Multifunctional mobile appliance
DCFirst Claim
1. A method of programming the motion of a mobile appliance that is designed to perform a task over a designated work area using a routing algorithm comprising the steps ofdefining geographic perimeter data of an area within which work is adapted to be performed along a path of predetermined width, storing the geographic perimeter data, mapping the area into a plurality of substantially equally spaced grid points with the distance between adjacent grid points corresponding substantially to one of the predetermined path width and a fraction of the predetermined path width, quantizing the direction of movement of the mobile appliance into a set of vectors connecting the grid point representing the present location of the mobile appliance with the grid points immediately adjacent to the present location grid point, initiating the movement of the mobile appliance along the path from one grid point to an adjacent grid point, and recording the sequence of grid points crossed by the mobile appliance toward ensuring that work is performed substantially over the area represented by the grid points.
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Abstract
The invention is a multifunctional, mobile appliance capable of performing a variety of tasks safely, quietly, without pollution, and out of sight of its owner. Such tasks might include lawn mowing, fertilizing, and edging, floor vacuuming, waxing, and polishing, or rug shampooing. In its preferred implementation, the mobile unit 1 would obtain precise real time and position information using the Real Time Kinematic Global Positioning System. The user initially guides the appliance around the work-area perimeters. The device then uses this information to determine the full working area. Proximity detectors and impact sensors help the appliance avoid unexpected obstacles. The device is quiet enough to perform its task in the middle of the night while its owner is asleep, but can be programmed to work continuously or during any user-specified time interval. The small turning radius of the appliance allows it to follow intricate perimeters. In the instance of a mowing application, the cutting blades are surrounded by a cage that allows grass to enter, but excludes sticks, stones, fingers or toes. The mowing blade assembly can trim over the top of yard edging. The battery-powered device can recharge itself and a wireless link enables the appliance to communicate with its user and a user support network via the World Wide Web.
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Citations
18 Claims
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1. A method of programming the motion of a mobile appliance that is designed to perform a task over a designated work area using a routing algorithm comprising the steps of
defining geographic perimeter data of an area within which work is adapted to be performed along a path of predetermined width, storing the geographic perimeter data, mapping the area into a plurality of substantially equally spaced grid points with the distance between adjacent grid points corresponding substantially to one of the predetermined path width and a fraction of the predetermined path width, quantizing the direction of movement of the mobile appliance into a set of vectors connecting the grid point representing the present location of the mobile appliance with the grid points immediately adjacent to the present location grid point, initiating the movement of the mobile appliance along the path from one grid point to an adjacent grid point, and recording the sequence of grid points crossed by the mobile appliance toward ensuring that work is performed substantially over the area represented by the grid points.
Specification