US20060229765A1 - Autonomous machine - Google Patents

Autonomous machine Download PDF

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Publication number
US20060229765A1
US20060229765A1 US10/545,430 US54543004A US2006229765A1 US 20060229765 A1 US20060229765 A1 US 20060229765A1 US 54543004 A US54543004 A US 54543004A US 2006229765 A1 US2006229765 A1 US 2006229765A1
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United States
Prior art keywords
cable
machine
autonomous machine
detecting
orientation
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Abandoned
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US10/545,430
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English (en)
Inventor
Alexander Bommer
Michael Aldred
Jonathan Taylor
Thomas Follows
Matthew Kitchin
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Dyson Technology Ltd
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Dyson Technology Ltd
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Publication date
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Assigned to DYSON TECHNOLOGY LIMITED reassignment DYSON TECHNOLOGY LIMITED ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ALDRED, MICHAEL DAVID, FOLLOWS, THOMAS JAMES DUNNING, KITCHIN, MATTHEW, TAYLOR, JONATHAN PAUL, BOMMER, ALEXANDER PHILIP
Publication of US20060229765A1 publication Critical patent/US20060229765A1/en
Abandoned legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Definitions

  • This invention relates to an autonomous machine powered by a power cable, for example a robotic vacuum cleaner.
  • Some autonomous machines are capable of exploring the environment in which they are placed without human supervision, and without advance knowledge (e.g. a map) of the layout of the environment. The machine may explore the environment during a learning phase and will subsequently use this information during a working phase, or the machine may begin working in the area immediately. Autonomous machines of this type are particularly attractive to users as they can be left to work with minimal human supervision.
  • a problem which may be encountered with cable-powered machines is that the cable itself can hamper the functioning of the machine. For example, if an autonomous machine runs over its own cable, it may experience odometry errors or may damage the cable.
  • the invention provides an autonomous machine comprising a main body, a power cable and means for detecting the orientation of the cable with respect to the main body
  • the invention permits the machine to detect the position of its own cable.
  • the machine may therefore be controlled so as to avoid or to follow its own cable.
  • the means for detecting cable orientation comprises a first detecting means arranged to detect the orientation of the cable within a first predetermined range.
  • a second detecting means arranged to detect the orientation of the cable within a second predetermined range may also be provided.
  • the first and second ranges may be separate or may overlap.
  • the first detecting means comprises a rotatable member connected to a rotary encoder such as a potentiometer.
  • a suitable rotatable member is a pendulum, one end portion of which is connected to the cable, the other end portion of which is associated with the encoder.
  • the second detecting means may comprises one or more pressure switches, such as microswitches, arranged adjacent the cable, to produce a signal when the cable pushes against it.
  • a pressure switch such as microswitches
  • an intermediary member such as a collar around the cable may be arranged to push against the switches when the cable is deflected.
  • the machine can take many forms: it can be a floor treating machine such as a vacuum cleaner or floor polisher, a lawn mower or a robotic machine which performs some other function. Alternatively, it could be a general purpose robotic vehicle which is capable of carrying or towing a work implement chosen by a user.
  • FIG. 1 is a perspective view of an autonomous machine in the form of a vacuum cleaner
  • FIG. 2 shows the electrical systems of the machine of FIG. 1 ;
  • FIGS. 3A-3D are perspective views showing a power cable management system of the machine of FIGS. 1 and 2 incorporating the present invention
  • FIG. 4 is a flow chart of a navigation method used by the machine
  • FIGS. 5 and 6 are plan views showing the machine at work in a working area, following the navigation method of FIG. 4 ;
  • FIGS. 7A, 713 and 7 C are plan views illustrating a movement carried out by the machine of FIG. 1 using the navigation method of FIG. 4 ;
  • FIGS. 8 and 9 are plan views illustrating ways in which the machine copes with large working areas
  • FIGS. 10 a - 10 d are perspective views showing an alternative embodiment of the invention.
  • FIGS. 11 a - 11 c are perspective views showing a further alternative embodiment of the invention.
  • FIG. 1 of the drawings shows a robotic, or autonomous, floor cleaning machine in the form of a robotic vacuum cleaner 10 .
  • FIG. 2 shows the electrical systems incorporated into the vacuum cleaner 10 .
  • the machine comprises a main body or supporting chassis 12 , two driven wheels 15 , a cleaner head 40 , a user interface with buttons 60 and indicator lamps 65 and various sensors 20 - 26 , 30 for sensing the presence of objects around the machine. Also mounted on the chassis 12 is apparatus 14 for separating dirt, dust and debris from an incoming airflow and for collecting the separated material, a reel for storing a length of power cable 95 , and a system for dispensing and rewinding the power cable.
  • the machine 10 is supported on the two driven wheels 15 and a castor wheel (not shown) at the rear of the machine.
  • the driven wheels 15 are arranged at either end of a diameter of the chassis 12 , the diameter lying perpendicular to the longitudinal axis of the cleaner 10 .
  • the driven wheels 15 are mounted independently of one another via support bearings (not shown) and each driven wheel 15 is connected directly to a traction motor 16 which is capable of driving the respective wheel 15 in either a forward direction or a reverse direction. A full range of manoeuvres is possible by independently controlling each of the traction motors 16 .
  • a cleaner head 40 which includes a suction opening facing the surface on which the cleaner 10 is supported.
  • a brush bar 45 is rotatably mounted in the suction opening and a motor 48 is mounted on the cleaner head 40 for driving the brush bar 45 .
  • the brush bar 45 could be omitted, if desired, so that the cleaner head 40 only has a suction opening and cleans by relying on suction alone.
  • the cleaner head 40 could be replaced by a polishing pad, wax dispenser, squeegee etc.
  • the chassis 12 of the machine 10 carries a plurality of sensors 20 - 26 , 30 which are positioned on the chassis 12 such that the navigation system of the machine can sense obstacles in the path of the machine 10 and also the proximity of the machine to a wall or other boundary such as a piece of furniture.
  • the sensors shown here comprise several ultrasonic sensors 20 - 26 which are capable of sensing the distance and angular position of walls and objects from the sensors, and several passive infra red (PIR) sensors 30 which can sense the presence of humans, animals and heat sources such as a fire.
  • PIR passive infra red
  • the number of sensors, type of sensors and positioning of the sensors on the machine 10 can take many different forms.
  • infra red range-finding devices also known as PSDs
  • PSDs may be used instead of, or in addition to, the ultrasonic sensors 20 - 26 .
  • the machine may navigate by mechanically sensing the boundary of the working area and boundaries of obstacles placed within the area.
  • a mechanical sensor which could be used on a machine of this type is a “bump” sensor which detects movement of a moveable or resilient bumper when the machine encounters an obstacle.
  • Bump sensors can be used in combination with the ultrasonic and PIR sensors described above.
  • One or both sides of the vehicle can also have an odometry wheel 18 .
  • This is a non-driven wheel which rotates as the machine moves along a surface.
  • Each odometry wheel 18 has an encoder associated with it for monitoring the rotation of the odometry wheel 18 .
  • the navigation system can determine both the distance travelled by the machine and any change in angular direction of the machine. It is preferred that the odometry wheel 18 is a non-driven wheel as this increases the accuracy of the information obtained from the wheel.
  • the machine can derive odometry information directly from the driven wheels 15 , by an encoder located on the wheel 15 or the motor 16 which drives the wheel 15 .
  • the machine 10 also includes a motor 52 and fan 50 unit supported on the chassis 12 for drawing dirty air into the machine via the suction opening in the cleaner head 40 .
  • the navigation system comprises a microprocessor 80 which operates according to control software which is stored on a non-volatile memory 82 , such as a ROM or FLASH ROM.
  • a non-volatile memory 82 such as a ROM or FLASH ROM.
  • Another memory 84 is used during normal operation of the machine to store data, such as odometry information and a map of the working area (if required), and other operating parameters.
  • the navigation system receives inputs about the environment surrounding the machine from the sensor array 20 - 26 , 30 (including ultrasonic, PIR and bump sensors) and inputs about movement of the machine from odometry wheel movement sensors 18 .
  • the navigation system also receives inputs from switches 60 on the user interface, such as starting, pause, stop or a selection of operating speed or standard of required cleanliness.
  • the navigation system provides a plurality of output control signals including signals for driving the traction motors 16 of the wheels 15 , a signal for operating the suction motor 52 which drives the suction fan 50 and a signal for operating the motor 48 which drives the brush bar 45 .
  • It also provides outputs from illuminating indicator lamps 65 on the user interface. Power is derived from a mains supply via a power cable.
  • the cleaner carries a cable reel 95 with a length of cable (e.g. 20 m) which is sufficient to allow the machine to circumnavigate a typical room in which the machine will be used.
  • FIG. 3 shows one preferred scheme. Power cable 95 is stored on a cable reel 71 .
  • the cable reel 71 is permanently biased, by a spring, towards the wound up state.
  • Cable 95 is drawn from the reel 71 by a pair of pinch rollers 70 , one of which is driven by a motor 72 , under the control of the navigation system, to dispense cable from the reel 71 , or to allow cable 95 to be rewound onto the reel 71 , as the machine moves around a working area.
  • means are provided to indicate the orientation of the cable with respect to the chassis.
  • the cable 95 passes through an opening 75 in the free end of a pivotable member in the form of a pendulum 74 .
  • the pendulum 74 is pivotable about a shaft 73 , the pendulum 74 being movable in a vertical plane.
  • Shaft 73 forms part of a rotary encoding device 76 , such as a potentiometer, which can provide an output signal proportional to movement of the pendulum 74 .
  • the pendulum 74 tracks the position of the cable 95 with respect to the cable reel 71 .
  • the pendulum 74 will be approximately at the central position of FIG. 3B .
  • the potentiometer signal will be small.
  • FIG. 3C the cable is to the left of the machine.
  • the pendulum 74 swings clockwise and the potentiometer 76 provides an output signal indicative of the direction and angle of the cable 95 with respect to the chassis. This is particularly useful when the machine is reversing along a path where cable 95 has been laid.
  • the control system can detect the position of the cable, and the machine can be controlled to follow the path of the cable 95 . This technique will hereafter be referred to as ‘cable follow mode’.
  • the cable is pulled out to the extreme right, and so the pendulum 74 swings anti-clockwise to the position shown.
  • this extreme may be outside the range of angular positions detectable.
  • a further detector may be provided to detect such extremes.
  • This may take the form of a so-called bump sensor or pressure switch, such as a microswitch.
  • a signal is output when a resilient part of the sensor is caused to move.
  • the machine may be arranged with two microswitches on the chassis, either side of the cable. When the cable is to the extreme left or right, it is urged against the resilient part of one of the microswitches, which therefore produces a signal indicative of the extreme position of the cable.
  • FIG. 4 is a flow chart of the general process for navigating the machine around a working area.
  • FIGS. 5 to 9 show the machine 10 at work, in a room of a house.
  • the boundary of the working area for the machine is defined by the walls of the room 301 - 304 and the edges of objects 305 - 308 placed within the room, such as articles of furniture (e.g. sofa, table, chair).
  • articles of furniture e.g. sofa, table, chair.
  • the machine 10 is placed in the room by a user. Ideally, the machine is left near to a power socket 310 in the room, with the plug inserted into the socket 310 and a short length of power cable lying on the floor between the socket and the machine 10 .
  • the machine begins a short routine to discover a starting or ‘home’ position in the room (step 110 ).
  • the power socket 310 is a convenient home position for the mains powered machine.
  • the ‘home’ position serves as a useful reference point for determining, inter alia, when the machine has travelled around the entire room.
  • the machine determines the position of the power socket 310 by winding the cable 95 onto its internal cable reel 71 as it reverses.
  • the machine can find the socket 310 by mechanically sensing that the cable 95 has been fully rewound, or by detecting a marker 98 placed on the cable 95 , near to the plug.
  • the machine then aligns its left hand side with the boundary of the area and starts the suction motor 52 and brush bar motor 48 . It waits until the motors 48 , 52 reach operating speed and then moves off.
  • the cleaner moves forwards (step 115 ) it dispenses power cable 95 from the cable reel so that the cable lies substantially along the path taken by the machine 10 . Due to the potential for odometry errors, the cable 95 may be dispensed at a rate which is slightly higher than the rate of movement of the machine 10 .
  • the machine then begins a series of manoeuvres.
  • the series of manoeuvres may comprise, for example, random movements, a spiral pattern, a so-called ‘spike’ pattern, or any combination of movement types. which in combination will be referred to as a ‘spike’.
  • the basic spike is shown in FIG. 7 .
  • the machine turns so that it is pointing away from the boundary (wall), inwards into the working area. It travels forwards on a path which is substantially perpendicular to the boundary (step 120 ).
  • the machine derives information on the distance and direction of travel from the odometry wheel sensors 18 .
  • the cleaner As the cleaner moves forwards, along path 331 , it dispenses sufficient power cable 95 from the cable reel 71 so that the cable 95 lies slackly along path 331 .
  • the machine continually monitors inputs from the sensor array 20 - 26 , 30 to sense the presence of any obstacles in its path. The machine continues to travel forwards until one of a number of conditions are met. Should the machine sense the presence of an obstacle (step 125 ) or the absence of a surface (e.g. a staircase), or if the machine senses that it has dispensed all of the power cable 95 from the reel 71 , or if it senses some other fault condition, it will immediately stop. If none of these conditions are met, the machine will stop after a predetermined distance has been travelled from the boundary. This distance will depend on the type of working area where the vehicle is working. In a domestic environment we have found that a maximum distance of 2-3 m works well.
  • the machine Once the machine has stopped, having met one or more of the conditions mentioned above, it reverses back towards the boundary following a similar path 332 (step 135 , FIG. 4 ).
  • the machine rewinds cable 95 during this return manoeuvre.
  • the suction motor 52 and brush bar motor 48 are operated during this return manoeuvre so as to treat the same area of floor twice. This replicates the kind of ‘to and fro’ cleaning action that a human user performs when they use a vacuum cleaner.
  • the suction motor 52 and brush bar motor 48 can be switched off. This would be a useful way of increasing battery life for a battery powered machine.
  • the machine can navigate towards the boundary by using odometry information or it can follow the cable 95 which was laid on the floor during the outward trip, the process previously described as ‘cable follow mode’.
  • the machine detects the orientation of the cable with respect to the chassis and follows the cable accordingly. This outward trip into the working area and back again to the boundary constitutes the previously mentioned ‘spike’.
  • the machine Once the machine has returned to the boundary, which it can sense from its sensor array and odometry information, it turns so that it is once again pointing in a clockwise direction, with its left-hand side aligned with the boundary. It moves forwards for a short distance which is sufficient to bring the machine next to the strip of the floor which has just been treated. The cleaner then turns so that it is again pointing away from the boundary, inwards into the working area. The machine then travels forwards at an angle which is substantially perpendicular to the boundary, as before. The machine continues as previously described, traversing a strip of the floor surface which is adjacent, or overlaps, the area previously treated.
  • the machine repeats this sequence of steps so as to traverse a plurality of paths extending into the working area from the boundary, as can be seen in FIGS. 5 and 6 .
  • the spikes originating at different parts of the boundary can overlap one another. This helps to ensure that as much of the working area as possible is treated by the machine 10 .
  • the machine checks whether it has covered the entire working area (step 140 ).
  • This check can be performed in various ways.
  • the machine can use an on-board sensor to sense whether it has returned to a starting position on the boundary.
  • a marker 98 is provided on the power cable 95 at a position adjacent the plug so that the machine can sense when it has returned to this position.
  • the marker 98 can be a magnetic marker and the machine can be provided with a magnetic field sensor, such as a Hall-Effect sensor, for sensing the marker.
  • the machine generates a map of the working area and updates this map so as to record areas of floor visited by the machine. Thus, by using this map, the machine can determine when it has completely covered the working area.
  • the machine also checks (step 145 ) to ensure that it has sufficient cable 95 remaining on the cable reel 71 to continue travelling around the boundary.
  • Step 145 requires the machine to have the capability to detect the amount of cable 95 remaining on the cable reel 71 .
  • This can be achieved by marking the cable 95 in a manner which indicates the quantity of remaining cable 95 and providing the control system with a sensor which can detect the markings.
  • an encoder on the pinch roller 70 can feed the control system with an indication of the amount of cable 95 dispensed from the reel 71 . This is advantageous because the same mechanism can be used to detect any jamming of the cable 95 . In a simpler machine this step can be omitted entirely and the machine can simply stop when all of the cable 95 has been dispensed from the reel 71 , wherever this may be in the room.
  • the machine determines that it has completely covered the working area, it travels back to the starting position in the working area.
  • the machine can follow the boundary of the working area, rewinding the cable 95 as it moves around the boundary.
  • the machine can operate in cable follow mode, rewinding the cable 95 and following the path formed by the cable 95 on the surface of the working area. In the event that this brings the machine near to an obstacle, the machine can revert to a boundary following mode of operation until it is determined that the cable 95 leads away from the obstacle, whereupon the machine can once again operate in cable follow mode. The machine will eventually return to the starting point near to the power socket 310 .
  • the machine may run out of cable before it has completely covered the working area.
  • the machine proceeds to perform the same technique as has previously been described in the opposite direction from the starting point (step 170 , FIG. 4 ).
  • the cleaner follows the boundary in an anti-clockwise direction, aligning the right-hand side of the machine with the boundary of the area and performing a series of spikes outwardly from the boundary of the working area.
  • FIG. 8 shows the same area as previously shown in FIG. 5 . It is assumed that during the initial clockwise trip around the area, the cable was fully dispensed at point X.
  • the machine has returned to the start point at the socket 310 and has begun travelling anti-clockwise around the boundary.
  • the machine begins ‘spiking’ as soon as it returns to the start position.
  • the spike movements performed by the machine as it travels anti-clockwise around the boundary are mirror images of the spike movements illustrated in FIG. 7 .
  • the machine will continue in this manner until either the cable 95 is again fully dispensed or the navigation system detects that point X has been reached or passed.
  • FIG. 9 shows an alternative scheme in which the machine, once it has returned to the start point at the socket 310 , begins to travel around the boundary in the anti-clockwise direction. However, instead of immediately beginning to spike into the area, it simply travels around the boundary, dispensing cable, until the navigation system detects that point X has been reached or passed. The reason for this difference is because it may be easier for the machine to detect when it reaches point X if the machine travels there directly as there will then be fewer accumulated odometry errors.
  • mapping function For the machine accurately to detect when it has returned to a point where cleaning finished previously (such as point X), it requires some form of mapping function.
  • the machine needs to have the capability to map the working area and record where it has visited in the working area.
  • the map can be constructed using odometry information which is acquired from the odometry wheels 18 and/or information about features of the working area which is acquired from the object detection sensors 20 - 26 , 30 in a manner which is known in the art.
  • the machine can then use the map to determine when it has returned to a point on the boundary which it previously reached via a journey in the opposite direction around the boundary. It is preferable to allow a good overlap region, as accumulated odometry errors can cause some error between the actual position of the machine, and the position of the machine as determined by the map.
  • the machine can simply continue to work in the opposite direction around the working area until the cable has all been dispensed. This can result in a considerable region where the surface is treated twice.
  • the cable orientation detection mean comprises a pivotable member 77 in communication with a potentiometer 76 , as before.
  • the pivotable member 77 is arranged to pivot about a vertical axis 78 .
  • the end portions of the member are co-incident with the axis 78 , with the central portion of the pivotable member protruding in a horizontal direction.
  • the central portion of the member has an aperture 79 , through which the cable 95 extends. Deviations of the position of the cable 95 from the straight back position of FIG. 10 b causes the member 77 to pivot about the axis 78 ( FIG.
  • a second cable detector for detecting greater cable deflections is provided in the form of a collar 80 around the cable 95 .
  • the collar 80 is pivotable about a vertical axis and is arranged adjacent two microswitches 81 , 82 , one either side of the collar.
  • FIG. 10 d when the cable 95 is deflected to the extreme left with respect to the chassis, the cable pushes against the collar 80 and urges it against the left-hand microswitch 81 .
  • a signal is sent to the control system of the machine indicating that the cable 95 is at an extreme position.
  • the collar 80 depresses the other microswitch 82 .
  • FIG. 11 A further alternative is shown in FIG. 11 .
  • This embodiment employs a pivotable member 83 , also pivotable about a vertical axis 84 .
  • the top end portion of the member is in direct communication with a potentiometer 76 , also aligned on the vertical axis 84 .
  • the central portion of the pivotable member 83 protrudes further in a horizontal direction than does the member of FIG. 10 .
  • An aperture 85 is provided for the cable 95 .
  • the pivotable member 83 translates deflection of the cable 95 into rotational motion. This rotation causes the potentiometer 76 to output a signal in dependence on the amount and direction of deflection of the cable 95 . It has been found that this embodiment provides satisfactory results for all deflections of the cable, even at extremes. Thus, microswitches are not required in this arrangement.
  • the machine need not employ a cable-follow operation.
  • the machine may employ signals from the rotary encoder and/or pressure switches in order to avoid running over its own cable or somehow getting tangled in the cable.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Power Engineering (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Soil Working Implements (AREA)
  • Electric Suction Cleaners (AREA)
  • Catching Or Destruction (AREA)
  • Threshing Machine Elements (AREA)
  • Massaging Devices (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)
US10/545,430 2003-02-14 2004-02-13 Autonomous machine Abandoned US20060229765A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB0303368.5 2003-02-14
GB0303368A GB2398394B (en) 2003-02-14 2003-02-14 An autonomous machine
PCT/GB2004/000601 WO2004072751A1 (en) 2003-02-14 2004-02-13 An autonomous machine

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US20060229765A1 true US20060229765A1 (en) 2006-10-12

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US20060161318A1 (en) 2006-07-20
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US20060150361A1 (en) 2006-07-13
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EP1593011A1 (de) 2005-11-09
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US7873437B2 (en) 2011-01-18
WO2004072751A1 (en) 2004-08-26
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JP4542044B2 (ja) 2010-09-08
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JP2006516770A (ja) 2006-07-06
DE602004015936D1 (de) 2008-10-02

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