Control apparatus for omnidirectional, polar coordinated platform for lawnmower and the like

• US 4,533,998 A
• Filed: 07/06/1984
• Issued: 08/06/1985
• Est. Priority Date: 03/01/1982
• Status: Expired due to Term

• Current Assignee: Moshel Eluzar-Receiver Byn. Y.S. Supreme Court, Romak Robotics A Texas Partnership
• Original Assignee: Reza Falamak
• Inventors: Falamak, Reza
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/628,337
• Time in Patent Office: 396 Days
• Field of Search: 364/424, 364/444, 364/449, 364/457, 340/988, 340/991, 340/992, 340/993, 343/450, 343/451, 73/178 R, 180/23, 180/24, 180/79.1, 180/167, 180/168, 180/234, 180/241, 180/251, 280/47.11, 377/17
• US Class Current: 701/50
• CPC Class Codes: B62D 7/026 characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle
• CPC Class Codes: B62D 9/00 Steering deflectable wheels not otherwise provided for steering positon indicators B62D15/02

Abstract

Control apparatus for an omnidirectional, polar coordinated platform for a lawnmower and the like is disclosed in which a line selector has at least one steering command line coupled to an angle selector, and at least one driving command line coupled to a moving selector. The angle selector produces a steering angle signal which is combined with a compass signal in an angle comparator to produce a steering signal, which is received by a steering counter that selectively activates a steering device. The moving selector produces a drive signal which is received by a driving comparator that selectively activates a driving device.

Claims

1. Control apparatus for a drivable, steerable platform having a plurality of wheel members, said control apparatus comprising:

line selector means having at least one steering command line and at least one driving command line for selectively activating at least one of said command lines;

manual angle selector means coupled to said at least one steering command line for outputting a steering angle signal;

compass means for producing a compass signal;

angle comparator means coupled to said manual angle selector means and to said compass means for receiving said steering angle signal and said compass signal, and for selectively outputting a steering signal;

steering counter means coupled to said angle comparator means for receiving said steering signal, for outputting a steering counter signal, and for outputting a coordination signal;

first means coupled to said steering counter means for receiving said steering counter signal and for outputting an output steering signal;

steering sensor means for sensing the orientation of at least one of said plurality of wheel members, for outputting a wheel orientation signal representative of said orientation, and for coupling said wheel orientation signal to said steering counter means;

manual moving selector means coupled to said at least one driving command line and to said steering counter means for receiving said coordination signal and for outputting a drive signal;

driving sensor means for sensing the distance travelled by at least one of said plurality of wheel members and for outputting a distance signal;

driving counter means coupled to said driving sensor means for receiving said distance signal and for outputting a distance travelled signal representative of the distance travelled by at least one of said plurality of wheel members;

driving comparator means coupled to said manual moving selector means and to said driving counter means for selectively receiving said drive signal, for receiving said distance travelled signal, and for outputting a driving comparator signal; and

second means coupled to said driving comparator means for receiving said driving comparator signal and for outputting an output driving signal.

2. The control apparatus according to claim 1 wherein said first and second means each comprise a digital to analog converter means.

3. The control apparatus according to claim 1 further comprising:

first transmitter means disposed at a first location spaced from said platform for transmitting a transmitted signal;

first receiver means disposed at a second location coincident with said platform for receiving said transmitted signal, and for outputting a first receiver output signal; and

coupling means for coupling said first receiver to said line selector means.

4. The control apparatus according to claim 3 wherein said coupling means includes frequency to voltage converter means coupled to said first receiver means for receiving said first receiver output signal, for outputting a converter output signal, and for coupling said converter output signal to said line selector means.

5. The control apparatus according to claim 3 further comprising:

second transmitter means disposed at said second location and coupled to said driving sensor means and to said steering sensor means for transmitting a data signal; and

second receiver means disposed at said first location for receiving said data signal and for outputting a second receiver output signal.

6. The control apparatus according to claim 1 further comprising:

steering selector means for outputting a steering command signal;

driving selector means for outputting a driving command signal; and

control means coupled to said steering selector means and to said driving selector means for receiving said steering command signal and said driving command signal, and for outputting a control output signal.

7. The control apparatus of claim 6 wherein said steering selector means, said driving selector means and said control means are each disposed at a first location spaced from said platform, and wherein said control apparatus further comprises:

first transmitter means disposed at said first location and coupled to said control means for receiving said control output signal and for transmitting a transmitted signal;

first receiver means disposed at a second location coincident with said platform for receiving said transmitted signal, and for outputting a first receiver output signal;

first coupling means for coupling said first receiver to said line selector means;

second transmitter means disposed at said second location and coupled to said driving sensor means and to said steering sensor means for transmitting a data signal;

second receiver means disposed at said first location and coupled to said control means for receiving said data signal and for outputting a second receiver output signal; and

second coupling means for coupling said second receiver output signal to said control means.

8. The control apparatus according to claim 7 further comprising:

a video display device disposed at said first location and coupled to said control means and to said second receiver means; and

a video camera disposed at said second location and coupled to said second transmitter means.

9. The control apparatus according to claim 6 wherein said control means includes a programmable computer.

10. The control apparatus according to claim 9 wherein said steering selector means and said driving selector means each include means for storing and for selecting pre-programmed commands.

11. A drivable, steerable platform having control apparatus, said platform comprising:

a frame member, said member being generally disposed in a frame member plane;

at least three wheel assemblies, each of said wheel assemblies including;

first support structure rotatably connected to said frame member such that said support structure rotates about an axis substantially perpendicular to said frame member plane, said first support structure being endlessly rotatable through an angle of 360°

;

a wheel member rotably mounted on said first support structure such that said wheel member rotates in a wheel rotation plane about an axis substantially parallel to said frame member plane;

first drive structure to drive said wheel member about its axis of rotation in said wheel rotation plane; and

first steering structure to rotate said first support structure about its axis of rotation, whereby said wheel member is endlessly steerable through an angle of 360°

;

a first endless device drivingly connected to each of said first drive structures to rotate each of said wheel members substantially in synchronism;

a second endless device drivingly connected to each of said first steering structures to rotate each of said first support structures substantially in synchronism; and

drive means for selectively driving said first and second endless devices, said means including;

a driving device;

first coupling structure to selectively couple and uncouple said driving device and said first endless device; and

second coupling structure to selectively couple and uncouple said driving device and said second endless device;

wherein the wheel rotation planes of said at least three wheel members are disposed substantially parallel to each other; and

said control apparatus comprising;

line selector means having at least one steering command line and at least one driving command

line for selectively activating at least one of said command lines;

manual angle selector means coupled to said at least one steering command line for outputting a steering angle signal;

compass means for producing a compass signal;

angle comparator means coupled to said manual angle selector means and to said compass means for receiving said steering angle signal and said compass signal, and for selectively outputting a steering signal;

steering counter means coupled to said angle comparator means for receiving said steering signal, for outputting a steering counter signal, and for outputting a coordination signal;

first means coupled to said steering counter means for receiving said steering counter signal and for outputting an output steering signal;

steering sensor means for sensing the orientation of at least one of said wheel assemblies for

outputting a wheel orientation signal representative of said orientation, and for coupling said wheel orientation signal to said steering counter means;

manual moving selector means coupled to said at least one driving command line and to said steering counter means for receiving said coordination signal and for outputting a drive signal;

driving sensor means for sensing the distance traveled by at least one of said wheel members and for outputting a distance signal;

driving counter means coupled to said driving sensor means for receiving said distance signal and for outputting a distance traveled signal representative of the distance traveled by at least one of said wheel members;

driving comparator means coupled to said manual moving selector means and to said driving counter means for selectively receiving said drive signal, for receiving said distance traveled signal, and for outputting a driving comparator signal; and

second means coupled to said driving comparator means for receiving said driving comparator signal and for outputting an output driving signal.

12. The platform according to claim 11 wherein said first and second means of said control apparatus each comprise a digital to analog converter means.

13. The platform according to claim 11 wherein said control apparatus further comprises:

first transmitter means disposed at first location spaced from said platform for transmitting a transmitted signal;

first receiver means disposed at a second location coincident with said platform for receiving said transmitted signal, and for outputting a first receiver output signal; and

coupling means for coupling said first receiver to said line selector means.

14. The platform according to claim 13 wherein said coupling means of said control apparatus includes frequency to voltage converter means coupled to said first receiver means for receiving said first receiver output signal, for outputting a converter output signal, and for coupling said converter output signal to said line selector means.

15. The platform according to claim 13 wherein said control apparatus further comprises:

second transmitter means disposed at said second location and coupled to said driving sensor means and to said steering sensor means for transmitting a data signal; and

second receiver means disposed at said first location for receiving said data signal and for outputting a second receiver output signal.

16. The platform according to claim 11 wherein said control apparatus further comprises:

steering selector means for outputting a steering command signal;

driving selector means for outputting a driving command signal; and

control means coupled to said steering selector means and to said driving selector means for receiving said steering command signal and said driving command signal, and for outputting a control output signal.

17. The platform according to claim 16 wherein said steering selector means, said driving selector means and said control means of said control apparatus are each disposed at a first location spaced from said platform, and wherein said control apparatus further comprises:

first transmitter means disposed at said first location and coupled to said control means for receiving said control output signal and for transmitting a transmitted signal;

first receiver means disposed at a second location coincident with said platform for receiving said transmitted signal, and for outputting a first receiver output signal;

first coupling means for coupling said first receiver to said line selector means;

second transmitter means disposed at said second location and coupled to said driving sensor means and to said steering sensor means for transmitting a data signal;

second receiver means disposed at said first location and coupled to said control means for receiving said data signal and for outputting a second receiver output signal; and

second coupling means for coupling said second receiver output signal to said control means.

18. The platform according to claim 17 wherein said control apparatus further comprises:

a video display device disposed at said first location and coupled to said control means and to said second receiver means; and

a video camera disposed at said second location and coupled to said second transmitter means.

19. The platform according to claim 16 wherein said control means of said control apparatus includes a programmable computer.

20. The platform according to claim 19 wherein said steering selector means and said driving selector means of said control apparatus each include means for storing and for selecting preprogrammed commands.