Multifunctional mobile appliance

• US 6,502,017 B2
• Filed: 11/20/2001
• Issued: 12/31/2002
• Est. Priority Date: 03/19/1999
• Status: Expired due to Term

• Current Assignee: MC Robotics
• Original Assignee: Bryan John Ruffner
• Inventors: Ruffner, Bryan John
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): To, Tuan C
• Application Number:
  US09/988,641
• Publication Number:
  US 20020049522A1
• Time in Patent Office: 406 Days
• Field of Search: 701/213, 701/50, 701/207, 701/209, 342/357.01, 342/357.17, 342/988, 340/988, 340/995
• US Class Current: 701/23
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 42/00 Mowers convertible to apparatus for purposes other than mowing; Mowers capable of performing operations other than mowing mowers combined with apparatus performing additional operations while mowing A01D43/00
• CPC Class Codes: B60L 1/003 to auxiliary motors, e.g. for pumps, compressors
• 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 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/36 Temperature of vehicle components or parts
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/465 Slip
• CPC Class Codes: B60L 2240/545 Temperature
• CPC Class Codes: B60L 2240/622 by satellite navigation
• CPC Class Codes: B60L 2250/10 by alarm
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 3/0046 relating to electric energy storage systems, e.g. batteries or capacitors
• CPC Class Codes: B60L 3/0061 relating to electrical machines
• CPC Class Codes: B60L 3/106 for maintaining or recovering the adhesion of the drive wheels
• CPC Class Codes: B60L 50/40 using propulsion power supplied by capacitors
• CPC Class Codes: B60L 8/003 Converting light into electric energy, e.g. by using photo-voltaic systems
• 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 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

The invention is a multifunctional, mobile appliance capable of performing a variety of tasks safely, quietly, without pollution, and out of sight of its owner. Such tasks might include lawn mowing, fertilizing, and edging, floor vacuuming, waxing, and polishing, or rug shampooing. In its preferred implementation, the mobile unit 1 would obtain precise real time and position information using the Real Time Kinematic Global Positioning System. The user initially guides the appliance around the work-area perimeters. The device then uses this information to determine the full working area. Proximity detectors and impact sensors help the appliance avoid unexpected obstacles. The device is quiet enough to perform its task in the middle of the night while its owner is asleep, but can be programmed to work continuously or during any user-specified time interval. The small turning radius of the appliance allows it to follow intricate perimeters. In the instance of a mowing application, the cutting blades are surrounded by a cage that allows grass to enter, but excludes sticks, stones, fingers or toes. The mowing blade assembly can trim over the top of yard edging. The battery-powered device can recharge itself and a wireless link enables the appliance to communicate with its user and a user support network via the World Wide Web.

Claims

1. A method of programming the motion of a mobile appliance that is designed to perform a task over a designated work area using a routing algorithm comprising the steps of

defining geographic perimeter data of an area within which work is adapted to be performed along a path of predetermined width,

storing the geographic perimeter data,

mapping the area into a plurality of substantially equally spaced grid points with the distance between adjacent grid points corresponding substantially to one of the predetermined path width and a fraction of the predetermined path width,

quantizing the direction of movement of the mobile appliance into a set of vectors connecting the grid point representing the present location of the mobile appliance with the grid points immediately adjacent to the present location grid point,

initiating the movement of the mobile appliance along the path from one grid point to an adjacent grid point, and

recording the sequence of grid points crossed by the mobile appliance toward ensuring that work is performed substantially over the area represented by the grid points.

2. The method as defined in claim 1 wherein said area within which work is to be performed is a set of non-contiguous areas each defined by associated stored geographic perimeter data and including the further steps of defining connector paths representing the preferred travel route for the mobile appliance between perimeters that compose the stored geographic perimeter data, programming the perimeters and the connector paths by one of guiding the mobile appliance along the perimeters and connector paths and providing the geographic data representing the perimeters and connector paths, storing geographic data that represents programmed connector paths, and utilizing the connector paths for the movement of the mobile appliance between the perimeters that compose the stored geographic perimeter data.

3. The method as defined in claim 1 wherein said area within which work is to be performed is a set of non-contiguous areas each defined by associated stored geographic perimeter data and including the further steps of programming the perimeters by one of guiding the mobile appliance along the perimeters and providing the geographic data representing the perimeters, and utilizing a routing algorithm for the movement of the mobile appliance between the perimeters that compose the stored geographic perimeter data.

4. The method as defined in claim 1 wherein said area within which work is to be performed is a set of non-contiguous areas each defined by associated stored geographic perimeter data and including the further steps of defining connector paths representing the preferred travel route for the mobile appliance between perimeters that compose the stored geographic perimeter data, programming the perimeters and the connector paths by one of guiding the mobile appliance along the perimeters and connector paths and providing the geographic data representing the perimeters and connector paths, storing geographic data that represents programmed connector paths, utilizing the connector paths for the movement of the mobile appliance between the perimeters that compose the stored geographic perimeter data, demarcating the junction between each perimeter segment and each connector path, and identifying when any two perimeters intersect.

5. The method as defined in claim 1 wherein said area within which work is to be performed is a set of non-contiguous areas each defined by associated stored geographic perimeter data and including the further steps of defining connector paths representing the preferred travel route for the mobile appliance between perimeters that compose the stored geographic perimeter data, programming the perimeters and the connector paths by one of guiding the mobile appliance along the perimeters and connector paths and providing the geographic data representing the perimeters and connector paths, storing geographic data that represents programmed connector paths, utilizing the connector paths for the movement of the mobile appliance between the perimeters that compose the stored geographic perimeter data, demarcating the junction between each perimeter segment and each connector path, and identifying when any connector path crosses over one of itself and a perimeter.

6. The method as defined in claim 1 wherein said area within which work is to be performed is a set of non-contiguous areas each defined by associated stored geographic perimeter data and including the further steps of defining connector paths representing the preferred travel route for the mobile appliance between perimeters that compose the stored geographic perimeter data, programming the perimeters and the connector paths by one of guiding the mobile appliance along the perimeters and connector paths and providing the geographic data representing the perimeters and connector paths, storing geographic data that represents programmed connector paths, utilizing the connector paths for the movement of the mobile appliance between the perimeters that compose the stored geographic perimeter data, demarcating the junction between each perimeter segment and each connector path, and determining whether a perimeter bounds one of an inside and an outside edge of a work area.

7. The method as defined in claim 1 wherein said area within which work is to be performed is a set of non-contiguous areas each defined by associated stored geographic perimeter data and including the further steps of defining connector paths representing the preferred travel route for the mobile appliance between perimeters that compose the stored geographic perimeter data, programming the perimeters and the connector paths by one of guiding the mobile appliance along the perimeters and connector paths and providing the geographic data representing the perimeters and connector paths, storing geographic data that represents programmed connector paths, utilizing the connector paths for the movement of the mobile appliance between the perimeters that compose the stored geographic perimeter data, demarcating the junction between each perimeter segment and each connector path, and demarcating a modification entry and exit point on one of a perimeter and a connector path to facilitate one of the insertion and deletion of stored geographic path data.

8. The method as defined in claim 1 further comprising the steps of executing a centrifugal routing algorithm whereby the mobile appliance moves (a) forward toward adjacent grid points where work has not yet been performed, and (b) preferentially moving toward those grid points requiring movement vectors with a predetermined rotation from the current movement vector.

9. The method as defined in claim 1 further comprising the steps of executing a centrifugal routing algorithm whereby the mobile appliance moves (a) forward toward adjacent grid points where work has not yet been performed, and (b) preferentially moving toward those grid points requiring movement vectors with a predetermined rotation from the current movement vector, executing a backout routing algorithm when the set of grid points available for a given step of the centrifugal routing algorithm have all been processed to move the mobile appliance backward preferentially toward a processed grid point effecting the movement vector to rotate in the opposite direction of that predetermined for the centrifugal routing algorithm.

10. The method as defined in claim 1 further comprising the steps of executing a centrifugal routing algorithm whereby the mobile appliance moves (a) forward toward adjacent grid points where work has not yet been performed, and (b) preferentially moving toward those grid points requiring movement vectors with a predetermined rotation from the current movement vector, executing a backout routing algorithm when the set of grid points available for a given step of the centrifugal routing algorithm have all been processed to move the mobile appliance backward preferentially toward a processed grid point effecting the movement vector to rotate in the opposite direction of that predetermined for the centrifugal routing algorithm, and executing a feeder reload algorithm whereby the mobile appliance is routed from its present grid point toward the closest grid point where work has not yet been performed in a straight line path that adapts to and routes around barriers and obstacles that may exist between the two last-mentioned grid points.

11. The method as defined in claim 1 further comprising the steps of effecting the movement of the mobile appliance substantially along the path specified by the stored geographic perimeter data, executing a centrifugal routing algorithm whereby the mobile appliance moves (a) forward toward adjacent grid points where work has not yet been performed, and (b) preferentially moving toward those grid points requiring movement vectors with a predetermined rotation from the current movement vector, executing a backout routing algorithm when the set of grid points available for a given step of the centrifugal routing algorithm have all been processed to move the mobile appliance backward preferentially toward a processed grid point effecting the movement vector to rotate in the opposite direction of that predetermined for the centrifugal routing algorithm, and executing a feeder reload algorithm whereby the mobile appliance is routed from its present grid point toward the closest grid point where work has not yet been performed in a straight line path that adapts to and routes around barriers and obstacles that may exist between the two last-mentioned grid points.

12. The method as defined in claim 1 wherein said area within which work is to be performed is a set of non-contiguous areas each defined by associated stored geographic perimeter data and including the further steps of defining connector paths representing the preferred travel route for the mobile appliance between the perimeters that compose the stored geographic perimeter data, programming outside perimeters by guiding the mobile appliance around the perimeter using one direction of rotation and inside perimeters by guiding the mobile appliance around the perimeter using the opposite direction of rotation, programming the connector paths by guiding the mobile appliance along the connector paths, storing geographic data that represents programmed connector paths, demarcating the junction between each perimeter segment and each connector path, identifying when any two perimeters intersect to facilitate the reprogramming of the perimeters toward eliminating the intersection, identifying when any connector path crosses over one of itself and a perimeter to facilitate the reprogramming of the connector path toward eliminating the crossover, if necessary, determining whether a perimeter bounds one of an inside and an outside edge of a work area, demarcating a modification entry and exit point on one of a perimeter and a connector path to facilitate one of the insertion and deletion of stored geographic path data, effecting the movement of the mobile appliance substantially along the path specified by the stored geographic perimeter data, utilizing the connector paths for the movement of the mobile appliance between the perimeters that compose the stored geographic perimeter data, executing a centrifugal routing algorithm whereby the mobile appliance moves (a) forward toward adjacent grid points where work has not yet been performed, and (b) preferentially moving toward those grid points requiring movement vectors with a predetermined rotation from the current movement vector, executing a backout routing algorithm when the set of grid points available for a given step of the centrifugal routing algorithm have all been processed to move the mobile appliance backward preferentially toward a processed grid point effecting the movement vector to rotate in the opposite direction of that predetermined for the centrifugal routing algorithm, and executing a feeder reload algorithm whereby the mobile appliance is routed from its present grid point toward the closest grid point where work has not yet been performed in a straight line path that adapts to and routes around barriers and obstacles that may exist between the two last-mentioned grid points.

13. The method as defined in claim 1 further comprising the steps of

creating a mapping matrix of state variables with values that are linked to said grid points, and

using the mapping matrix values to control said movement of the mobile appliance along the path from one grid point to an adjacent grid point.

14. The method as defined in claim 1 further comprising the steps of

creating a mapping matrix of state variables with values that are linked to said grid points,

modifying the mapping matrix values in response to one of tasks performed, environmental conditions sensed, and user directives;

and

using the mapping matrix values to control said movement of the mobile appliance along the path from one grid point to an adjacent grid point.

15. The method as defined in claim 1 further comprising the steps of

creating a mapping matrix of state variables with values that are linked to said grid points,

modifying the mapping matrix values in response to one of tasks performed, environmental conditions sensed, and user directives,

using the mapping matrix values to control said movement of the mobile appliance along the path from one grid point to an adjacent grid point, and

executing a centrifugal routing algorithm whereby the mobile appliance moves (a) forward toward adjacent grid points where work has not yet been performed, and (b) preferentially moving toward those grid points requiring movement vectors with a predetermined rotation from the current movement vector.

16. The method as defined in claim 1 further comprising the steps of creating a mapping matrix of state variables with values that are linked to said grid points,

modifying the mapping matrix values in response to one of tasks performed, environmental conditions sensed, and user directives,

using the mapping matrix values to control said movement of the mobile appliance along the path from one grid point to an adjacent grid point,

executing a centrifugal routing algorithm whereby the mobile appliance moves (a) forward toward adjacent grid points where work has not yet been performed, and (b) preferentially moving toward those grid points requiring movement vectors with a predetermined rotation from the current movement vector, and

executing a backout routing algorithm when the set of grid points available for a given step of the centrifugal routing algorithm have all been processed to move the mobile appliance backward preferentially toward a processed grid point effecting the movement vector to rotate in the opposite direction of that predetermined for the centrifugal routing algorithm.

17. The method as defined in claim 1 further comprising the steps of

creating a mapping matrix of state variables with values that are linked to said grid points,

modifying the mapping matrix values in response to one of tasks performed, environmental conditions sensed, and user directives,

using the mapping matrix values to control said movement of the mobile appliance along the path from one grid point to an adjacent grid point,

executing a centrifugal routing algorithm whereby the mobile appliance moves (a) forward toward adjacent grid points where work has not yet been performed, and (b) preferentially moving toward those grid points requiring movement vectors with a predetermined rotation from the current movement vector,

executing a backout routing algorithm when the set of grid points available for a given step of the centrifugal routing algorithm have all been processed to move the mobile appliance backward preferentially toward a processed grid point effecting the movement vector to rotate in the opposite direction of that predetermined for the centrifugal routing algorithm, and

executing a feeder reload algorithm whereby the mobile appliance is routed from its present grid point toward the closest grid point where work has not yet been performed in a straight line path that adapts to and routes around barriers and obstacles that may exist between the two last-mentioned grid points.

18. The method as defined in claim 1 further comprising the steps of

creating a mapping matrix of state variables with values that are linked to said grid points,

modifying the mapping matrix values in response to one of tasks performed, environmental conditions sensed, and user directives,

using the mapping matrix values to control said movement of the mobile appliance along the path from one grid point to an adjacent grid point,

effecting the movement of the mobile appliance substantially along the path specified by the stored geographic perimeter data,

executing a centrifugal routing algorithm whereby the mobile appliance moves (a) forward toward adjacent grid points where work has not yet been performed, and (b) preferentially moving toward those grid points requiring movement vectors with a predetermined rotation from the current movement vector,

executing a backout routing algorithm when the set of grid points available for a given step of the centrifugal routing algorithm have all been processed to move the mobile appliance backward preferentially toward a processed grid point effecting the movement vector to rotate in the opposite direction of that predetermined for the centrifugal routing algorithm, and

executing a feeder reload algorithm whereby the mobile appliance is routed from its present grid point toward the closest grid point where work has not yet been performed in a straight line path that adapts to and routes around barriers and obstacles that may exist between the two last-mentioned grid points.