Programmable lawn mower

• US 7,107,132 B2
• Filed: 03/27/2003
• Issued: 09/12/2006
• Est. Priority Date: 03/28/2002
• Status: Expired due to Fees

• Current Assignee: Dean Technologies Incorporated
• Original Assignee: Dean Technologies Incorporated
• Inventors: Dean, Jason A.
• Primary Examiner(s): Nguyen, Cuong
• Application Number:
  US10/401,266
• Publication Number:
  US 20040010343A1
• Time in Patent Office: 1,265 Days
• Field of Search: 701/23, 701/25, 701/1, 701/36, 701/50, 701/200, 701/224, 731/78.R, 700/245, 700/90, 700/113, 305/120, 305/185, 318/568.12, 318/587, 900/1, 56/101.A, 56D/IG.7, 56/102.F, 180167-169
• US Class Current: 701/23
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• 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
• CPC Class Codes: Y10S 56/07 Remote control implement

Abstract

A robotic apparatus for traversing a selected area autonomously that senses orientation relative to the Earth'"'"'s magnetic field. The robotic apparatus is provided in two models, a master that can record directive and compass readings to provide at least one command recorded on a machine-readable medium representing an instruction for traversing an area of interest, and a slave that lacks the recording capability. Both master and slave models can replay recorded commands, and compare the expected orientation from the command with an actual orientation sensed during autonomous operation. If an error exceeding a predetermined value is observed, a corrective action is taken. The robotic apparatus is able to utilize a tool to perform a task at one or more locations, such as cutting, shoveling and digging. In one embodiment, the robotic apparatus is a lawn mower.

Claims

1. A programmable robotic apparatus, comprising:

a drive system comprising a plurality of independently operable treads;

a control module in electrical communication with said drive system, said control module configured to command the operation of each tread;

a memory module in electrical communication with said control module, said memory module configured to store and retrieve information; and

a compass module that responds only to magnetic fields, said compass module in electrical communication with said control module, said compass module configured to discern an orientation of said programmable robotic apparatus, wherein said compass module is configured to discern an orientation relative to the magnetic field of the planet Earth based on an analysis of at least one directional component of said magnetic field.

2. The programmable robotic apparatus of claim 1, wherein said apparatus is configured to operate autonomously based at least in part on information stored in said memory module.

3. The programmable robotic apparatus of claim 1, further comprising a tool configured to perform a mechanical operation.

4. The programmable robotic apparatus of claim 3, wherein said tool configured to perform a mechanical operation is selected from the group consisting of a cutting tool, a shoveling tool, and a vacuuming tool.

5. The programmable robotic apparatus of claim 3, wherein said programmable robotic apparatus is a programmable lawn mower.

6. The programmable robotic apparatus of claim 1, wherein said memory module is selected from the group consisting of a magnetic tape, a floppy disc, a hard disc, a CD-ROM, a CD-RW disc, RAM, EPROM, EEPROM, and a flash memory.

7. The programmable robotic apparatus of claim 1, wherein said compass module is configured to discern an orientation relative to the magnetic field of the planet Earth based on an analysis of two orthogonal directional components of said magnetic field.

8. The programmable robotic apparatus of claim 1, further comprising a command receiver module in electrical communication with said control module.

9. The programmable robotic apparatus of claim 8, wherein said command receiver module is configured to receive signals from a portable transmitter.

10. The programmable robotic apparatus of claim 8, wherein said command receiver module is configured to receive signals comprising directives.

11. A method of operating the programmable robotic apparatus of claim 1, comprising the steps of:

providing at least one command recorded on a machine-readable medium, said at least one command representing an instruction for traversing an area of interest;

operating said programmable robotic apparatus according to said at least one command recorded on said machine-readable medium;

discerning an orientation of said programmable robotic apparatus;

comparing said orientation of said programmable robotic apparatus to a direction recorded in said at least one command to determine an error signal; and

in the event that said error signal exceeds a predetermined value, commanding said programmable robotic apparatus to take a corrective action;

whereby said programmable robotic apparatus autonomously traverses an area of interest.

12. The method of claim 11, wherein the steps of discerning an orientation, comparing said orientation, and in the event that said error signal exceeds a predetermined value, commanding said programmable robotic apparatus to take a corrective action, are performed iteratively during a period of operation of said programmable robotic apparatus.

13. The method of claim 11, further comprising the step of performing an operation with a mechanical tool attached to said programmable robotic apparatus.

14. The method of claim 13, wherein said programmable robotic apparatus stands in one location during said operation with said mechanical tool.

15. A method of providing at least one command recorded on a machine-readable medium, the at least one command representing an instruction for traversing an area of interest, the method comprising the steps of

providing a programmable robotic apparatus according to claim 1;

operating said programmable robotic apparatus under external control, the programmable robotic apparatus receiving directives from an external source and traversing an area of interest;

taking readings from a compass module of said programmable robotic apparatus; and

recording said directives and readings on a machine-readable medium for later recovery.

16. The method of claim 15, wherein said directives are recorded in the format in which said directives are received.

17. The method of claim 15, wherein said directives are recorded in a different format from the format in which said directives are received.

18. A computer program recorded on a machine-readable medium, said computer program comprising:

a supervisory module that controls the autonomous operation of the programmable robotic apparatus of claim 1 and that, as required, receives information recorded on a machine-readable medium;

an orientation receiver module that receives orientation information from a compass module of said programmable robotic apparatus, and

a computation module that computes an error signal based at least in part on orientation information from said compass module and information recorded on said machine-readable medium.

19. The computer program of claim 18, further comprising:

an instruction receiver module that receives directives from an external source regarding operation of said programmable robotic apparatus.

20. The computer program of claim 18, further comprising:

an error correction module that, in the event that said error signal exceeds a predetermined value, computes an error correction to be provided as a corrective action command to said programmable robotic apparatus.