Path recording and navigation

• US 9,594,380 B2
• Filed: 08/18/2012
• Issued: 03/14/2017
• Est. Priority Date: 03/06/2012
• Status: Active Grant

• Current Assignee: Travis Dorschel
• Original Assignee: Travis Dorschel
• Inventors: Dorschel, Travis
• Primary Examiner(s): Jen, Ian
• Application Number:
  US13/589,111
• Publication Number:
  US 20130238130A1
• Time in Patent Office: 1,669 Days
• Field of Search: 700/259
• US Class Current: 1/1
• 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 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

The instant application discloses, among other things, path recording and automatic navigation that may be applicable to various applications, including, but not limited to, lawn mowing.

Claims

1. A system, comprising:

a processor;

a memory coupled to the processor;

a camera coupled to the processor;

an image recognition component, configured to recognize an image obtained from the camera, the image containing at least one environmental feature;

a location determining component, configured to determine a location relative to recognized image;

an environmental feature selecting component, configured to select an environmental feature for future navigation by processing an image to evaluate if the environmental feature is suitable for navigating a navigation path;

a navigation path storage component, configured to record a manually navigated navigation path, the recording comprising storing a plurality of images and determining a location relative to at least one environmental feature included in each of the images; and

an action tracking component, configured to record an action associated with the determined location;

a playback component, configured to reproduce the navigation path.

2. The system of claim 1, further comprising:

a motor; and

the playback component configured to control the motor to reproduce the navigation path.

3. The system of claim 1, wherein the camera comprises an omnidirectional camera.

4. The system of claim 1, wherein the camera comprises a wide angle lens.

5. The system of claim 1, wherein the system comprises a factory robot.

6. The system of claim 1, wherein the system comprises a lawnmower.

7. The system of claim 6, further comprising an activity selected from a group comprising engaging a cutting blade, disengaging a cutting blade, changing the cutting height of a cutting blade, beginning to distribute fertilizer, ceasing a distribution of fertilizer, beginning to water an area, and ending a watering of an area.

8. A method, comprising:

manually navigating a path;

recording the path by storing images of environmental features, at least one image selected by evaluating an environmental feature from the image and determining the environmental image is suitable for navigating on the path;

receiving an image;

comparing the image to the previously stored list of images to identify a location on the recorded path; and

adjusting an input on at least one motor driving a means of propulsion to move the device along the recorded path.

9. The method of claim 8, wherein the image is received from a camera.

10. The method of claim 8, wherein the means of propulsion comprises a wheel.

11. The method of claim 8, wherein the means of propulsion comprises a track.

12. The method of claim 8, wherein the means of propulsion comprises a propeller.

13. A non-transitory computer readable storage medium containing instructions thereon which, when executed, perform a method comprising:

navigating a path;

recording the path by storing images of environmental features, at least one image selected by evaluating an environmental feature from the image and determining the environmental image is suitable for navigating on the path;

receiving an image; and

comparing the image to the stored images to identify a location on the recorded path;

adjusting an input on at least one motor driving a means of propulsion to move the device along the recorded path.

14. The non-transitory computer readable storage medium of claim 13, wherein the image is received from a camera.

15. The non-transitory computer readable storage medium of claim 13, wherein the identifying a location comprises using at least one environmental feature.

16. The non-transitory computer readable storage medium of claim 13, wherein the means of propulsion comprises a wheel.

17. The non-transitory computer readable storage medium of claim 13, wherein the means of propulsion comprises a track.

18. The non-transitory computer readable storage medium of claim 13, wherein the means of propulsion comprises a propeller.