Robotic Mower Stuck Detection System

• US 20120029752A1
• Filed: 07/28/2010
• Published: 02/02/2012
• Est. Priority Date: 07/28/2010
• Status: Abandoned Application

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Johnson, David A., Thompson, Jeffrey S., Messina, Thomas M., Kraft, Justin A., Thacher, Russell J.
• Application Number:
  US12/845,298
• Publication Number:
  US 20120029752A1
• 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: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2220/20 DC electrical machines
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/22 Yaw angle
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/547 Voltage
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: B60L 53/65 involving identification of vehicles or their battery types
• CPC Class Codes: B60L 58/21 having the same nominal voltage
• 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: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/12 : Electric charging stations
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y02T 90/167 : Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
• CPC Class Codes: Y04S 30/14 : Details associated with the interoperability, e.g. vehicle recognition, authentication, identification or billing

Abstract

A robotic mower stuck detection system includes a boundary sensor on the robotic mower that can detect when the robotic mower reaches a boundary wire, an accelerometer on the robotic mower that can detect when the robotic mower encounters an obstacle; and a vehicle control unit on the robotic mower having a timer that is reset each time the robotic mower reaches a boundary wire or encounters an obstacle; and executes a stuck vehicle task if the timer exceeds a specified maximum time without being reset.

Claims

1. A robotic mower stuck detection system, comprising:

a boundary sensor on the robotic mower that senses distance to a boundary wire;

an accelerometer on the robotic mower that senses contact between the robotic mower and an obstacle;

a vehicle control unit on the robotic mower connected to the boundary sensor and the accelerometer; and

a timer that the vehicle control unit resets each time the boundary sensor senses zero distance to the boundary wire or the accelerometer senses contact with an obstacle;

the vehicle control unit executing a stuck vehicle task if the timer exceeds a specified maximum time without being reset.

2. The robotic mower stuck detection system of claim 1 wherein the vehicle control unit resets the timer based on a maximum distance within the boundary wire and the travel speed of the robotic mower.

3. The robotic mower stuck detection system of claim 1 wherein the vehicle control unit commands a traction drive system on the robotic mower to reverse and turn around each time the boundary sensor senses zero distance to the boundary wire or the accelerometer senses contact with an obstacle.

4. The robotic mower stuck detection system of claim 1 wherein the stuck vehicle task includes shutting off a cutting blade motor.

5. A robotic mower stuck detection system, comprising:

a vehicle control unit commanding a traction drive system on the robotic mower to execute a plurality of types of area coverage;

the vehicle control unit commanding the robotic mower to execute a stuck vehicle task instead of any type of area coverage in the absence of a signal to the vehicle control unit within a specified period of time from a boundary sensor indicating the robotic mower has reached a boundary wire or from an accelerometer indicating the robotic mower has contacted an obstacle.

6. The robotic mower stuck detection system of claim 5 wherein the boundary sensor provides signals to the vehicle control unit indicating the distance of the robotic mower to the boundary wire.

7. The robotic mower stuck detection system of claim 5 wherein the vehicle control unit includes a timer that is reset when the boundary sensor indicates the robotic mower has reached a boundary wire or the accelerometer indicates the robotic mower has contacted an obstacle.

8. The robotic mower stuck detection system of claim 5 wherein the plurality of types of coverage include wide area coverage, local area coverage, and boundary coverage.

9. A robotic mower stuck detection system, comprising:

a plurality of sensors on the robotic mower, including at least one boundary sensor and an obstacle sensor;

a vehicle control unit connected to the plurality of sensors and commanding the robotic mower to reverse and turn around when one of the sensors indicates the robotic mower has reached a boundary or an obstacle;

the vehicle control unit commanding the robotic mower to execute a stuck vehicle task if a timer on the vehicle control unit exceeds a specified maximum time without reversing and turning around.

10. The robotic mower stuck detection system of claim 9 wherein the stuck vehicle task includes shutting off a cutting blade motor.

11. The robotic mower stuck detection system of claim 9 wherein the obstacle sensor is an accelerometer.

12. The robotic mower stuck detection system of claim 9 wherein the boundary is a boundary wire, and the boundary sensor provides signals indicating the distance to the boundary wire.