System and method for determining the location of a machine

• US 8,532,822 B2
• Filed: 10/24/2011
• Issued: 09/10/2013
• Est. Priority Date: 09/29/2006
• Status: Active Grant

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: F Robotics Acquisitions Ltd. (Stanley Black & Decker, Inc.)
• Inventors: Abramson, Shai, Levi, Eli
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US13/279,828
• Publication Number:
  US 20120041594A1
• Time in Patent Office: 687 Days
• Field of Search: 700/245, 700/258, 375/149, 405/169, 405/170, 370/350, 370/503, 367/103, 367/105, 367/138, 250/559.29, 166/341, 901/46
• US Class Current: 700/258
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: G01S 11/06 using intensity measurements
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

A system is employed for defining a position (location) of a receiving element inside an area surrounded by a wire loop, along the perimeter (a perimeter wire loop), of a work area or other bounded area. In particular, the system can determine whether the receiver is inside or outside the loop, and evaluate its distance from the perimeter wire.

Claims

1. A robot comprising:

at least one receiver for receiving a signal transmitted from a boundary, the transmitted signal including at least one positive pulse and at least one negative pulse within a predetermined interval;

a detector electrically coupled to the at least one receiver for detecting peaks in the signal; and

a processor in electronic communication with the detector for receiving the digital data associated with the detected major negative peaks and programmed to determine the location of the robot with respect to the boundary in accordance with the digital data;

wherein the detector for detecting peaks is for detecting major negative and positive peaks;

wherein the detector is configured for converting the detected major negative peaks into digital data;

wherein the processor programmed to determine the location of the robot with respect to the digital data includes being programmed to count the digital data in the form of pulses, and compare the pulses to predetermined pulse counts to determine the location of the robot.

2. A method for determining by a processor the location of a receiver, comprising:

providing a first loop including a first portion and a second portion;

providing a second loop including the second portion and a third portion;

providing a signal over a first loop and providing the signal over a second loop at a predetermined providing interval, the signal providing such that at least the first portion is always receiving the provided signal, the second portion and the third portion are receiving the provided signal in accordance with the predetermined providing interval;

receiving the signal;

converting by the processor the signal to pulses;

counting by the processor the pulses for a predetermined receiving interval; and

analyzing by the processor the counted pulses for the predetermined receiving interval against predetermined pulse counts for the predetermined receiving interval in accordance with the predetermined providing interval to determine the location of the receiver.

3. The method of claim 2, wherein the signal includes a period of at least one positive and at least one negative pulse within the predetermined providing interval.

4. The method of claim 3, wherein receiving the signal includes detecting peaks in the signal.

5. The method of claim 4, wherein detecting peaks in the signal includes:

detecting the major negative peaks in the signal; and

converting the signal into pulses includes converting the detected major negative peaks in the signal into pulses.

6. The method of claim 5, additionally comprising:

providing a robot including;

a receiver for receiving the signal;

a detector for detecting the major negative peaks in the signal and converting the major negative peaks in the signal into pulses; and

,

a processor for counting the pulses and analyzing the counted pulses against predetermined pulse counts to determine the location of the robot with respect to the first loop and the second loop.