Autonomous cutting element for sculpting grass

• US 8,666,550 B2
• Filed: 01/05/2010
• Issued: 03/04/2014
• Est. Priority Date: 01/05/2010
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne, Annibale, Anthony Bryant
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): GREENE, DANIEL LAWSON
• Application Number:
  US12/652,336
• Publication Number:
  US 20110166705A1
• Time in Patent Office: 1,519 Days
• Field of Search: 701/28, 701/36, 701/50, 700/253, 700/255, 700/259, 901/1, 901/49, 901/50, 56/137
• US Class Current: 700/253
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 75/185 Avoiding collisions with obstacles
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence

Abstract

An apparatus comprises a vehicle, a sensing unit, and a control unit. The vehicle is movable in a path and has a first number of cutting elements. The sensing unit detects an obstacle in the path. The control unit is connected to the first number of cutting elements and is configured to autonomously adjust a height of a second number of cutting elements of the first number of cutting elements in response to the sensing unit detecting the obstacle in the path.

Claims

1. An apparatus comprising:

a vehicle movable in a path, the vehicle having a first number of cutting elements;

a sensing unit for detecting an obstacle in the path;

a control unit connected to the first number of cutting elements, the control unit being configured to autonomously adjust a height of a second number of cutting elements of the first number of cutting elements; and

a processor unit operatively coupled to the control unit and configured to determine, in response to the sensing unit detecting the obstacle in the path, the second number of cutting elements to be autonomously adjusted, a height for each of the second number of cutting elements to be autonomously adjusted, and a timing for each of the second number of cutting elements to be autonomously adjusted, wherein the second number of cutting elements comprise more than one cutting element.

2. The apparatus of claim 1, wherein the sensing unit is configured to detect a position of the obstacle in the path, a size of the obstacle in the path, and a distance between the second number of cutting elements and the obstacle, and wherein the control unit is configured to individually control a height of each individual cutting element of the second number of cutting elements.

3. The apparatus of claim 2 further comprising:

a navigation system for autonomously controlling navigation of the vehicle along the path.

4. The apparatus of claim 3, wherein the processor unit is configured to determine a first time for the control unit to autonomously raise each of the second number of cutting elements and a second time for the control unit to autonomously lower each of the second number of cutting elements, wherein each cutting element of the second number of cutting elements are coplanar with respect to one another.

5. The apparatus of claim 3, wherein the determination of the second number of cutting elements to be autonomously adjusted, the height for each of the second number of cutting elements to be autonomously adjusted, and the timing for each of the second number of cutting elements to be autonomously adjusted at least reduces one of an area around the obstacle that is not cut by the first number of cutting elements, an obviousness of the area around the obstacle, and a visibility of the obstacle.

6. The apparatus of claim 1, wherein the sensing unit comprises a number of sensors selected from at least one of a global positioning system, structured light sensor, two dimensional/three dimensional lidar, dead reckoning, infrared camera, visible light camera, radar, ultrasonic sonar, radio frequency identification reader, moisture sensor, and ambient light sensor.

7. The apparatus of claim 1, wherein the control unit is configured to stop the second number of cutting elements of the first number of cutting elements in response to the sensing unit detecting the obstacle in the path of the vehicle.

8. The apparatus of claim 1, wherein the control unit is configured to adjust a cutting angle of the second number of cutting elements of the first number of cutting elements in response to the sensing unit detecting the obstacle in the path of the vehicle, wherein the first number of cutting elements and the second number of cutting elements are located underneath the vehicle.

9. An apparatus comprising:

a vehicle movable in a path, the vehicle having a first number of cutting elements;

a sensing unit for detecting an obstacle in the path;

a control unit connected to the first number of cutting elements, the control unit being configured to autonomously adjust a height of a second number of cutting elements of the first number of cutting elements in response to the sensing unit detecting the obstacle in the path;

a computer readable storage medium storing program code for a design to be formed into a pattern, and

a processor unit, wherein the processor unit executes the program code and wherein the program code, when executed by the processor unit, causes the control unit to autonomously control the first number of cutting elements to form the pattern.

10. The apparatus of claim 9, wherein the program code for the design to be formed into the pattern is one of a number of program codes for a number of designs to be formed into a number of patterns, and wherein the number of program codes is transferred to the computer readable storage medium from a data source.

11. A method of controlling cutting elements in a vehicle, the method comprising:

autonomously moving a vehicle having a first number of cutting elements in a path;

detecting an obstacle in the path; and

responsive to detecting the obstacle in the path, autonomously adjusting a height of a second number of cutting elements of the first number of cutting elements.

12. The method of claim 11 further comprising:

detecting a position of the obstacle in the path;

detecting a size of the obstacle in the path; and

detecting a distance between the second number of cutting elements and the obstacle, and wherein the control unit is configured to individually control a height of each individual cutting element of the second number of cutting elements, wherein the second number of cutting elements is (i) a subset of the first number of cutting elements and (ii) comprise more than one cutting element.

13. The method of claim 12 further comprising:

responsive to detecting the position of the obstacle in the path, the size of the obstacle in the path, and the distance between the second number of cutting elements and the obstacle;

determining the second number of cutting elements to be autonomously adjusted, a height for each of the second number of cutting elements to be autonomously adjusted, and a timing for each of the second number of cutting elements to be autonomously adjusted.

14. The method of claim 13 further comprising:

determining a first time for the control unit to autonomously raise each of the second number of cutting elements; and

determining a second time for the control unit to autonomously lower each of the second number of cutting elements.

15. The method of claim 13 further comprising:

responsive to determining the second number of cutting elements to be autonomously adjusted, the height for each of the second number of cutting elements to be autonomously adjusted, and the timing for each of the second number of cutting elements to be autonomously adjusted;

reducing at least one of an area around the obstacle that is not cut by the first number of cutting elements, an obviousness of the area around the obstacle, and a visibility of the obstacle.

16. The method of claim 11, wherein the step of detecting an obstacle in the path of the vehicle is performed by a sensing unit and wherein the sensing unit comprises a number of sensors selected from at least one of a global positioning system, structured light sensor, two dimensional/three dimensional lidar, dead reckoning, infrared camera, visible light camera, radar, ultrasonic sonar, radio frequency identification reader, moisture sensor, and ambient light sensor.

17. The method of claim 11 further comprising:

responsive to detecting the obstacle in the path of the vehicle, stopping the second number of cutting elements of the first number of cutting elements.

18. The method of claim 11 further comprising:

responsive to detecting the obstacle in the path of the vehicle, adjusting a cutting angle of the second number of cutting elements of the first number of cutting elements.

19. A method of controlling cutting elements in a vehicle, the method comprising:

moving a vehicle having a first number of cutting elements in a path;

detecting an obstacle in the path;

responsive to detecting the obstacle in the path, autonomously adjusting a height of a second number of cutting elements of the first number of cutting elements;

storing program code for a design to be formed into a pattern;

executing, by a processor unit, the program code; and

responsive to executing the program code, autonomously controlling the first number of cutting elements to form in the pattern.

20. The method of claim 19 further comprising:

transferring the program code for a design to be formed into a pattern to a computer readable storage medium, wherein the program code for the design to be formed into the pattern is one of a number of program codes for a number of designs to be formed into a number of patterns.

21. A computer program product comprising:

a computer readable storage medium;

program code, stored on the computer readable storage medium, for moving a vehicle having a first number of cutting elements in a path, detecting an obstacle in the path; and

autonomously adjusting a height of a second number of cutting elements of the first number of cutting elements in response to detecting the obstacle in the path.

22. The computer program product of claim 21, further comprising:

program code for detecting a position of the obstacle in the path, detecting a size of the obstacle in the path, and detecting a distance between the second number of cutting elements and the obstacle, wherein the second number of cutting elements comprise more than one cutting element, and wherein the program code is configured to individually control a height of each individual cutting element of the second number of cutting elements.

23. The computer program product of claim 22 further comprising:

program code for determining the second number of cutting elements to be autonomously adjusted, a height for each of the second number of cutting elements to be autonomously adjusted, and a timing for each of the second number of cutting elements to be autonomously adjusted in response to detecting the position of the obstacle in the path, the size of the obstacle in the path, and the distance between the second number of cutting elements and the obstacle.

24. The computer program product of claim 23 further comprising:

program code for determining a first time for the control unit to autonomously raise each of the second number of cutting elements and determining a second time for the control unit to autonomously lower each of the second number of cutting elements.

25. The computer program product of claim 23 further comprising:

program code for reducing at least one of an area around the obstacle that is not cut by the first number of cutting elements, an obviousness of the area around the obstacle, and a visibility of the obstacle;

in response to determining the second number of cutting elements to be autonomously adjusted, the height for each of the second number of cutting elements to be autonomously adjusted, and the timing for each of the second number of cutting elements to be autonomously adjusted.

26. The computer program product of claim 21 further comprising:

program code for a design to be formed into a pattern; and

program code for autonomously controlling the first number of cutting elements to form the pattern.

27. The computer program product of claim 26 further comprising:

program code for transferring the program code for the design to be formed into a pattern to the computer readable storage medium, wherein the program code for the design to be formed into the pattern is one of a number of program codes for a number of designs to be formed into a number of patterns.

28. The computer program product of claim 21, wherein the program code for detecting the obstacle in the path is performed by a sensing unit comprising a number of sensors selected from at least one of a global positioning system, structured light sensor, two dimensional/three dimensional lidar, dead reckoning, infrared camera, visible light camera, radar, ultrasonic sonar, radio frequency identification reader, moisture sensor, and ambient light sensor.

29. The computer program product of claim 21 further comprising:

program code for stopping the second number of cutting elements of the first number of cutting elements in response to detecting the obstacle in the path of the vehicle.

30. The computer program product of claim 21 further comprising:

program code for adjusting a cutting angle of the second number of cutting elements of the first number of cutting elements in response to detecting the obstacle in the path of the vehicle.

31. A vehicle comprising:

a plurality of cutting elements, wherein the vehicle is movable on a path;

a sensing unit configured to detect an obstacle in the path, a position of the obstacle in the path, a size of the obstacle in the path, and a distance between the plurality of cutting elements and the obstacle;

a processor unit configured to determine a number of cutting elements to be autonomously adjusted, a height for each of the number of cutting elements to be autonomously adjusted, and a timing for each of the number of cutting elements to be autonomously adjusted; and

a control unit connected to the plurality of cutting elements, the control unit being configured to autonomously adjust each of the number of cutting elements of the plurality of cutting elements according to the height and the timing determined for each of the number of cutting elements, wherein the control unit is configured to individually control a height of each individual cutting element of the second number of cutting elements, wherein the second number of cutting elements is (i) a subset of the first number of cutting elements and (ii) comprise more than one cutting element.

32. The vehicle of claim 31 further comprising:

a computer readable storage medium storing program code for a design to be formed into a pattern, and

wherein the processor unit executes the program code and wherein the program code, when executed by the processor unit, causes the control unit to autonomously control the plurality of cutting elements to form the pattern.

33. The vehicle of claim 32, wherein the program code for the design to be formed into the pattern is one of a number of program codes for a number of designs to be formed into a number of patterns, and wherein the number of program codes is transferred to the computer readable storage medium from a data source.

34. The vehicle of claim 31, wherein the control unit is configured to stop the number of cutting elements of the plurality of cutting elements in response to the sensing unit detecting the obstacle in the path of the vehicle.

35. The apparatus of claim 31, wherein the control unit is configured to adjust a cutting angle of the number of cutting elements of the plurality of cutting elements in response to the sensing unit detecting the obstacle in the path of the vehicle.