turn and continue in the parallel reciprocating manner; and

a means for controlling said vehicle, upon completion of a job, to move along said second wire until receiving the wire location signal indicating said first wire and along said first wire back to the parking location.

4. An automatic working vehicular system according to claim 1, further comprising:

a fuel detector for detecting the level of fuel remaining in said vehicle and instructing said microcomputer to interrupt the operation of said vehicle;

a rain sensor for sensing rain and wet grounds and instructing said microcomputer to interrupt the operation of said vehicle; and

a plurality of emergency stop switches for temporarily stopping said vehicle in an emergency and resetting said vehicle following the emergency.

5. An automatic working vehicular system according to claim 4, wherein said microcomputer, upon instruction to interrupt the operation, comprises:

a means for controlling the vehicle to continue travel until receiving the wire location signal indicating said second wire;

a means for controlling the vehicle to turn and move along said second wire until receiving the wire location signal indicating said first wire and along said first wire back to the parking location;

a means for recording the vehicle'"'"'s distance from an interrupt location to the parking location;

a means for resetting said timer;

a means for starting the vehicle again at a reset time and controlling the vehicle to move out to the job site the recorded distance to complete the job.

6. An automatic working vehicular system according to claim 1, further comprising a vibration detector for detecting when said vehicle is touched and producing a warning signal.

7. An automatic working vehicular system according to claim 6, further comprising an operation and display panel for displaying operational information, enabling manual and automatic operations to be set, and receiving a user code.

8. An automatic working vehicular system according to claim 7, further comprising an alarm for sending out an alarm signal when said microcomputer receives one of the obstacle signal from said distance measuring device, the warning signal from said vibration detector, and a bad user signal produced from the input of several incorrect user codes at said operation and display panel.

9. An automatic lawn mowing system comprising:

(1) a guiding signal device comprising;

a signal generator for generating a plurality of alternating currents having at least three different frequencies;

a first wire carrying an alternating current at a first frequency, said first wire loops from said signal generator at a parking location to a first corner of a lawn and along one side of the lawn to a second corner thereof and back to said signal generator;

a second wire carrying an alternating current at a second frequency, said second wire loops from said signal generator at the parking location and around an external circumference of the lawn and back to said signal generator;

a third wire carrying an alternating current at a third frequency, said third wire loops from said signal generator at the parking location and around an external circumference of each barrier area located within the lawn; and

(2) an automatic lawn mower comprising;

a frame having a front end and a rear end, said frame comprising a base plate having a grass outlet, a guardrail and a protective cover;

a cutting knife for cutting grass;

a travelling mechanism turning said frame and moving said frame forwards, backwards, and sideways, said travelling mechanism comprising pilot and driving wheels respectively mounted on the front and rear ends of said frame, a transmission, and a steering device;

an electric power source for storing and supplying a required power;

an engine for driving said frame, said travelling mechanism, and said cutting knife;

a timer for providing a starting signal enabling said lawn mower to begin operating at a desired time;

a plurality of wire sensors, having a plurality of induction coils mounted at the front and rear end of said frame, for sensing a signal from said guiding signal device and producing a wire location signal;

a distance measuring device, having a plurality of sets of supersonic transmitter and receivers mounted on said guardrail of said frame for measuring a distance between said lawn mower and obstacles and producing an obstacle signal;

a plurality of grass-length sensors, having a plurality of sensing probes mounted at the front and rear end of said frame, for sensing a boundary location between an area that has already been mowed and an area that has not been mowed and producing a grass boundary location signal;

a microcomputer, having stored control programs, for controlling the operation of said lawn mower;

a remote control signal unit, controlled by said microcomputer, for producing remote control signals before departing from the parking location and after returning thereto;

a fuel detector for detecting the level of fuel remaining in said lawn mower and instructing said microcomputer to interrupt the operation of said lawn mower;

a rain sensor for sensing rain and wet grounds and instructing said microcomputer to interrupt the operation of said lawn mower;

a plurality of emergency stop switches for temporarily stopping said lawn mower in an emergency and resetting said lawn mower following the emergency;

a vibration detector for detecting when said lawn mower is touched and producing a warning signal;

an operation and display panel for displaying necessary operational information, enabling manual and automatic operations to be set, and receiving a user code;

an alarm for sending out an alarm signal when said microcomputer receives one of the obstacle signal from said distance measuring device, the warning signal from said vibration detector, and a bad user signal produced from the input of several incorrect user codes at said operation and display panel;

wherein said microcomputer comprises;

a means for starting said engine and turning on said electric power source upon receiving one of a correct user code from said operation and display panel and the starting signal from said timer;

a means for controlling the remote control signal device to open and close a door to the parking location;

a means for controlling said lawn mower to move out of the parking location along said first wire, turn around, then proceed to the first corner of the lawn;

a means for controlling said lawn mower to move along said second wire and cut grass from the first corner to the second corner of the lawn;

a means for controlling said lawn mower to move sideways one operational width at the second corner of the lawn;

a means for controlling said lawn mower one of forward or backward according to the grass boundary location signal from said grass-length detector until receiving another wire location signal;

a means for controlling said lawn mower to repeat sideways movement upon receiving the wire location signal and one of forward and backward movement according to the grass boundary location signal in a parallel reciprocating manner until one of encountering said third wire and completely mowing the lawn;

a means for controlling said lawn mower, upon encountering said third wire, to continue in the parallel reciprocating manner between said third wire and said second wire until one side of the barrier is mowed, and then to follow said third wire around to another side of the barrier until receiving a grass boundary location signal from said grass-length detector, and then to turn and continue in the parallel reciprocating manner;

a means for controlling said lawn mower, upon completion of the lawn, to move along said second wire until receiving the wire location signal indicating said first wire and along said first wire back to the parking location;

a means for stopping upon receiving the obstacle signal from said distance measuring device and warning with said alarm a moving obstacle;

a means for controlling the vehicle, upon instruction to interrupt the operation, to continue travel until receiving the wire location signal indicating said second wire, to turn and move along said second wire until receiving the wire location signal indicating said first wire and along said first wire back to the parking location, to record the lawn mower'"'"'s distance from an interrupt location to the parking location, to reset said timer, to restart the lawn mower again at a reset time, and to move out to the lawn the recorded distance to finish mowing the lawn; and

a means for controlling the speed of the vehicle.