Autonomous mobile robot

  • US 9,554,508 B2
  • Filed: 03/17/2015
  • Issued: 01/31/2017
  • Est. Priority Date: 03/31/2014
  • Status: Active Grant
First Claim
Patent Images

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 or in an unteachable state, the robot lawnmower being in the teachable state when the robot lawnmower is localized and on traversable terrain;

    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, wherein the teach routine stores perimeter positions determined by the localizing system in the non-transitory memory, and wherein the teach monitor of the robot lawnmower determines whether the robot lawnmower is in the teachable state or the unteachable state; and

    an operator feedback unit in communication with the teach monitor or the controller and configured to emit an unteachable state indication when the teach monitor determines the robot lawnmower is in the unteachable state, the unteachable state indication configured to alert the human operator to the unteachable state and to further indicate a piloting correction of the robot lawnmower to return the robot lawnmower to the teachable state.

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