Pheromone for robotic boundary

• US 8,996,171 B2
• Filed: 02/02/2010
• Issued: 03/31/2015
• Est. Priority Date: 02/02/2010
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne, Paulino, Heidi, Dickson, Monte
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US12/698,214
• Publication Number:
  US 20110190931A1
• Time in Patent Office: 1,883 Days
• Field of Search: 700/245, 700/247, 700/248, 700/253, 700/258, 700/260, 318/580, 318/568.12, 318/568.16, 318/568.17, 180/167, 180/168, 180/169
• US Class Current: 700/253
• 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 1/0276 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: G05D 2201/0208 Lawn mower

Abstract

A method for regenerating a boundary of an area for containing a mobile machine is provided. An emitter is detected in an area designated to contain the mobile machine. In response to detecting the emitter, a function is performed. In addition, the emitter is reapplied on a predetermined time interval basis over an existing detected emitter to minimize deterioration of a strength of the emitter due to time and environmental factors.

Claims

1. A method for a mobile machine, the method comprising:

the mobile machine detecting an emitter in an area, the emitter defining an operating environment;

the mobile machine performing a function in the operating environment; and

the mobile machine applying additional emitter over the detected emitter to minimize deterioration of a strength of the emitter due to time and environmental factors, wherein the emitter is included in a boundary application substance, wherein the boundary application substance is initially applied by a user to form the boundary, and wherein the boundary application substance evaporates more rapidly than the emitter evaporates.

2. The method of claim 1, further comprising:

wherein detecting the emitter comprises determining whether the strength of the emitter is less than a threshold level during the function being performed; and

wherein applying the additional emitter is responsive to determining that the strength of the emitter is less than the threshold level, the additional emitter applied where the strength of the emitter is detected to be less than the threshold level.

3. The method of claim 1, wherein the function is at least one of changing a course of movement away from the emitter, initiating an action, stopping an action, and performing an act.

4. The method of claim 1, wherein the emitter is one of a pheromone, a radio frequency identification tag, a fleck of visible material, or a non-visible pigment.

5. The method of claim 4, wherein the radio frequency identification tag is one of a plurality of radio frequency identification tags, and wherein a portion of the plurality of radio frequency identification tags includes a sensor to monitor a condition of grass.

6. The method of claim 5, wherein a size of the plurality of radio frequency identification tags is between 0.1 millimeters×

0.1 millimeters and 0.05 millimeters×

0.05 millimeters.

7. The method of claim 5, wherein different functions are encoded within different radio frequency identification tags within the plurality of radio frequency identification tags.

8. The method of claim 4, wherein the pheromone is used to attract beneficial creatures and repel undesirable creatures.

9. The method of claim 1, wherein the emitter is placed along a boundary of the operating environment.

10. The method of claim 1, wherein the emitter is disseminated over an entire area designated to contain the mobile machine.

11. The method of claim 1, wherein the boundary application substance includes a color, and wherein the boundary application substance is one of a gel, a liquid, or a powder.

12. The method of claim 11, wherein the color of the boundary application substance disappears after a period of time.

13. The method of claim 1, wherein a plurality of different densities of radio frequency identification tags are disseminated in the area designated to contain the mobile machine.

14. The method of claim 13, wherein a specific density within the plurality of different densities of radio frequency identification tags specifies a specific function for the mobile machine.

15. The method of claim 1, wherein the mobile machine is a robotic mower, and the function performed by the robotic mower is mowing grass within the operating environment.

16. The method of claim 1, wherein the emitter is applied on a predetermined time interval basis.

17. The method of claim 16, wherein the time interval is less than an expected useful life of the emitter.

18. The method of claim 1, wherein the operating environment is an enclosed boundary that the mobile machine does not cross while performing the function.

19. The method of claim 1, further comprising:

responsive to applying the additional emitter, the mobile machine resuming performance of the function.

20. A mobile machine comprising:

a task payload system;

a propulsion system;

a steering system;

a braking system;

a sensor system for collecting data regarding an operating environment for the mobile machine;

an emitter application system for maintaining a strength of an emitter; and

a machine controller coupled to the task payload system, the propulsion system, the steering system, the braking system, the sensor system, and the emitter application system;

wherein the machine controller detects the emitter in an area, the emitter defining the operating environment, directs the mobile machine to perform a function in the operating environment; and

applies additional emitter over the detected emitter using the emitter application system to minimize deterioration of a strength of the emitter due to time and environmental factors, wherein the emitter is included in a boundary application substance, wherein the boundary application substance is initially applied by a user to form the boundary, and wherein the boundary application substance evaporates more rapidly than the emitter evaporates.

21. The mobile machine of claim 20, wherein detecting the emitter comprises determining whether the strength of the emitter is less than a threshold level during the function being performed;

and wherein the machine controller applies the additional emitter over the detected emitter using the emitter application system where the strength of the emitter is detected to be less than the threshold level in response to determining that the strength of the emitter is less than the threshold level.

22. The mobile machine of claim 20, wherein the function is at least one of changing a course of movement away from the emitter, initiating an action, stopping an action, and performing an act.

23. The mobile machine of claim 20, wherein the emitter is one of a pheromone, a radio frequency identification tag, a fleck of visible material, or a non-visible pigment.

24. The mobile machine of claim 20, wherein the function is mowing grass within the area designated to contain the mobile machine.