Autonomous mobile apparatus for performing work within a predefined area

• US 20030023356A1
• Filed: 09/13/2002
• Published: 01/30/2003
• Est. Priority Date: 02/02/2000
• Status: Abandoned Application

• Current Assignee: Logical Technologies Limited
• Original Assignee: Logical Technologies Limited
• Inventors: Keable, Stephen J.
• Application Number:
  US10/182,566
• Publication Number:
  US 20030023356A1
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0265 using buried wires
• 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 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 2201/0208 Lawn mower
• CPC Class Codes: Y02P 60/12 using renewable energies, e.g. solar water pumping

Abstract

The apparatus comprises a platform (28), two ground engaging drive wheels (2) positioned one at each side of the platform (28), drive means (11, 12) for independently driving each drive wheel, a control device (14) for continuously controlling the drive means (11, 12), whereby operation of the drive means (11, 12) causes the apparatus to progress over a predetermined route within the predetermined area, and at least one sensor (6) coupled to the control device (14) for sensing the proximity of signal means (23, 24) defining the borders of the predefined area

Claims

1. An autonomous mobile apparatus for performing work within a pre-defined area, the apparatus comprising:

a platform (28);

two ground engaging drive wheels (2) positioned one at each side of said platform (28);

drive means (11, 12) for independently driving each said drive wheel;

a control device (14) for continuously controlling said drive means (11, 12), whereby operation of said drive means (11, 12) causes the apparatus to progress over a predetermined route within said predetermined area; and

at least one border sensor (6) coupled to said control device (14) for sensing the proximity of signal means (23, 24) defining the borders of said predefined area, characterised by a navigation device (13) coupled to said control device (14) for sensing the orientation of the apparatus, said navigation device comprising a digital compass.

2. An apparatus according to claim 1, wherein said control device (14) is capable of operating on the basis of closed loop control.

3. An apparatus according to claim 1 or 2, further comprising means (18) coupled to said control device (14) for detecting the presence of obstacles lying in the path of said predetermined route, and responding thereto.

4. An apparatus according to any preceding claim, further comprising a power source (10) carried by said platform (28).

5. An apparatus according to claim 4, wherein said power source (10) is rechargeable.

6. An apparatus according to claim 5, further comprising a plurality of solar cells (4) for recharging said rechargeable power source (10).

7. An apparatus according to claim 1, further comprising a ground engaging castor wheel (3) carried by said platform (28) at a position spaced from said drive wheels (2).

8. An apparatus according to any preceding claim, adapted to operate as a lawn mower, said platform (28) carrying a grass cutting device.

9. An apparatus according to any preceding claim, wherein said control device (14) is pre-programmed with a plurality of selectable different routes within said predetermined area.

10. An apparatus according to any preceding claim, wherein said control device (14) is manually programmable.

11. An apparatus according to claim 10, wherein an operator interface (15) is carried by said platform (28), to enable programming of said control device (14) by an operator.

12. An apparatus according to claim 10, wherein said control device (14) includes a signal receiver (32), to enable programming of said control device (14) by a signal generating remote control programming device (27).

13. An apparatus according to any preceding claim, wherein said drive means (11, 12) are capable of independently driving each said drive wheel in both forward and reverse directions.

14. An apparatus according to any preceding claim, wherein said drive means (11, 12) are capable of independently. driving each said drive wheel at variable speeds.

15. The combination of an apparatus according to any preceding claim with at least one elongate conductor (23) positioned to define the borders of said predetermined area, and a signal generator (25) for applying a border signal of predetermined character to said elongate conductor (23), said sensor (6) being capable of sensing said border signal as the apparatus approaches a border of said predetermined area.

16. The combination according to claim 15, wherein said predetermined area includes within its borders an excluded area.(30, 31), at least one further elongate conductor (24) is positioned to define the limits of said excluded area (30, 31) and a signal generator (26) is provided for applying a limit signal of predetermined character, distinguishable from said border signal, to said further elongate conductor (24), said sensor (6) being capable of sensing said limit signal as the apparatus approaches the limits of said excluded area.