Granted Patent B2

US 12,484,473 · App. 17/342,208 · Granted Dec 2, 2025

Inventors: Robert Johnstone McCutcheon, IV (Longmont, CO); John Gordon Morrison (Longmont, CO); Isaac Heath Roberts (Longmont, CO); Kevin Peter McGlade (Denver, CO); Davis Thorp Foster (Boulder, CO); Matthew Alexander Kaplan (Fort Collins, CO); Zachary Austin Goins (Boulder, CO); Matthew G. Quick (Erie, CO)

Assignee: SCYTHE ROBOTICS, INC.

A01D34/008A01D34/78A01D34/828A01D69/02B60Q1/2611B60Q9/00B60T7/16B60T7/22F21S43/14F21S43/26F21S43/2605G05D1/0246G05D1/027G05D1/0278G05D1/245G05D1/248G05D1/249G08C17/02H04N13/246H04N23/50A01D34/66A01D2101/00F21Y2115/10

Abstract

Claims (82)

1 . An autonomous lawn mower comprising:

a wheel connected to a wheel drive motor;

a brake associated with the wheel configured to slow the wheel;

a blade connected to a blade motor and configured to rotate while cutting;

a wireless receiver;

a remote controller able to communicate with the wireless receiver;

one or more processors; and

one or more non-transitory computer readable media having instructions stored thereon which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:

processing signals received, via the wireless receiver, from the remote controller, wherein if it is determined by the one or more processors that the remote controller is not in functional communication with the autonomous lawn mower, at least one of an emergency stop signal or a pause signal is executed; and

based at least in part on the signals comprising the emergency stop signal, causing the autonomous lawn mower to invoke an emergency stop procedure, which brings the autonomous lawn mower to a sudden stop regardless of whether or not any of the components of the autonomous lawn mower will be harmed; and

based at least in part on the signals comprising the pause signal, causing the autonomous lawn mower to invoke a pause procedure, which brings the autonomous lawn mower to a controlled stop that will not harm any of the components of the autonomous lawn mower.

2 . The autonomous lawn mower of claim 1 , wherein

the remote controller transmits to the autonomous lawn mower a heartbeat signal and wherein determining if the remote controller is not in functional communication with the autonomous lawn mower comprises:

determining an amount of time since the heartbeat signal was received;

determining the amount of time meets or exceeds a threshold amount of time; and

based at least in part on the amount of time meeting or exceeding the threshold amount of time, causing the autonomous lawn mower to invoke the at least one emergency stop procedure or the pause procedure.

3 . The autonomous lawn mower of claim 2 , wherein causing the autonomous lawn mower to invoke the emergency stop procedure comprises:

causing motion of the autonomous lawn mower to immediately stop; and

causing the blades to immediately stop rotating.

4 . The autonomous lawn mower of claim 1 , wherein causing the autonomous lawn mower to invoke the pause procedure comprises performing one or more of:

engaging the brake,

idling the blade motor,

idling the wheel drive motor, or

notifying an operator of the pause procedure being invoked.

5 . The autonomous lawn mower of claim 1 , wherein the emergency stop procedure is one of a plurality of emergency stop procedures comprising at least:

a first emergency stop procedure causing the autonomous lawn mower to perform the steps of immediately disconnecting electrical power from the blade motor and the wheel drive motor and engaging the brake, and

a second emergency stop procedure causing the autonomous lawn mower to perform the steps of idling the blade motor, idling the wheel drive motor, engaging the brake, and, after the autonomous lawn mower has stopped, disconnecting electrical power from the blade motor and the wheel drive motor.

6 . The autonomous lawn mower of claim 5 , wherein the first emergency stop procedure is invoked when an emergency stop button on the autonomous lawn mower is engaged; and wherein the second emergency stop procedure is invoked when the emergency stop signal is received from the remote controller.

7 . The autonomous lawn mower of claim 1 , wherein

the remote controller transmits to the autonomous lawn mower a battery state of a battery of the remote controller and wherein determining if the remote controller is not in functional communication with the autonomous lawn mower comprises:

determining the battery state is less than or equal to a threshold battery state; and

based at least in part on the battery state being less than or equal to the threshold battery state, causing the autonomous lawn mower to invoke the at least one emergency stop procedure or the pause procedure.

8 . The autonomous lawn mower of claim 1 , wherein the operations further comprise:

determining a mower state of the autonomous lawn mower; and

transmitting the mower state to the remote controller,

wherein the mower state comprises one or more of a battery state of the remote controller, a battery state of the pause state or an emergency stop state to the mower controller.

9 . The autonomous lawn mower of claim 1 , wherein after the emergency stop procedure, restarting the autonomous lawn mower requires an operator.

10 . A method of operation of an autonomous lawn mower system comprising:

receiving, via a wireless receiver, signals from a remote controller, wherein if it is determined that the remote controller is not in functional communication with the autonomous lawn mower, at least one of an emergency stop signal or a pause signal is executed; and

based at least in part on the signals comprising the emergency stop signal, causing the autonomous lawn mower to invoke an emergency stop procedure, which brings the autonomous lawn mower to a sudden stop regardless of whether or not any of the components of the autonomous lawn mower will be harmed; and

based at least in part on the signals comprising the pause signal, causing the autonomous lawn mower to invoke a pause procedure, which brings the autonomous lawn mower to a controlled stop that will not harm any of the components of the autonomous lawn mower.

11 . The method of claim 10 , further comprising:

receiving, via the wireless receiver and from the remote controller, a heartbeat signal; and

wherein the determining if the remote controller is not in functional communication with the autonomous lawn mower comprises:

determining an amount of time since the heartbeat signal was received;

determining the amount of time meets or exceeds a threshold amount of time; and

based at least in part on the amount of time meeting or exceeding the threshold amount of time, causing the autonomous lawn mower to invoke the at least one emergency stop procedure or pause procedure.

12 . The method of claim 10 , wherein the autonomous lawn mower comprises a wheel connected to a wheel drive motor, a brake associated with the wheel configured to slow the wheel, a blade connected to a blade motor and configured to rotate while cutting, a wireless receiver, and when the pause procedure is invoked, the method further performing:

engaging a brake,

idling a blade motor,

idling a wheel drive motor, or

notifying an operator of the pause procedure being invoked.

13 . The method of claim 11 , wherein the emergency stop procedure is one of a plurality of emergency stop procedures comprising at least:

a first emergency stop procedure which causes the autonomous lawn mower to perform the steps of disconnecting electrical power from the blade motor and a wheel drive motor and engaging the brake, and

a second emergency stop procedure which causes the autonomous lawn mower to perform the steps of idling the blade motor, idling the wheel drive motor, engaging the brake, and, after the autonomous lawn mower has stopped, disconnecting electrical power from the blade motor and the wheel drive motor.

14 . The method of claim 13 , wherein the first emergency stop procedure is invoked when an emergency stop button on the autonomous lawn mower is engaged; and wherein the second emergency stop procedure is invoked when the emergency stop signal is received from the remote controller.

15 . The method of claim 10 ,

wherein the remote controller transmits to the autonomous lawn mower a battery state of a battery of the remote controller and wherein determining if the remote controller is not in functional communication with the autonomous lawn mower comprises;

determining the battery state is less than or equal to a threshold battery state; and

based at least in part on the battery state being less than or equal to the threshold battery state, causing the autonomous lawn mower to invoke the emergency stop procedure.

16 . The method of claim 10 , further comprising:

determining a mower state of the autonomous lawn mower; and

transmitting the mower state to the remote controller,

wherein the mower state comprises one or more of a battery state of the remote controller, a pause state, or an emergency stop state.

17 . One or more non-transitory computer readable media having instructions stored thereon which, when executed by at least one processor, cause the at least one processor to perform operations comprising:

receiving signals from a remote controller, wherein if it is determined by the at least one processor that the remote controller is not in functional communication with the autonomous lawn mower, at least one of an emergency stop signal or a pause signal is executed; and

based at least in part on the signals comprising the emergency stop signal, causing a lawn mower to invoke an emergency stop procedure, which brings the autonomous lawn mower to a sudden stop regardless of whether or not any of the components of the autonomous lawn mower will be harmed; and

based at least in part on the signals comprising the pause signal, causing the lawn mower to invoke a pause procedure, which brings the autonomous lawn mower to a controlled stop that will not harm any of the components of the autonomous lawn mower.

18 . The one or more non-transitory computer readable media of claim 17 , wherein the operations further comprise:

receiving, from the remote controller, a heartbeat signal; and

wherein the determining if the remote controller is not in functional communication with the autonomous lawn mower comprises:

determining an amount of time since the heartbeat signal was received;

determining the amount of time meets or exceeds a threshold amount of time; and

based at least in part on the amount of time meeting or exceeding the threshold amount of time, causing the lawn mower to invoke the emergency stop procedure.

19 . The one or more non-transitory computer readable media of claim 17 , wherein, the lawn mower comprises a wheel connected to a wheel drive motor, a brake associated with the wheel configured to slow the wheel, a blade connected to a blade motor and configured to rotate while cutting, a wireless receiver, and when the pause procedure is invoked and, when the pause procedure is invoked, the operations further comprise:

engaging a brake,

idling a blade motor,

idling a wheel drive motor, or

notifying an operator of the pause procedure being invoked.

20 . The one or more non-transitory computer readable media of claim 19 , wherein the emergency stop procedure is one of a plurality of emergency stop procedures comprising at least:

a first emergency stop procedure which causes the lawn mower to perform the steps of disconnecting electrical power from a blade motor and a wheel drive motor and engaging a brake, and

a second emergency stop procedure which causes the lawn mower to perform the steps of idling the blade motor, idling the wheel drive motor, engaging the brake, and disconnecting electrical power from the blade motor and the wheel drive motor.

Assignments (2)

Continuity (2)

References Cited (62)