Autonomous Mobile Robot
First Claim
1. A robot lawnmower comprising:
- a robot body;
a drive system supporting the robot body and configured to maneuver the robot lawnmower over a lawn;
a localizing system configured to determine perimeter positions of the robot lawnmower with respect to an origin;
a teach monitor in communication with the localizing system and configured to determine whether the robot lawnmower is in a teachable state, with the robot lawnmower localized and on traversable terrain, or in an unteachable state; and
a controller in communication with the drive system, the localizing system, and the teach monitor, the controller comprising;
a data processing device; and
non-transitory memory in communication with the data processing device;
wherein the controller is configured to execute a teach routine when the controller is in a teach mode for tracing a confinement perimeter around the lawn as a human operator pilots the robot lawnmower with the robot lawnmower in the teachable state, while the teach routine stores perimeter positions determined by the localizing system in the non-transitory memory.
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Accused Products
Abstract
A robot lawnmower includes a robot body, a drive system, a localizing system, a teach monitor, and a controller in communication with one another. The drive system is configured to maneuver the robot lawnmower over a lawn. The teach monitor determines whether the robot lawnmower is in a teachable state. The controller includes a data processing device and non-transitory memory in communication with the data processing device. The data processing device executes a teach routine when the controller is in a teach mode for tracing a confinement perimeter around the lawn as a human operator pilots the robot lawn mower, when the robot lawnmower is in the teachable state, the teach routine stores global positions determined by the localizing system in the non-transitory memory, and when the robot lawnmower is in the unteachable state, the teach routine issues an indication of the unteachable state.
70 Citations
20 Claims
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1. A robot lawnmower comprising:
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a robot body; a drive system supporting the robot body and configured to maneuver the robot lawnmower over a lawn; a localizing system configured to determine perimeter positions of the robot lawnmower with respect to an origin; a teach monitor in communication with the localizing system and configured to determine whether the robot lawnmower is in a teachable state, with the robot lawnmower localized and on traversable terrain, or in an unteachable state; and a controller in communication with the drive system, the localizing system, and the teach monitor, the controller comprising; a data processing device; and non-transitory memory in communication with the data processing device; wherein the controller is configured to execute a teach routine when the controller is in a teach mode for tracing a confinement perimeter around the lawn as a human operator pilots the robot lawnmower with the robot lawnmower in the teachable state, while the teach routine stores perimeter positions determined by the localizing system in the non-transitory memory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of configuring a robotic lawnmowing system for autonomous operation, the method comprising:
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receiving, at a data processing device, perimeter positions of a robot lawnmower with respect to an origin; receiving, at the data processing device, a state of the robot lawnmower indicating whether the robot lawnmower is in a teachable state, with the robot lawnmower localized and on traversable terrain, or in an unteachable state; and executing, on the data processing device, a teach routine that traces a confinement perimeter around a lawn as a human operator pilots the robot lawnmower, while the teach routine stores received perimeter positions in non-transitory memory when the robot lawnmower is in the teachable state, and issues an unteachable state indication when the robot lawnmower is in the unteachable state. - View Dependent Claims (13, 14, 15, 16)
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17. A robotic lawnmower system, comprising:
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a localizing system that records each global position of a robot lawnmower with respect to a global origin as a human operator pilots the robot lawnmower to trace a confinement perimeter around a lawn in a manual confinement perimeter teaching mode; contour memory in which a geometric contour of the confinement perimeter is recorded while the human operator pilots the robot lawnmower for a duration of operation in manual confinement perimeter teaching mode, the geometric contour defining a perimeter that the robot lawnmower is to avoid crossing in an autonomous mode; a teaching property monitor configured to detect whether or not the robot lawnmower is piloted in a recordable state and on traversable terrain; and an operator feedback unit in communication with the teaching property monitor and comprising a progress indicator capable of emitting a human-perceptible signal configured to; (i) alert the human operator to an unrecordable state or untraversable terrain, and (ii) indicate a piloting correction to return the robot lawnmower to a recordable state or traversable terrain. - View Dependent Claims (18, 19, 20)
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Specification