초록 ▼

An improved automated, self propelled lawn mower (14) utilizing a rotating directional loop antenna (36) that determines its position within the cutting area by measuring the angle between transmitters(20A, B, & C) placed in a known configuration beyond the cutting area, and by calculating the solut

An improved automated, self propelled lawn mower (14) utilizing a rotating directional loop antenna (36) that determines its position within the cutting area by measuring the angle between transmitters(20A, B, & C) placed in a known configuration beyond the cutting area, and by calculating the solution of simultaneous circle equations (96 & 98) defined by that configuration. Orientation is determined by comparing present and previous positions. Stored path information is compared with the calculated position to determine steering signals which direct the mower to move directly toward the next point in the desired path. When the mower reaches that point the next coordinates are retrieved from memory and the process is repeated similarly for all successive points in the path. The simplicity of programming the path makes this automated lawn mower very versatile and flexible.

대표청구항 ▼

[ I claim:] [1.] A method for controlling the operation of an automated vehicle in accordance with stored coordinate information compared with calculated coordinate position determined from the solution of simultaneous circle equations, said method including:measuring the angles between continuous w

[ I claim:] [1.] A method for controlling the operation of an automated vehicle in accordance with stored coordinate information compared with calculated coordinate position determined from the solution of simultaneous circle equations, said method including:measuring the angles between continuous wave radio frequency transmitters placed in a right angle configuration around an area to be cut,calculating a coordinate position of said automated vehicle from said solution of simultaneous circle equations defined by said angles and dimensions between said continuous wave transmitters,generating control signals to steer said automated vehicle in the direction of the next point of said stored coordinate information.