text:
Navigation method and system for autonomous machines with markers defining the working area
306Forward
1. A method for automatically operating a robot within a working area enclosed by a boundary comprising the steps of:
providing a boundary along edges of an area so as to provide a boundary outlining the working area, said boundary being detectable by a sensor;
providing boundaries along edges of each area enclosed in the working area, in which it is desired that the robot should not operate, said boundaries also being detectable by a sensor;
providing a sensor positioned on the robot, said sensor for detecting said boundaries;
providing processing means connected to said sensor and receiving an input therefrom;
providing location means on said robot to determine the coordinates of the robot relative to an arbitrary origin, at any specific time;
providing direction finding means on said robot;
providing memory means to store values generated by said processing means and, optionally, by said location means;
moving said robot into said area;
(a) causing the robot to move along each of the boundaries provided around or within said working area and to make a complete traversal of said boundary outlining said working area, to detect said boundaries and to memorize their shape, and to store in the memory means values representative of the coordinates of said boundaries, relative to an arbitrary origin, thereby to initially generate a basic map of the working area;
(b) causing the robot to start from an arbitrary starting point having known coordinates within the basic map of the working area;
(c) causing said robot to move autonomously along a path, said path comprising at least a plurality of substantially straight lines between portions of said boundaries, and to detect a boundary when in the vicinity of the boundary; and
(d) during said movement;
continuously determining the coordinates of the robot by analyzing data obtained from the location means and by detecting the vicinity of a boundary; and
correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.
3 Assignments
A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed. The method includes the steps of: 1) providing the following elements: a proximity sensor positioned on the robot, a boundary along the perimeter of the working area and along the perimeter of each area enclosed in the working area in which the robot should not operate, the boundaries being detectable by the proximity sensor, a processing unit connected to the proximity sensor and receiving an input therefrom, a navigation unit on the robot to determine the coordinates of the robot relative to an arbitrary origin, a direction finder, and a memory to store values generated by the processing unit; and 2) causing the robot to move along each of the boundaries provided around or within the working area, to detect the boundaries and to memorize their shape, and to store in the memory values representative of the coordinates of the boundaries, thereby to generate a basic map of the working area. When the robot is to operate within the area, the method includes the steps of: (a) causing the robot to start from a starting point having known coordinates within the basic map of the working area; (b) continuously determining the coordinates of the robot by analyzing data obtained from the navigation unit and by detecting the vicinity of a boundary; and (c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.
306 Forward Citations
RFID navigational system for robotic floor treater
SC Johnson Son Incorporated
NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE
iRobot Corporation
Robotic vehicle controller
I-GUIDE ROBOTICS INC.
ENHANCED VISUAL LANDMARK FOR LOCALIZATION
Deere Company
SYSTEM AND METHOD FOR DEPLOYING PORTABLE LANDMARKS
SYSTEM AND METHOD FOR AREA COVERAGE USING SECTOR DECOMPOSITION
Local positioning system for automated lawn mowers
Nelson Russell G.
PHEROMONE FOR ROBOTIC BOUNDARY
CONTROLLED COOLING OF A DATA CENTER
Hewlett Packard Enterprise Development LP
Method and system for determining a position of a vehicle
Device and methods of providing air purification in combination with superficial floor cleaning
METHOD FOR ESTABLISHING A DESIRED AREA OF CONFINEMENT FOR AN AUTONOMOUS ROBOT AND AUTONOMOUS ROBOT IMPLEMENTING A CONTROL SYSTEM FOR EXECUTING THE SAME
RoboLabs Inc.
METHOD AND SYSTEM FOR MULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT
Celestial navigation system for an autonomous robot
Autonomous surface cleaning robot for wet and dry cleaning
Robot vacuum with internal mapping system
Sharper Image Acquisition
Robotic vacuum cleaner with edge and object detection system
Robot navigation
Robot confinement
Adaptable container handling system
HARVEST AUTOMATION
Autonomous floor-cleaning robot
AUTONOMOUS COVERAGE ROBOT NAVIGATION SYSTEM
Autonomous surface cleaning robot for dry cleaning
Autonomous robot auto-docking and energy management systems and methods
Autofluorescent imaging and target ablation
Searete LLC
Area coverage with an autonomous robot
F Robotics Acquisitions Ltd.
Gearbox LLC
Autonomous Robot
Shai Abramson, Peleg Ilan, Peless Ehud, Friedman Ronen
Shai Abramson, Peless Ehud, Friedman Ronen
Obstacle following sensor scheme for a mobile robot
Automatic Surface-Scanning Method and System
WANY S.A.
Active blood vessel sleeve methods and systems
Location aware automata
Path planning for mine countermeasures
Method and system for robot localization and confinement
Mower responsive to backup sensor
System and method for planning and indirectly guiding robotic actions based on external factor tracking and analysis
Palo Alto Research Center Inc.
Programmable lawn mower
DEAN TECHNOLOGIES INC.
SANDING SYSTEM
PROGRAMMABLE ROBOTIC APPARATUS
SHARPER IMAGE ACQUISTION LLC A DELAWARE LIMITED LIABILITY COMPANY
Autonomous machine
Dyson Technology Limited
Self-propelled lawn mower
Husqvarna AB
Colens Andr
Robot obstacle detection system
Robot vacuum with floor type modes
Sharper Image Corporation
F Robotics Acquistions Ltd.
System and method for navigation using two-way ultrasonic positioning
Navcom Technology Inc.
METHOD AND SYSTEM FOR CONTROLLING A VEHICLE HAVING MULTIPLE CONTROL MODES
Robot vac with retractable power cord
Robot vacuum with particulate detector
Robot vacuum with remote control mode
Behavior controlling apparatus, behavior control method, behavior control program and mobile robot apparatus
Docking system for a self-propelled working tool
Aktiebolaget Electrolux
Device and method for determining a spatial position of an object
Autonomous vehicular appliance, especially vacuum cleaner
Dyson Limited
Electronic search system
Multifunctional mobile appliance
MC Robotics
Ruffner Bryan John
System and Method for Determining the Location of a Machine
ROBOTIC MOWER AREA COVERAGE SYSTEM
Ciliated stent-like-system
The Invention Science Fund I L.L.C.
Robotic Mower Stuck Detection System
Methods and systems for untethered autofluorescent imaging, target ablation, and movement of untethered device in a lumen
ROBOT CLEANER AND CONTROLLING METHOD OF THE SAME
LG Electronics Inc.
Systems for autofluorescent imaging and target ablation
Compact autonomous coverage robot
Debris sensor for cleaning apparatus
Boundary sensor
Bishel Richard Anthony
Micro-Star International Co. Ltd.
System for perfusion management
Controllable release nasal system
Telescoping perfusion management system
User-assisted robot navigation system
Bailey Bendrix L.
Robot system
Autonomous surface cleaning robot for wet cleaning
Detecting robot stasis
Cleaning robot roller processing
Michael Todd Letsky
Autonomous coverage robot sensing
Hewlett-Packard Development Company L.P.
METHOD AND SYSTEM FOR GUIDING A ROBOTIC GARDEN TOOL
LAWN MOWER ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME
APPARATUS FOR CUTTING GRASS
Bernini Fabrizio
Bioelectromagnetic interface system
LAWN MOWER ROBOT AND METHOD OF CONTROLLING THE SAME
METHOD AND SYSTEM FOR CONTROLLING A SELF-PROPELLED ROBOT DEVICE
ACTIVE S.R.L.
Coverage robots and associated cleaning bins
Removing debris from cleaning robots
Modular robot
UNMANNED AUTONOMOUS OPERATING SYSTEM
Coverage robot mobility
Lawn care robot
Lumen-traveling biological interface device and method of use
Methods and systems for maintenance and other processing of container-grown plants using autonomous mobile robots
Harvest Automation Inc.
Autonomous coverage robot
Managing autonomous machines across multiple areas
Trainable multi-mode floor cleaning device
Methods and apparatus for position estimation using reflected light sources
Vacuum brush
AUTONOMOUS IMPLEMENT
Localization by learning of wave-signal distributions
Emergency stop method and system for autonomous mobile robots
Method and system for navigating a robotic garden tool
Navigating autonomous coverage robots
Celestial navigation system for an autonomous vehicle
Dean Jason A.
Remote control scheduler and method for autonomous robotic device
Lumenally-active device
Robotic mower navigation system
Methods and systems for automated transportation of items between variable endpoints
Autonomous Mobile Robot
Planning system and method for planning fieldwork
CLAAS E-SYSTEMS GMBH
LAWN MOWING VEHICLE WITH AT LEAST ONE REEL UNIT
IHI Shibaura Machinery Corporation, IHI Corporation
Autonomous floor cleaning robot
Autonomous lawn mower using perimeter cable with electrical signal
Temporal control of a lumen traveling device in a body tube tree
A Robotic Work Tool Configured for Improved Turning in a Slope, a Robotic Work Tool System, and a Method for Use in the Robot Work Tool
Autonomous mobile robot system
Autonomous coverage robots
SELF-CALIBRATING SENSORS AND ACTUATORS FOR UNMANNED VEHICLES
Clearpath Robotics Inc.
Robotic Mowing of Separated Lawn Areas
Parameter-based navigation by a lumen traveling device
Robot Repelling System and Method for Repelling a Robotic Device
Ai Incorprated
CONTROL APPARATUS FOR AUTONOMOUSLY NAVIGATING UTILITY VEHICLE
Robot lawnmower mapping
METHOD FOR NAVIGATION AND JOINT COORDINATION OF AUTOMATED DEVICES
Kupervasser Oleg Yurjevich, Kupervasser Yury Iljich, Rubinstein Alexander Alexandrovich
Autonomous robot localization
Robotic lawn mowing boundary determination
Border-signal generating and wire winding device for border recognition of self-propelled mower
EGENPOWER INC.
Automatic swath generation device and methods
Blue Leaf IP Incorporated
Lumen-traveling biological interface device
Robotic cleaning device with perimeter recording function
Autonomous mobile work system comprising a variable reflectivity base station
Mtd Products Incorporated
Intelligent control apparatus, system, and method of use
Booher Steven R.
Robot positioning system
Prioritizing cleaning areas
SABIC Global Technologies BV
Blade assembly for a grass cutting mobile robot
Method and apparatus for determining direction of the beginning of vehicle movement
Topcon Positioning Systems Incorporated
Domestic robotic system and method
Controlling robotic lawnmowers
Robotic vacuum cleaner with side brush moving in spiral pattern
Robotic work tool configured for improved turning in a slope, a robotic work tool system, and a method for use in the robot work tool
Sensing climb of obstacle of a robotic cleaning device
Automating distribution of work in a field
Robotic cleaning device
Robotic vacuum cleaner with protruding sidebrush
Dust container
Robot vehicle guidance system including checkpoint realignment system
DAEMMER JOHNATHAN E., BOULAIS RICHARD A.
Update marker system for navigation of an automatic guided vehicle
HK Systems Incorporated
Eaton-Kenway Inc.
Apparatus and method for autonomous vehicle navigation using absolute data
Caterpillar Incorporated
Autonomous navigation system for a mobile robot or manipulator
DEUTSCHE FORSCHUNGSANSTALT FUR LUFT-UND RAUMFAHRT E.V.
Grass cutting device
Black Decker Incorporated
Autonomous mowing vehicle and apparatus for detecting boundary of mowed field
Fuji Heavy Industries Limited
Method and system for maneuvering a mobile robot
Method for controlling self-running cleaning apparatus
AXXON ROBOTICS LLC
White Consolidated Industries Incorporated
Remotely controlled lawn mower
Ku Chingyu J.
Floor cleaning robot and method of controlling same
Sanyo Electric Company Limited
System and method for providing steering control for autonomous vehicle
Steering control system for moving vehicle
Continuous and autonomous mowing system
Colens Andre
Outdoor working automating system
Sakura Rubber Co. Ltd.
Navigational control apparatus and method for autonomus vehicles
Floorbotics Inc.
Ashworth Guy T. D.
Method for automatically controlling a travelling and cleaning operation of vacuum cleaners
Goldstar Jewellery LLC
Automotive working machine of radio control type
KAAZ CORPORATION
Self-driven robotic cleaning apparatus and driving method thereof
SAMSUNG KWANG-JU ELECTRONICS CO. LTD.
Samsung Electronics Co. Ltd.
System and method of navigating the travel of an autonomous vehicle
Protee Groupement DInteret Economique
Autonomous lawn mower
CUTTING EDGE ROBOTICS INC.
Mobot Incorporated
Self-propelled vehicle
Hitachi Ltd.
End of aisle control system
Path planning with transition changes
North American Philips Corp.
Structured illumination autonomous machine vision system
United States Of America As Represented By The Secretary Of The Army
Automatic lawn mower vehicle
Hubby Leon W., Wojtkowski David J.
Multi-purpose autonomous vehicle with path plotting
FMC Corporation
Solar powered mower
NBD BANK
Paytas Anthony R.
Automatic self-guiding lawn mower and mowing method
Shurman Louis W., Shurman Darlene M., Shurman Gerald L.
Mobile robot navigation employing retroreflective ceiling features
CARDINAL HEALTH 301 LLC
TRANSITIONS RESEARCH CORPORATION
Wire guidance control system
CROWN CONTROLS CORPORATION A CORP. OF NEVADA
Automatic working vehicular system
Industrial Technology Research Institute
Mobile robot navigation employing ceiling light fixtures
Autonomous vehicle for working on a surface and method of controlling same
TRANSITIONS RESEARCH CORPORATION A CT. CORP.
Magnetic object detecting system for automated guided vehicle system
Obstacle data processing system for unmanned vehicle
Kabushiki Kaisha Toyota Chuo Kenkyusho
Lawn mower support structure
System for automatic performance of agricultural tasks such as lawn mowing
Jonas Bernard, Jonas Andre
Method of guiding a robotic lawnmower
Rafaels Raymond J.
Navigation system for unmanned vehicles
Northrop Grumman Corporation
Westinghouse Electric Company LLC
Metal sensing apparatus for use in operable toys
Multiple robot control system using grid coordinate system for tracking and completing travel over a mapped region containing obstructions
AUTOMAX KABUSHIKI-KAISHA
Chen Sheng K., Horng Shi Y., Chen I-Ting
Visually guided vehicle
Nippon Yusoki Company Limited, DAC ENGINEERING CO. LTD.
Automatic running work vehicle
Kubota Corporation
Floor position sensing apparatus and method
EATON-KENWAY INC. 515 EAST 100 SOUTH SALT LAKE CITY UT 84102 AN OH CORP
Robot tractors
Lmi Technologies Incorporated
Diffracto Ltd.
Remotely controlled self-propelled power lawn mower
Taube Max
Self-propelled self-guiding lawn mower
Pansire Dino G.
Self-piloting lawn mower
Rass Hans A.
Automatic guidance apparatus
Richter Wolfdieter
Agile Systems Inc.
Method and system for the automatic orientation and control of a robot
MITEC MODERNE INDUSTRIETECHNIK GMBH
ITO Patent-AG
Stanley B. Kita
Random motion suction cleaner
Total Enterprises Inc. Hatboro PA
Lawn mower with a side outlet
APPARATUS FOR PROGRAMMING MOVEMENT OF A CART
Geislinger Eric L.
MEANS FOR DIRECTING A VEHICLE,NORMALLY UNDER THE CONTROL OF A GUIDANCE SYSTEM,TO FOLLOW A PROGRAMMED PATH INDEPENDENT OF THE GUIDANCE SYSTEM
Critchlow Arthur J., Comer Donald T.
Light sensitive automatically controlled steering system
EDISON NULL FAY
VEHICLE GUIDANCE APPARATUS
KITA STANLEY BERNARD
BELLINGER SPENCER LAWRENCE
PROGRAMMED STEERING MEANS FOR MOWING APPARATUS OR THE LIKE
Van Hook Warren K. Washington DC
Untethered, self-propelled device operating in a predetermined pattern
Taylor Roger G.
View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
2. A method according to claim 1, wherein the location means comprise movement measuring means.
3. A method according to claim 2, wherein the movement measuring means comprise an odometer.
4. A method according to claim 1, wherein the robot is coupled to a selected one of the group of:
a vacuum cleaner, a floor sweeper and a floor polisher.
5. A method according to claim 1, wherein the robot is coupled to a lawn mower.
6. A method according to claim 5 and including the steps of:
providing the lawnmower with at least a plurality of lawn height sensors;
cutting a first swath of lawn in a first direction;
performing a maneuver, under control of said robot and in response to output of said lawn height sensors, in a second direction generally opposite of said first direction to bring said lawnmower to a location parallel to but overlapping said first swath by a predetermined percentage as indicated by the different output of said lawn height sensors;
cutting a second swath of lawn parallel to said first swath while continually monitoring the lawn height output of said lawn height sensors thereby to ensure that the percentage of overlap is generally maintained;
repeating said steps of performing a maneuver and cutting a second swath for further swaths of lawn, wherein the previously cut lawn is denoted by said first swath of lawn and the swath to be cut is denoted by said second swath of lawn.
7. The method of claim 1, wherein said step of causing said robot to move autonomously along a path, includes moving along said path substantially free of repetition.
8. A method according to claim 1 wherein the sensor is a proximity sensor.
9. A method according to claim 8, wherein the boundary comprises a metallic wire through which electric current flows, and the proximity sensor comprises a magnetic field detector.
10. A method according to claim 8, wherein the boundary comprises a guide wire through which an acoustic signal passes, and the proximity sensor comprises an acoustic detector.
11. A method according to claim 8, wherein the boundary comprises passive metallic means which is excitable by a magnetic field, and the proximity sensor comprises an electric field detector.
12. A method according to claim 8, wherein the boundary comprises passive magnetic means, and the proximity sensor comprises a magnetic field detector.
13. A method according to claim 10, wherein the acoustic signal is in the ultra-sound range.
14. A method according to claim 12, wherein said passive magnetic means comprises a plurality of pins having magnets therein.
15. A method according to claim 12, wherein said passive magnetic means comprises a multiplicity of magnets each shaped into the form of pins.
16. A method according to claim 8, wherein the proximity sensor comprises a high contrast pattern code reader and the boundary comprises high contrast pattern means.
17. A method according to claim 16, wherein the boundary comprises a two color guide wire having patterns of a first color at fixed distances thereon and a second color for the non-patterned portions of the guide wire.
18. A method according to claim 16, wherein the boundary comprises a multiplicity of pins each having a high contrast pattern thereon.
19. A method according to claim 8, wherein the proximity sensor comprises a radiometer and the boundary comprises radioactive means.
20. A method according to claim 19, wherein the boundary comprises a guide wire having a radioactive unit placed at fixed distances thereon.
21. A method according to claim 19, wherein the boundary comprises a multiplicity of pins each having a radioactive unit thereon.
22. A method according to claim 8, wherein the proximity sensor comprises a resonance tag meter and the boundary comprises a multiplicity of pins having at least one coil-capacitive circuit therein.
23. A method according to claim 8, wherein the proximity sensor comprises a transceiver and the boundary comprises a multiplicity of pins having at least one transceiver therein.
24. A system for automatically operating a robot within a working area enclosed by a boundary, comprising:
boundary means suitable for positioning along the edges of the working area, and of each area enclosed in the working area, in which it is desired the robot not to operate, said boundary means being detectable by a sensor; and
a robot comprising;
a sensor for detecting said boundary means;
processing means on said robot in operative communication with said sensor and receiving an input therefrom, said processing means including means for initially generating a map of said working area in accordance with a complete traversal of said boundary means;
location means on said robot, to determine the coordinates of the robot relative to an arbitrary origin, at any specific time;
memory means to store values generated by said processing means;
direction finding means position on said robot, to determine the direction of travel thereof; and
motion means, to cause the robot to move in a substantially continuous operative mode, in a plurality of substantially straight lines between portions of said boundary means within said working area.
View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48)
25. A system according to claim 24, wherein the boundaries are provided with a plurality of individually recognizable markers.
26. A system according to claim 25, wherein the markers are substantially located at even distances from one another.
27. A system according to claim 25, wherein the marker comprises an RF tag or a magnetic tag.
28. A system according to claim 24, wherein the movement measuring means comprise an odometer.
29. A system according to claim 24, wherein the robot is coupled to a lawn mower.
30. A system according to claim 24, wherein the robot is coupled to a device selected from the group of:
31. A system according to claim 29 and additionally including a plurality of lawn height sensors for measuring the height of the lawn and means for controlling said lawn mower to cut the lawn along an already cut swath of grass.
32. The system of claim 24, additionally comprising, said location means, said motion means and said memory means in operative communication for moving said robot in said operative mode within said working area along a path substantially free of repetition.
33. A system according to claim 24 wherein the sensor is a proximity sensor.
34. A system according to claim 33, wherein the boundary means which is detectable by a proximity sensor comprises a metallic wire through which electric current flows, and the proximity sensor comprises a magnetic field detector.
35. A system according to claim 33, wherein the boundary which is detectable by a proximity sensor comprises a guide wire through which an acoustic signal passes, and the proximity sensor comprises an acoustic detector.
36. A system according to claim 33, wherein the boundary which is detectable by a proximity sensor comprises a passive metallic means which is excitable by a magnetic field, and the proximity sensor comprises an electric field detector.
37. A system according to claim 33, wherein the boundary which is detectable by a proximity sensor comprises passive magnetic means, and the proximity sensor comprises a magnetic field detector.
38. A system according to claim 33, wherein the boundary comprises passive magnetic means, and the proximity sensor comprises a magnetic field detector.
39. A system according to claim 38, wherein said passive magnetic means comprises a plurality of pins having magnets therein.
40. A system according to claim 38, wherein said passive magnetic means comprises a multiplicity of magnets each shaped into the form of pins.
41. A system according to claim 33, wherein the proximity sensor comprises a high contrast pattern code reader and the boundary comprises high contrast pattern means.
42. A system according to claim 41, wherein the boundary comprises a two color guide wire having patterns of a first color at fixed distances thereon and a second color for the non-patterned portions of the guide wire.
43. A system according to claim 41, wherein the boundary comprises a multiplicity of pins each having a high contrast pattern thereon.
44. A system according to claim 33, wherein the proximity sensor comprises a radiometer and the boundary comprises radioactive means.
45. A system according to claim 44, wherein the boundary comprises a guide wire having a radioactive unit placed at fixed distances thereon.
46. A system according to claim 44, wherein the boundary comprises a multiplicity of pins each having a radioactive unit thereon.
47. A system according to claim 33, wherein the proximity sensor comprises a resonance tag meter and the boundary comprises a multiplicity of pins having at least one coil-capacitive circuit therein.
48. A system according to claim 33, wherein the proximity sensor comprises a transceiver and the boundary comprises a multiplicity of pins having at least one transceiver therein.
This patent application is related to PCT Application Ser. No. PCT/US95/07045, filed Jun. 6, 1995, and U.S. patent application Ser. No. 08/952,639, a 371 of PCT/US95/07045, filed Jan. 9, 1998, now abandoned.
The present invention relates to a method and related systems for navigation in an enclosed area. More particularly, the invention relates to method and apparatus which can be used to cause an automated device to move and to perform predetermined tasks within an enclosed area.
The use of automated devices is widespread nowadays, and finds countless applications. For instance, robots perform very precise and delicate tasks in the construction of electronic devices, or in medicine and aviation. Robots are also used in uses which require motion, notably, for automatic warehouses, where goods are retrieved and stored by means of computer-actuated robots. Other applications include, e.g., fetching raw materials in the course of industrial manufacturing, and removing and packaging finished pieces. In everyday's life, attempts have also been made to exploit robots for lawn mowing and for vacuum cleaning.
The major drawback of mobile robots, which the art has so far been unable to overcome, is the fact that their movements are limited to well predefined paths, normally requiring that they move along rails, or that they be provided with expensive navigation signs, positioned within the area in which they move, which operate as "stations" which redefine the exact position of the robot, and from which the program may direct the robot to the next station. These intermediate signs are expensive, take up space, and are inconvenient to use, since they must be very precisely positioned and cannot be easily moved.
Another approach involves providing an area delimited by boundaries recognizable by the robot, and permitting the robot to effect a random walk therein, during which random walk it carries out its tasks. This approach entails severe drawbacks: first of all, when the robot moves within a predefined area by random walk, there is no way to ensure that the whole area will be covered by the tool which must operate thereon. As a result, even though the robot may operate for a long period of time, unworked areas may be left at the end of the operation. Secondly, if the area to be worked is irregular, or if it presents "islands", viz. areas which must not be worked, the random walk may lead to imperfect operation around such islands, as well as at those locations where the perimeter is of irregular shape. Thirdly, because the operation of the robot is not programmed to obtain a predetermined coverage, it is necessary to allow the random walk to go on for a long period of time, so as to increase the chances of covering a major portion of the area to be worked. This is not only energy consuming, but also leads to an increased wear of the equipment, and may also be environmentally undesirable due, e.g., to noise or other pollution caused by the operation of the robot. Even if the robot is operated by sun energy, most of the aforesaid problems are not overcome, and additional problems exists, connected with such a mode of operation. For instance, the robot may not work properly in areas of the world where sun radiation is scarce or low, and may be inoperative for substantial parts of the day, e.g., on cloudy weather.
A further approach involves preprogramming the robot with a blueprint of its designated area of operation, such as a floor map of a building in which a robot is to operate. This approach has two major drawbacks:
a) it requires preprogramming by the user, which makes in unpractical for extensive consumer use; and
b) it requires that such preprogramming is repeated each time something changes in the work area.
It is therefore clear that it would be highly desirable to be able to provide means by which automated mechanisms may move and perform their task within a predetermined area, without being hindered by the need for predefined paths and rails, or by intermediate navigation signs or preprogramming, and which may carry out their task in a predetermined manner, without relying on random occurrences and/or on unstable energy sources.
SUMMARY OF THE PRESENT INVENTION
It has now been found, and this is an object of the present invention, that it is possible to free automated mechanisms operating within an enclosed zone from the need for preprogramming or predefined paths and rails, and from the need for intermediate navigation aids, and this to overcome the drawbacks of the prior art and to provide means by which a robot may perform its tasks within an enclosed area in a manner free from such limitations, with high precision and in a minimal period of time.
It is an object of the present invention to provide a navigation method which fulfills the aforementioned goals.
It is another object of the invention to provide means which can be used in systems utilizing the method of the invention.
Other objects of the invention will become apparent as the description proceeds.
The method for automatically operating a robot within an enclosed area, according to the invention, comprises the steps of:
providing a boundary along the perimeter of the working area, the said boundary being detectable by a proximity sensor;
providing boundaries along the perimeter of each area enclosed in the working area, in which it is desired that the robot should not operate, the said boundaries also being detectable by a proximity sensor;
providing a proximity sensor positioned on the robot;
providing processing means connected to the said proximity sensor and receiving an input therefrom;
providing location means on the said robot, to determine the coordinates of the robot relative to an arbitrary origin, at any specific time;
providing direction finding means;
providing memory means to store values generated by the said processing means and, optionally, by the said location means;
causing the robot to move along each of the boundaries provided around or within the said working area, to detect the said boundaries and to memorize their shape, and to store in the memory means values representative of the coordinates of the said boundaries, relative to an arbitrary origin, thereby to generate a basic map of the working area;
when the robot is to operate within the said area:
(a) causing the robot to start from a starting point having known coordinates within the basic map of the working area;
(b) continuously determining the coordinates of the robot by analyzing data obtained from the location means and by detecting the vicinity of a boundary; and
(c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.
By "robot" it is meant to indicate any autonomously operating device, which may carry out pre-programmed tasks with one or more tools, while moving in the process from one location to another.
According to a preferred embodiment of the invention, the location means comprise movement measuring means, such as an odometer or the like device, to measure the distance traveled by the robot, e.g., by measuring the number of revolutions of a wheel. As stated, direction finding means are also provided, so as to provide information on the direction in which the robot travels at any given time, which is needed in order to determine the coordinates of the robot on the map. The direction finding means can be of any suitable type, e.g., may comprise a compass.
While, as stated, it is an object of the invention to utilize relatively inexpensive devices for the operation of the robot, it is of course possible to employ more expensive and sophisticated equipment, without exceeding the scope of the invention. Thus, for instance, it is possible to employ range-finding means, such as a laser range-finder or RF range finders, to determine the distance of the robot from one or more given locations, at any given time, instead of, or in addition to, using an odometer or the like device to measure the distance traveled. However, any such modifications will be apparent to the skilled person, and therefore are not discussed herein in detail.
According to a preferred embodiment of the invention, the boundary which is detectable by a proximity sensor comprises a metallic wire through which electric current flows, and the proximity sensor comprises a magnetic field detector. According to another preferred embodiment of the invention, the boundary which is detectable by a proximity sensor comprises passive metallic means which is excitable by a magnetic field, and the proximity sensor comprises an electric field detector. In still another preferred embodiment of the invention the boundary which is detectable by a proximity sensor comprises passive magnetic means, and the proximity sensor comprises a magnetic field detector. Of course, the boundary may be marked by continuous or by discontinuous marking means, or by combinations thereof.
In still another alternative embodiment of the invention, the boundary which is detectable by a proximity sensor comprises a guide wire through which an acoustic signal passes, and the proximity sensor comprises an acoustic detector.
A further improvement in the precision of the determination of the actual coordinates of the robot on the map, at any given time, can be obtained by further providing on the boundaries a plurality of individually recognizable markers. Thus, when the robot reaches the boundaries, it not only identifies them by the proximity sensor, but may also receive the exact coordinates on the boundaries assigned to the specific marker it has detected. According to a preferred embodiment of the invention, when provided, the markers are substantially located at even distances from one another. Suitable markers will be easily recognized by the skilled person, and may comprise, e.g., an RF tag or magnetic tag.
As stated, according to another preferred embodiment of the invention, the distance-measuring means comprise an odometer or the like device, coupled to the wheels of the robot.
As stated, the robot, when initialized, moves along the boundaries and memorizes their shape. Such memorization may be carried out in a number of ways. For instance, the shape can be memorized by taking continuous or discontinuous readings of the compass and the odometer, and any such readings are then continuously integrated, to give the full coordinates of the boundaries.
The method of the invention can be exploited in a variety of uses, and is not limited to any particular field of application. One particularly interesting use, however, to which reference will be made also hereinafter for the purpose of exemplification, is when the robot is coupled to a lawn mower. Such robot permits to mow the lawn in the absence of the owner, and at any suitable time, or to vacuum clean any predetermined premises.
Of course, safety means should preferably be provided to ensure safe operation of the robot, for instance, automatic shut-off of the robot should be provided, coupled to logic circuitry, to ensure that the operation of the robot is discontinued if one of a number of contemplated possibilities takes place, for instance, if the measured distance traveled without encountering a boundary exceeds by a threshold value the maximal linear distance within the bounded area, as calculated from the map of the boundaries, this may mean that the robot has exited the boundaries due, for instance, to a malfunctioning of the system due to which the proximity sensor has failed to identify the boundary. Other required safety means will be easily recognized by the skilled person, according to the type of robot and the intended use thereof.
The invention is further directed to an automated robot for operation within an enclosed area, comprising:
a proximity sensor positioned on the robot;
processing means connected to the said proximity sensor and receiving an input therefrom;
location means, to determine the coordinates of the robot relative to an arbitrary origin, at any specific time;
direction finding means; and
memory means to store values generated by the said processing means and, optionally, by the said location means.
The term "proximity sensor", as used herein, indicates any device which is capable of detecting that the boundary of the working area is near. This may include, e.g., magnetic field detectors, acoustic signal detectors, bar code readers, resonance tag meters, transceivers, etc.
The invention also encompasses a system for automatically operating a robot within an enclosed area, comprising:
boundary means suitable for positioning along the perimeter of the working area, and of each area enclosed in the working area, in which it is desired the robot not to operate, the said boundary means being detectable by a proximity sensor;
a robot provided with a proximity sensor;
processing means on said robot, connected to the said proximity sensor and receiving an input therefrom;
distance-measuring means on the said robot, to measure the distance of the robot from a given starting point, at any specific time;
direction finding means;
memory means to store values generated by the said processing means and, optionally, by the said distance measuring means and/or direction finding means; and
motion means, to cause the robot to move.
In accordance with a further embodiment of the invention, a method for automatically cutting a lawn is provided. The method includes the steps of:
providing a lawnmower with a robot and at least a plurality of lawn height sensors;
performing a maneuver, under control of the robot and in response to output of the lawn height sensors, in a second direction generally opposite of the first direction to bring said lawnmower to a location parallel to but overlapping the first swath by a predetermined percentage as indicated by the different output of the lawn height sensors;
cutting a second swath of lawn parallel to the first swath while continually monitoring the lawn height output of said lawn height sensors thereby to ensure that the percentage of overlap is generally maintained;
repeating the steps of performing a maneuver and cutting a second swath for further swaths of lawn, wherein the previously cut lawn is denoted by said first swath of lawn and the swath to be cut is denoted by the second swath of lawn.
The maneuver can be an S-shaped maneuver and the grass height sensor can include the following elements:
a rotatable wing against which grass can push, the wing having a pin attached thereto;
a fixed second pin, connected to the housing;
a spring attached around said pin, wherein the ends of the spring press against opposite sides of the wing and opposite sides of the fixed pin; and
means for measuring the angle of rotation of the rotatable wing.
The present invention will be understood and appreciated more fully from the following detailed description taken in conjunction with the drawings in which:
<FGREF>FIG. 1</FGREF> schematically shows an enclosed area within which a robot must operate, the shaded areas representing "islands" in which the robot must not enter;
<FGREF>FIG. 2</FGREF> shows, in cross-section, a boundary of <FGREF>FIG. 1</FGREF>, according to a particular embodiment of the invention;
FIG. 3(A and B) illustrates the method of the invention, using polar coordinates;
<FGREF>FIG. 4</FGREF> illustrates the method of the invention, using Cartesian coordinates;
FIG. 5(A and B) is a flow-sheet of an example of a location correction process, according to one preferred embodiment of the invention;
<FGREF>FIG. 6</FGREF> is a flow chart of the operation of a system, according to one preferred embodiment of the invention;
<FGREF>FIG. 7</FGREF> is a pictorial illustration of a lawnmower following the line of cut grass, constructed and operative in accordance with a further preferred embodiment of the present invention;
<FGREF>FIG. 8</FGREF> is a flow chart illustration of a method of operating the lawnmower of <FGREF>FIG. 7</FGREF>;
<FGREF>FIG. 9</FGREF> is a pictorial illustration useful in understanding the method of <FGREF>FIG. 8</FGREF>;
<FGREF>FIG. 10</FGREF> is a schematic illustration of a lawn height sensor, useful in the method of <FGREF>FIG. 8</FGREF>,
<FGREF>FIGS. 11A and 11B</FGREF> are schematic illustrations of a lawnmower, a sensor and two types of boundary markings, forming further embodiments of the present invention; and
<FGREF>FIGS. 12A</FGREF>, 12B, 13A, 13B, 14A, 14B, 15 and 16 are schematic illustrations of various types of boundary markings useful in the embodiments of <FGREF>FIGS. 11A and 11B</FGREF>.
The present invention will be better understood through the following illustrative and non-limitative description of preferred embodiments.
Looking now at <FGREF>FIG. 1</FGREF>, the working area in which the robot must operate, indicated at "A", is enclosed by a boundary 1. Within the working area there are "islands" in which the robot must not penetrate, which are shadowed and enclosed by boundaries 2 and 3. According to one embodiment of the invention, the robot is an automated lawn mower, and the area A is a lawn. Islands 2 and 3 may be, e.g., trees and their vicinities or flower beds. Thus, we wish the mower to operate only in areas in which grass grows, and to avoid other areas. Alternatively, the robot can be coupled to a floor sweeper or a floor polisher or any other device which has to scan a flat surface.
As stated, according to one particular embodiment of the invention, the boundaries 1, 2 and 3 may comprise a conducting wire. This type of boundary is shown in cross-section in <FGREF>FIG. 2</FGREF>, which shows a wire 4, comprising a metallic core 5 and a plastic outer layer 6. A current "i" is caused to flow through the wire, thus generating a magnetic field along the wire. The intensity of the current may be very low, since it is not necessary that the magnetic field be sensed at a great distance from the boundary, and it is sufficient that it be felt in the close vicinity of the wire. The magnetic field is sensed, according to this particular embodiment of the invention, by a magnetic field sensor provided on the lawn mower. The magnetic field and the sensor to sense it are conventional and well known in the art, and therefore are not described here in detail, for the sake of brevity.
Taking the lawn mower as an example, but it being understood that the invention is in no way limited to its use with a lawn mower, or with any other particular device, the invention operates as follows. A coordinates system is defined, as well as a starting point. <FGREF>FIG. 3A</FGREF> shows a lawn mower L relative to the starting point "S" within the lawn, the lawn mower L being at a point (θ,r) viz. at a distance r, which is measured by measuring the movement of the mower, and at an angle θ from starting point S, which is measured by means of a compass. Thus, as shown in <FGREF>FIG. 3B</FGREF>, any point within the enclosed area S will have a unique polar coordinate.
When it is desired to teach the robot the boundaries of its task, the lawn mower is caused first to move around the boundary 1 of FIG. 1. The memory means of the robot memorize the coordinates of the boundary 1, relative to starting point S. Throughout this teaching movement, the boundary sensor positioned on the robot (not shown) senses the boundary 1. Similarly, the boundaries 2 and 3 are sensed for the first time by the robot, and memorized for future use. The robot now has an initial map of the area, similar to what is shown in <FGREF>FIG. 3B</FGREF>, each point having been assigned a coordinate. The set of coordinates so created will be termed "the map" of the working area.
When it is desired to mow the lawn, the robot is brought to starting point S, and it is started according to a set of instructions which has been pre-programmed, and which may be different for each different task. For instance, a circular lawn may be better looking if mowed in circles, while a soccer field requires back-and-forth mowing. An automated lawn mower according to the invention may further be provided with a number of pre-set programs, from which the user can choose.
The robot, as said, is further provided with distance-measuring means, such as an odometer or the like device. However, these devices are not fully accurate, and may provide only approximate distance values for any given position. The error in the measurement of the distance may derive from a variety of reasons, e.g., the slipping of wheels on a moist lawn, uneven ground, etc., and the error may build up to quite a substantial extent, impairing the ability of the robot to complete its task with a high degree of precision. While, of course, precise measuring means exist, such as laser distance measurements, these are expensive and/or require calibration targets located in or around the working area. It is a purpose of the invention to avoid the use of such expensive and complicated distance-measuring means.
According to the invention, therefore, the robot starting a task continuously compares the distance measured by the odometer or other distance measuring device, with the distance from an earlier position to the boundaries in the angular coordinate it is following. If the boundary is detected earlier than anticipated according to this comparison (or, in other words, if the difference between the distance according to the map and the measured distance is negative), the robot continues to move until the boundary is detected. If the difference between the distance according to the map and the measured distance is positive, or in other words, if the boundaries are encountered earlier than expected, actual value of the coordinate is corrected to be that of the map.
The starting point will initially be the point "S", and correction of distance errors will be effected relative to this point. As work proceeds, of course, the starting point may be updated to be another point within the area, e.g., a meeting point with the boundaries, for comparison purposes with the map of the area.
Similarly, the robot has been pre-programmed to avoid "islands", but will detect an island according to the actual position of the boundary detected, and will correct its present working map based on the detection of the boundary and the original map. As will be understood by the skilled person, the larger the number of bounded areas, the higher the precision of the correction of the actual working map., Therefore, the islands actually help in keeping precision and correcting the actual working map. therefore, if the working area is particularly large, it may be desirable to provide artificial islands for the purposes of map correction.
As will be appreciated by the skilled person, operating according to the preferred embodiment of the invention described above is very convenient also in respect of the boundaries, since the wire or coil may be embedded in the soil, thus avoiding any actual or even aesthetic disturbance to the working area, and the power requirements to generate a localized magnetic field are very small.
<FGREF>FIG. 4</FGREF> shows an alternative embodiment of the invention, in which the location of each point is measured in Cartesian coordinates. As will be appreciated by the skilled person, it is not essential to the invention that any specific coordinates system be chosen, but it may be more convenient to select a particular set of coordinates, depending on the map correction process employed.
One particular process, employing Cartesian coordinates, will be described hereinafter by way of example, with reference to the flow-sheet of FIG. 5.
In <FGREF>FIG. 5A</FGREF> the correction of an error on one axis (Y in the example shown in the flow-sheet of <FGREF>FIG. 5A</FGREF>) is shown, according to one possible embodiment of the invention, while the error in the other axis is not dealt with. <FGREF>FIG. 5B</FGREF>, on the other hand, shows a method according to another possible embodiment of the invention, in which both the X and the Y errors are corrected in one step. It should be noted that, although only the error on one axis can be corrected at a time in the embodiment of <FGREF>FIG. 5A</FGREF>, the error on the other axis can be corrected by moving in a direction perpendicular to the axis being corrected. The movement of the robot can be programmed such that both the X and Y location coordinates are updated at a suitable rate of correction.
In <FGREF>FIG. 5B</FGREF> another preferred embodiment of the invention is shown, in which the boundaries are marked with markers (4 in FIG. 5B), which have a unique identity. The markers will typically be conveniently evenly spaced, although any spacing scheme is possible. The markers can be of any suitable type, e.g., and RF tag, magnetic tag or the like marker, which emits a signal identifiable by a sensor. In such a case, of course, a suitable sensor, capable of identifying unique identity signals must also be provided on the robot.
During the initiation process the robot performs a complete loop around the edge and memorizes the shape of the boundary as well as the position of each marker (X,Y coordinates of each individual marker). This procedure allows for the correction of both the X and the Y coordinates error, each time an edge is detected, according to the method shown in the flow-sheet of FIG. 5B.
Schematically speaking, the robot will operate according to the flow-sheet of FIG. 6.
Reference is now made to <FGREF>FIGS. 7</FGREF>, 8 and 9 which illustrate a further embodiment of the robotic lawnmower of the present invention. In this embodiment, the robot sweeps the space with overlapping straight lines by determining the location of the edge between uncut and cut grass.
In the present embodiment, the lawnmower, labeled 20 in <FGREF>FIG. 7</FGREF>, additionally includes a plurality of sensors 22, each one measuring the height of the grass in its general vicinity. <FGREF>FIG. 7</FGREF> shows two areas, one 24 of cut grass and one 26 of uncut grass. Thus, sensors 22a and 22b will provide a high height output and sensors 22c and 22d will provide a low height output.
By comparing the height output of the sensors 22, the control system of the lawnmower can determine generally where the edge between cut and uncut grass is. One embodiment of a sensor 22 is illustrated in FIG. 10 and described in detail hereinbelow.
<FGREF>FIG. 8</FGREF> details the operations performed by the control system of lawnmower 20 and <FGREF>FIG. 9</FGREF> illustrates the movements of the lawnmower 20 at the edge of the lawn. While the lawnmower 20 is cutting a swath 25 indicated by dotted arrows in <FGREF>FIG. 9</FGREF>, the sensors 22 continually measure the height of the lawn nearby (step 30). The control system, with the navigation system (compass and odometer), steers the lawnmower 20 in the desired direction, as described hereinabove, while additionally ensuring that the edge of the lawn is maintained in a desired location vis-a-vis the sensors 22. For example, it may be desired to cut a swath which is only three-quarters the width of the lawnmower. For this situation, the edge between cut and uncut grass should be maintained between sensors 22a and 22b or between sensors 22c and 22d.
The control system maintains the desired direction until the edge of the lawn is detected, as described hereinabove. At this point, the lawnmower 20 must change direction of movement while keeping the proper percentage of uncut grass under the lawnmower 20. It is noted that the lawnmower can move both forward and backward.
<FGREF>FIG. 9</FGREF> illustrates the change in direction. Initially, the lawnmower 20 moves in the forward direction along swath 25 (step 30). Upon reaching the edge, the lawnmower 20 performs an 'S' shaped backwards maneuver, labeled 40, using the navigation system, until the edge between cut and uncut lawn is sensed between the desired two sensors 22. This step is indicated in step 32 of FIG. 8 and produces an 'S' shaped cut in the lawn. As shown by line A in <FGREF>FIG. 9</FGREF>, the edge of the cut grass is maintained between the desired two sensors 22.
In step 34, the lawnmower 20 moves forward along the edge of the cut grass until the edge of the lawn is sensed once again. This movement is indicated by the short arrows 42 of FIG. 9. Finally, the lawnmower 20 backtracks along the new swath 44. Initially and until reaching the location of the line A, the lawnmower 20 utilizes only the compass information. Once the edge of cut grass is found again (at the location of line A), the control system utilizes both the compass and the sensor output to create the new swath 44. This is indicated at step 36 of FIG. 8.
As discussed with respect to the previous embodiments, the lawnmower 20 has to return to locations of unfinished scanning, such as locations on the opposite side of a flower bed or tree. To do so, the lawnmower 20 utilizes the navigation system to head towards the desired location and, when it is close to the desired location, it additionally senses for the edge between cut and uncut grass.
Reference is now made to <FGREF>FIG. 10</FGREF> which illustrates an exemplary lawn height sensor. The lawn sensor comprises a rotatable wing 50 connected to a potentiometer 52 via a pin 54 and a flexible joint 56. A weak spring 58 is attached around pin 54 and extensions 60 of spring 58 extend on either side of wing 50 and of a fixed pin 62. A cam 64 is connected also to pin 54 and a microswitch 66 measures the movement of cam 64.
The grass presses against the wing 50, which, since it is not heavy, will rotate. In turn, the wing 50 pushes against the relevant one of extensions 60. Since the other extension 60 is maintained in place by fixed pin 62, the spring 58 is tightened, thereby providing a returning force against the force of the grass.
The rotation of the wing causes the cam 64 and flexible joint 56 to rotate, which rotation is measured by the potentiometer 52. Furthermore, if the wing 50 rotates too far, protrusions 68 of cam 64 will press against a rod 70 connected to microswitch 66 which will indicate maximum travel of wing 50.
Reference is now made to <FGREF>FIGS. 11A and 11B</FGREF> which illustrate two alternative embodiments of boundary markers and a sensor for detecting the boundary markers located on the lawnmower. Reference is also made to <FGREF>FIGS. 12A</FGREF>, 12B, 13A, 13B, 14A, 14B, 15 and 16 which illustrate additional types of boundary markers.
<FGREF>FIGS. 11A and 11B</FGREF> illustrate the lawnmower 10 with a boundary sensor 80 attached thereto. In <FGREF>FIG. 11A</FGREF>, the boundary is marked by a series of markers 82 placed into the ground on the edge of the lawn. Typically, the markers are placed at set distances one from the next. Alternatively, they can be placed close together along portions of the edge which are very curvy and further apart along straighter portions of the edge. In <FGREF>FIG. 11B</FGREF>, the boundary is marked by a wire 84 which is marked 82 some suitable and detectable manner. The type of marking matches the type of sensor attached to the lawnmower 10.
In one embodiment, shown in <FGREF>FIGS. 12A and 12B</FGREF>, the boundary markers 82 have a magnet therein. In the embodiment of <FGREF>FIG. 12A</FGREF>, the boundary marker 82 is formed of a plastic pin 90, a magnet 92 placed within pin 90 and a plastic cover 94 covering the magnet-pin unit. In the embodiment of <FGREF>FIG. 12B</FGREF>, the boundary marker 82 is a metallic pin which is magnetized, as shown.
The corresponding sensor 80, for both embodiments, is a gauss meter, such as the model 4048 manufactured by F. W. Bell Inc. of the USA, or any other magnetometer which senses the magnetism in the combined unit. The distances between the boundary markers 82 are defined by the strength of the magnet 92 in such a way that at any point along the marked perimeter, at least two markers are detectable by the sensor on the robot.
In a further embodiment, shown in <FGREF>FIGS. 13A and 13B</FGREF>, the sensor 82 is a bar code reader, such as the model 1516 from Intermek Inc. of Seattle, Wash., USA. The corresponding boundary markers are, in <FGREF>FIG. 13A</FGREF>, a white cable 96 with black bar code markings 98 thereon. The bar code markings 98 are located at fixed distances from each other. In <FGREF>FIG. 13B</FGREF>, the boundary markers are pins (typically of white plastic) with black markings 100 thereon.
<FGREF>FIGS. 14A and 14B</FGREF> illustrate a further embodiment which utilizes a Geiger counter, or other suitable radiometer, to detect the boundary markers. <FGREF>FIG. 14A</FGREF> illustrates a cable 102 having a piece of a radioactive mineral 104, such as Americium, located thereon and <FGREF>FIG. 14B</FGREF> illustrates an individual pin 106 (typically of plastic) having a radioactive mineral 104 thereon. A suitable Geiger counter for use with lawnmower 10 is the SURVIVOR 200, manufactured by Bicron Inc. of the USA.
<FGREF>FIG. 15</FGREF> illustrates a coil-capacitor circuit 110 incorporated into a plastic or ceramic substance 112. Such a circuit 110 is then placed into a pin unit such as pin 90 and cover 94 of FIG. 12A. The corresponding sensor 80 is a resonance tag reader such as the ones manufactured by Checkpoint Inc. of Thorofare, N.J., USA, for anti-theft protection in stores, such as clothing stores. The coil-capacitor unit 110 can be similar to those manufactured by Checkpoint or any other suitable coil-capacitor unit.
<FGREF>FIG. 16</FGREF> illustrates a further embodiment utilizing transceiver units 120. The transceiver unit 120 can be any suitable narrow band transmitting and receiving unit and is typically placed into a pin unit such as pin 90 and cover 94 of FIG. 12A. The corresponding sensor is a similar transceiver. Each transceiver, within each pin, operates at the same frequency and the sensor transceiver continually determines how close it is to the nearest transceiver unit 120. When the sensor transceiver comes to within a predetermined distance, the sensor transceiver determines that it has reached the boundary.
For all of the above embodiments, the sensor 80 determines that the lawnmower 10 has reached the boundary when the signal sensor 80 receives is at or above a threshold level which is calculated as the expected reading five to ten inches from the marker or cable.
It will be appreciated that other types of markers and their corresponding detectors are incorporated within the present invention.
All the above description and examples have been provided for the purpose of illustration, and are not intended to limit the invention in any way. Many modifications can be effected in the method and devices of the invention, without departing from its spirit.
FRIENDLY ROBOTICS LTD.
Abramson, Shai, Peless, Ehud, Dror, Gideon
SALATA, ANTHONY J
2065 Days
180/167-169, 318/568.12, 318/568.16, 318/568.17, 318/580, 318/587, 364/424.02, 364/449, 364/443, 364/459, 364/461, 153/19, 56/102.K, 56/102.A, 56/102.F, 56/102.J
A01D2101/00 : Lawn-mowers
A01D34/008 : for automated or remotely c...
G01C22/00 : Measuring distance traverse...
G05D1/0219 : ensuring the processing of ...
G05D1/0227 : using mechanical sensing me...
G05D1/0234 : using optical markers or be...
G05D1/0261 : using magnetic plots
G05D1/0263 : using magnetic strips
G05D1/0265 : using buried wires
G05D1/0274 : using mapping information s...
G05D2201/0208 : Lawn mower
G05D2201/0216 : Vehicle for transporting go...
4 Family Members
Current Assignee: F Robotics Acquisitions Ltd.
Sponsoring Entity: FRIENDLY ROBOTICS LTD.
Sponsoring Entity: F Robotics Acquisitions Ltd.


text:
Almost Human: Watch the First 8 Minutes of the Series Premiere
by Shilo Adams October 29, 2013 10:31 am 620 views0
FOX has released the first eight minutes of upcoming sci-fi crime drama Almost Human, which takes place in the year 2048 and follows John Kennex (Karl Urban), a cop recently awakened from a 17-month coma that was the result of a brutal attack. The biggest change since he went into the coma? He lost one of his legs and has to be outfitted with a systemic appendage. Couple that with depression, mental atrophy, OCD, PTSD, and psychological rejection of the new limb and John might be wishing that he never woke up in the first place.
He gets a new lease, though, when he's introduced to Dorian (Michael Ealy), a discontinued android with emotional problems. Every cop must partner with a robot and while John may be uncomfortable with the idea, he finds that he relates to Dorian since they're both "flawed" half-man, half-machine at this point. The series, created by Fringe's J.H. Wyman and produced by J.J. Abrams, is said to focus on both the weekly missions of John and Dorian as they team together to fight crime and the mystery of the attack on John that left his then-partner dead.
In addition to Urban and Ealy, Almost Human stars Lili Taylor (Hemlock Grove) as John's longtime ally Captain Sandra Maldonado; Mackenzie Crook (Game of Thrones) as technician Rudy Lom, who introduces John to Dorian; Minka Kelly (Friday Night Lights) as starstruck Detective Valerie Stahl; and Michael Irby (The Unit) as distrustful Detective Richard Paul.
The series premiere of Almost Human is set to air Sunday, November 17th at 8:00 on FOX, with another episode airing at its regular time the following day.
Will you be watching Almost Human? What do you think about the first eight minutes of the series premiere? Is the show going to pair well with Sleepy Hollow?
Shilo Adams
Shilo Adams is a contributor to TVHackr whose work has appeared on the likes of TVOvermind, KSiteTV, and ScreenFad. You can e-mail him at [email protected] or follow him on Twitter @shilo_adams.
Castle Review: "Get a Clue"
The Walking Dead Renewed for Season 5 by AMC
FOX / by Shilo Adams - October 1, 2014 6:43 pm
Fox Pulls Tuesday Utopia, Moves MasterChef Junior
According to The Hollywood Reporter, FOX has pulled the Tuesday edition of reality series Utopia effective immediately. The series, which brings together 15 people of different backgrounds and forces them to…
FOX / by Shilo Adams - September 2, 2014 7:37 pm
Gang Related Cancelled by FOX
According to The Hollywood Reporter, FOX action drama Gang Related has been cancelled after one season. Though the network extended the cast's contract options and looked at ways of cutting costs, including…
FOX / by Shilo Adams - July 10, 2014 4:29 pm
FOX Announces Fall 2014 Premiere Dates
FOX has become the latest network to reveal its plans for fall 2014, a schedule that begins Sunday, September 7th with the series premiere of reality experiment Utopia. The series…
FOX / by Shilo Adams - May 12, 2014 6:15 pm
FOX: Trailers for New 2014-2015 Shows
FOX has released trailers for six of its new scripted series for 2014-2015, including character procedural Backstrom, hip hop drama Empire, and murder mystery Gracepoint. The network has yet to…

redpajama_set_name: RedPajamaCommonCrawl


text:
Trump finalizes rollback of Obama-era vehicle fuel efficiency standards
Reuters | Washington DC | Updated: 01-04-2020 03:12 IST | Created: 01-04-2020 03:06 IST
US President Donald Trump (file photo) Image Credit: ANI
President Donald Trump's administration on Tuesday completed a rollback of U.S. vehicle emissions standards adopted under his predecessor Barack Obama and will require 1.5% annual increases in efficiency through 2026 - far weaker than the 5% increases in the discarded rules. The announcement - condemned by Democrats and environmentalists while being lauded by Republicans and business interests - sets up a legal battle, with California and 22 other states planning to challenge the rewrite of what had been one of most ambitious U.S. policies aimed at combating climate change.
The Trump administration called the move its largest single deregulatory action and said it would will save automakers upwards of $100 billion in compliance costs. The policy reversal marks the latest step by Trump, a Republican, to erase environmental policies pursued by Obama, a Democrat. James Owens, acting head of the U.S. National Highway Traffic Safety Administration, said the plan "strikes the right balance between environmental considerations, health and safety considerations and economic considerations."
Writing on Twitter, Trump said his administration was "helping U.S. auto workers by replacing the failed Obama Emissions Rule." Auto-producing states like Michigan could be pivotal in Trump's Nov. 3 bid for re-election. House of Representatives Speaker Nancy Pelosi, a Democrat, said the administration's decision will harm public health and endanger U.S. economic security.
"The Trump administration's anti-science decision to gut fuel standards will unleash massive amounts of pollution into the air at the worst possible time," Pelosi said, alluding to the coronavirus pandemic. A coalition of states previously challenged the Trump administration's decision to revoke California's authority to set its own stiff vehicle tailpipe emissions rules and require automakers under its Zero-Emission Vehicle Program to sell an increasing number of electric cars and trucks in the most populous U.S. state.
Under the Obama-era rules, automakers were to have averaged about 5% per year increases in fuel efficiency through 2026, but the industry lobbied Trump to weaken them. The new requirements mean the U.S. vehicle fleet will average 40.4 miles per gallon rather than 46.7 mpg under the Obama rules. The Trump administration said the new rules will result in about 2 billion additional barrels of oil being consumed and 867 to 923 additional million metric tons of carbon dioxide being emitted and boost average consumer fuel costs by more than $1,000 per vehicle over the life of their vehicles.
ENVIRONMENTAL REVERSAL Obama's environmental policies were intended to cut carbon emissions that drive climate change, while Trump has ditched numerous environmental regulations that his administration deemed harmful to industry and has aimed to increase the use of fossil fuels. Trump also has pulled the United States out of a global climate accord and moved to reverse clean water regulations and pollution standards for coal-burning power plants.
California Air Resources Board chief Mary Nichols said her agency will move forward with its zero-emissions program. "This is a watershed moment marking the death of the old view of cars and emissions tied to petroleum use, and another that looks to vehicle technology driven by innovation," Nichols said.
The Trump administration in August 2018 initially proposed freezing requirements at 2020 levels through 2026. Reuters reported in October automakers expected a 1.5% annual increase after talks with administration officials. A trade group that represents General Motors Co, Volkswagen AG, Toyota Motor Corp and others said automakers need policies that support "a customer-friendly shift" toward electrified and other highly-efficient technologies. "We are carefully reviewing the full breadth of this final rule to determine the extent to which it supports these priorities," it said.
The U.S. Chamber of Commerce, a business group, said the final rule provides a "workable path forward on a unified national program that provides regulatory certainty while strengthening fuel economy standards and continuing emissions reductions." Auto dealers also praised the revisions. The administration said the revised rules will cut the future price of new vehicles by around $1,000 and reduce traffic deaths. Environmentalists dispute that the rule will reduce traffic deaths. The administration said drivers will pay more in increased fuel costs than they will save in lower vehicle prices but concluded they will save more in overall vehicle ownership costs.
The administration has battled with California over auto regulations. Last month, the U.S. Justice Department closed an antitrust investigation into a voluntary agreement between four automakers and California on emissions without taking any action. Ford Motor Co, BMW AG, Honda Motor Co and VW struck the deal last year, prompting the federal investigation. The deal bypassed a White House effort to strip California of the right to fight climate change and drew Trump's ire. Volvo Cars confirmed on Tuesday it was also in talks to reach a California emissions agreement.
Ford said on Tuesday it remains "committed to meeting emission reductions consistent with the California framework."
Ford Motor Co
US Chamber of Commerce
National Highway Traffic Safety Administration
Honda Motor Co
BMW AG
Toyota Motor Corp
Last-minute White House decision opens more Arctic land to oil leasing
Top Georgia election official says White House pushed him to take Trump call
Trump says he will speak at Wednesday rally outside the White House
US News Roundup: Top Georgia election official says White House pushed him to take Trump call; In deadliest week so far, U.S. loses more than 18,400 lives to COVID-19 and more
A federal judge on Friday ordered a far-right conspiracy theorist who left an ominous note for Vice President Mike Pence inside the U.S. Capitol to be detained pending trial, saying he participated in a violent insurrection. In U.S. Distric...
China reported 130 new coronavirus cases in the mainland for Jan. 15, compared to 135 cases a day earlier, the health commission said on Saturday. Of the new infections, 115 were local infections, according to a statement by the National He...
BRIEF-User Reports Indicate Signal Is Having Problems - Downdetector
Jan 15 Reuters - USER REPORTS INDICATE SIGNAL IS HAVING PROBLEMS - DOWNDETECTOR Source text httpsbit.ly2XHGzQX...


text:
MCSO Deputy Ruiz sets example by donating organs, Arizona donor network explains the importance
There are 1,600 Arizonans waiting for a lifesaving organ transplant, many of whom will die waiting. Here's how you, like Ruiz, can become a hero and save lives.
Author: Hunter Bassler
Published: 12:27 PM MST October 11, 2021
Updated: 8:20 AM MST October 12, 2021
ARIZONA, USA — A Maricopa County Sheriff's Office deputy is still dedicated to serving his community, even in the moments before he is taken off of life support.
Deputy Juan "Johnny" Ruiz will be donating his organs after he is taken off of life support due to him not being able to regain consciousness after being attacked Saturday, county sheriff Paul Penzone said during a press conference.
"He will be making a sacrifice, so that others may benefit," Penzone said. "He's in the process of being tested to determine the viability over the course of the next few days."
Officials say Ruiz died Monday afternoon.
RELATED: Maricopa County deputy expected to be taken off life support after not regaining consciousness, sheriff says
There are thousands of Arizonans who need the help Ruiz will be providing, according to the Donor Network of Arizona. There are over 1,600 people in Arizona waiting for a life-saving transplant, and many will die waiting.
"One donor can save up to eight lives just through organ donation alone," said Nico Santos, a spokesperson for Donor Network of Arizona. "Then we talk about tissue donation...dental procedures, ligaments for mobility. There are so many things that one person could do."
There are over 106,000 people listed on the national organ waiting list right now, according to the United Network for Organ Sharing. A new person is added to the list every 10 minutes, and 20 people die waiting for a life-saving organ transplant every day.
Many people don't receive the care they need because not enough people are registered as organ donors. However, another reason is only a few deaths lend themselves to be fit for organ donation.
"Only about 1% of deaths in hospitals actually lend to organ and tissue donation," Santos said.
"Because it's so rare, that's why we want everyone to consider registering. Our organization...can't usher the gift of life without the participation of the public," Santos expounded. "What we see as the best way to show love and the final gift that you can give is to say 'Yes, I want to be considered as an organ and tissue donor."
Find out how to sign up to be an organ donor and save the lives of others on the Donor Network of Arizona's website here.
RELATED: Tonopah homeowner who shot suspect says he was protecting his family
Inspiring Arizona
Watch a few of the inspiring stories of people doing good and supporting those in their communities across Arizona on our 12 News YouTube playlist here.


text:
FEATURE: Rime of the Ancient Mariner
In the Room with the Little Eggs Collective
By Brianna McCarthy
Images by Jasmin Simmons
As the premiere of their new devised take on Coleridge's Rime of the Ancient Mariner at KXT approaches, I was lucky enough to be welcomed into their devising space to have a peek at where the Little Eggs Collective are at.
Following their award-winning success at the 2018 Sydney Fringe Festival with Pinocchio, The Eggs' unique style and flavour made the anticipation for what would be next the talk around town. Hearing earlier this year that an old favourite text was being taken on meant that my ticket was already sold. Known by many as the peak of S.T Coleridge's poetic work, this epic is dark, wondrous and supernatural. With a modern reading it easily speaks to prevalent moral questions of environmentalism. After experiencing a small tester of what is to come in April, I can clearly see that The Eggs are enlivening these same qualities in a very energetic and embodied way.
The cast and crew were lovely to me. When I entered the room, the air was of care and generosity and they immediately greeted me warmly. I was asked questions about myself and invited to get sushi from the favourite spot like I was a new friend.
However, as soon as they began rehearsing, the energy of the room changed. Everyone sank into work and rehearsals with incredible focus and commitment. There was rigour in the casts' performance and passion in the crews' attentiveness. Together they waded through the still murky waters of devising and created some truly magical moments. The ten minutes of content that I saw flowed in and out of structured and loose moments, including some that were brand new. I quickly realised that their dedication and openness would beget impressive results.
"Imagine the power of nature is stirring up inside you and that's what driving you to move."
These words of Director, Julia Robertson, were in response to one particular scene, but I think they speak to the motivation of the show as a whole. I saw and heard the issue of pollution being intertwined with Coleridge's original piece in a rhythmically powerful and visceral way. Each image developed more and more a building sense of magic. Some noteworthy traits of the show that I saw included a babbling bird with a kazoo for a mouth, a team of sailors singing gleefully their shanties of the sea, and several innovative approaches to movement in an ensemble.
Tickets went on sale recently and the Eggs are still in the process of devising and rehearsing. Considering that I only saw about ten percent of what's to come, I am incredibly keen to track their process and see the final product. I'd like to give a giant thanks to everyone I spent time with for their generosity and inspiration. I wish them the absolute best.
4 - 11 April


walking distance to shopping and restaurants.
Room smelly. Just simple hotel for short stay. Shops n eateries nearby. Staffs helpful.
Very helpful and kind staffs. Also we love bath tub which is ver rare. One thing that i don't like is odd smell which come from carpet or aircon. Even changing room, there is still odd smell. Morning breakfast is very nice. That can not be compared with other hotel.
Very good service from the management and staff.
just walking distance to shops and restaurant.
Very clean... comfortable room... they have bath tub and the bathroom is very clean. We've got our room close to the elevator. The staff is very friendly. Always smiles and greets you. They makeup our room very quickly and neatly. They respond to our request immediately and they also give us to check out late until 2 pm (but you have to ask and notify them). The foods at the cafe also suite to our taste and have a very healthy choice. Both of us feel satisfy and would like to stay there if we come again.
Pros: - late checkout was until 3pm, without any additional charges. - efficient in providing guests needs - good restaurant downstairs. Cons - There were hairs in the toilet, possibly from previous guests. - some stains on the quilt cover.
It was my first time staying at a hotel in KB. The room was quite big and clean. There was a bath tub in the toilet. Everything was provided but even extra pillows. but the funny thing was they only provide one towel. There was no parking provided by the hotel which was a problem so you have to park in the street. What I loved the most was the breakfast though there was no jams but it was still the best.
Thank you very much for your comment. We apologize our staff did not explain to you about our hotel parking arrangement. sorry for our staff negligence when you need any extra items such as jam, or bath towel, please always alert us when such situation arises. We look forward to serve you again in future.
Good n nice hotel and also friendly staff..
STayed here a few months ago. This is my second time. The first time was 2 years ago which was nice and very pleasant. The second time around, I had a very unpleasant stay. The staff were unhelpful, very cold and aloof. And the carpet in the hallway smelled very musty. We got back to the room very late and i was met with the most unpleasant musty smell ever. It was as if, the room was flooded and the carpet was not properly aired. I could not sleep that night, could only sleep with a pillow covering my nose. and woke up twice in the middle of the night cos of the very strong pungent smell. I am very picky with hotels, i am normally down with anything as long as the room is clean. But this was bad. Other than the stench, everything else was very good!
Generally good, minor issue with cleanliness.
Friendly staff and convinient location. However, facilities are not clean and the toilet doesnt flush properly.
We thank you for the comment.
Hotel is clean, has internet and as close to the city centre as possible.
Nothing to shout about, it's close to food, and the rooms have internet and air conditioning.
The staffs are very helpful. I would especially commend the owner, the receptionists, and the support staffs for being so friendly. The building looks small from the outside, but the room is nice, spacious, and most importantly clean in the inside. A nice surprise when entering the room. There are plenty of food choice surrounding the hotel building. Highly recommended for business travelers and for leisure.


Student Arts will be hosting their Chalking Competition this Friday, the 28th, from 1-4pm on the South Lawn (between Nau-Gibson and New Cabell). Be sure to come by! We supply the chalk, and even if you don't feel like competing you can still join in and have some fun in the sun.


text:
World Meeting offers fun time set apart for kids
Catholic feminist sees beauty of marriage and pitfalls of 'Gospel of Me'
Jewish professor speaks of forgiveness in the family
Expert: Healing possible for victims of domestic violence, and perps
Kids at World Meeting enjoy fun activities and meeting other kids
Mormon families share strategies for family unity
Do more than talk about religious vocations, speakers say
By George P. Matysek Jr. • Posted September 24, 2015
PHILADELPHIA (CNS) — If more people are going to answer the call to religious life, it will take more than words to attract their attention, according to four women religious who delivered a Sept. 23 presentation on vocations at the World Meeting of Families in Philadelphia.
Parents must model what it means to have a relationship with Christ, they said, inviting children to discover their own call from God.
"Children are nurtured when they see Mom and Dad pray — not only at church on Sunday, but at home every day," said Mother Ann Marie Karlovic, prioress general of the Dominican Sisters of St. Cecilia, based in Nashville, Tennessee. "They are nurtured when they see their parents take time away from the TV, computer or other distractions to be quiet, to reflect and to read Scripture."
With so many cultural distractions, she said, it is necessary for families to be more intentional about living their faith. When religious art is displayed on walls and Scripture stories are read to children, she said, homes can become the setting in which children "breathe in the beauty of their faith."
Sister Regina Marie Gorman, vicar general of the Carmelite Sisters of the Most Sacred Heart of Los Angeles, said children learn about God long before they learn to pray. It happens when they feel loved by their parents, she said.
The former chairwoman of the board of directors of the Council of Major Superiors of Women Religious in the United States encouraged couples to show their children that God is good even in the midst of suffering that may enter everyday life.
"Then our children will want to turn their hearts toward him," she said.
It is critical to cultivate a "deep awareness" that there is a "current of love" flowing between a child and the heart of God, she said. Respecting the uniqueness of each child's encounter with God will safeguard against the temptation of manipulating a child into or away from the priesthood or religious life, she said.
"This is sacred territory," she explained, "and we need to be mindful and attentive to what the Lord is doing in your child's life so that you can cooperate with God."
Just as parents have an obligation to expose children to works of art, science, beauty, nature and history, she said, they have a duty to expose them to religious life. She urged parents to visit priests and religious and sign up to receive correspondence from various religious communities.
"If the child sees correspondence coming from them," she said, "they will know it's part of their life. They aren't going to know it any other way unless we expose it to them."
Mother Mary of the Sacred Heart Gaes, provincial superior of the Institute Servants of the Lord and the Virgin of Matara, told parents there is no need to fear the vocation to which God may be calling their children. Receiving the sacraments and praying the rosary are ways to foster openness to God's call, she said.
"The rosary leads to peace of soul," she explained.
Mother Adela Galindo, founder of the Servants of the Pierced Hearts of Jesus and Mary in the Archdiocese of Miami, urged families to encourage their children to start asking fundamental questions such as "Why was I created?" and "How does God need me to build his kingdom?"
She noted that love is the fundamental vocation of each human being, and it is not something that can be bought or sold. Children learn to love in the "school of the family," she said.
"This fundamental truth about love must be experienced by all members of the family by having a regular participation in service to those in need within the family or in society," Mother Adela said. "It is a very formative path for the encouragement of young people to serve those who will not give them any recompense."
Jeselyn Basler, a mother of five from Kalamazoo, Michigan, who is expecting another child, told the Catholic Review, Baltimore archdiocesan newspaper, that in her family, religious vocations are presented as real possibilities for her children.
"We have priests over for dinner and visit the sisters in the convent," she said, noting that some of her children have also attended a religious vocation camp. "Whenever we see a sister or a priest, we go up and talk to them and include them in our life."
She and her husband, Ryan, remind their children that God has a special call for them. Prayer is ultimately key, she said.
"We have to pray for what their call is and we should pray for them also," she said.
Matysek is assistant managing editor of the Catholic Review, newspaper of the Baltimore Archdiocese.
PREVIOUS: Spend time, 'waste time,' do more as family, couple advises
NEXT: Understanding marriage can lead to healthier society, speakers assert


Is there a policy-exclusion hole in your umbrella?
COLIN RAY, MCCARTHY, LEBIT, CRYSTAL & LIFFMAN CO.
have what you believe is "full" insurance coverage.
If either one of those statements is true and the other is not, you must continue reading.
We have all seen commercials for insurance companies touting how they have covered amusing — but never particularly gruesome — losses. Maybe you've seen the one where Hollywood dogs flood a house and engage in a synchronized-swimming routine. Cute! Maybe you've seen the one where a truck sheds a flag, obscuring the windshield of a following driver's vehicle, causing an accident. A character then cautions that if you have cheap insurance, this loss might not be covered. Funny! Maybe you've seen the ones where a famous athlete who plays professional sports in Wisconsin causes what looks like pretty expensive loss, and a smiling agent appears and putatively covers all the damages. Great!
These entertaining scenes are likely based on unique real cases that insurance companies spent years collecting and covering. But what likely is missing are the vast majority of claims denied. Your insurance probably covers the dog-flood, so long as you were honest about having dogs on your insurance application. But in Ohio, many insureds find their claims denied under terms of exclusions or otherwise. In fact, insurers add new exclusions to their policies periodically to increase profit. Policy exclusions are basically excuses to not pay money — with which you should become familiar unless you want to end up involuntarily insuring yourself. It must also be noted that each insurer and policy has different coverages and exclusions, and not all policies are alike.
Many, if not most, losses happen at home. Responding to a niche market of upper-middle class gentlemen farmers, many manufacturers now offer a variety of midsized, comfortable yard tractors. These portents of loss typically have a PTO (power take-off shaft). This permits connection of limb-mangling machinery such as mowers, augers and buzzsaws. When the tractor inevitably causes calamity, your coverage may well be determined by a long series of double- and triple-negative exclusions in your homeowner's policy that could leave no one but a surgeon holding your hand. It's certainly prudent to check your policy before purchasing a tractor to see what is covered and what is not in anticipation of intended use. It is also important to discuss the intended use with your agent to make sure you are covered.
The other residential vehicle that causes no shortage of summer injury is the golf cart, typically fitted with cupholders for the greatest loss catalyst — alcohol. Your homeowner's policy likely contains exclusions on what golf cart losses are covered, and you'll probably be surprised to find that boundaries of the exclusion closely mirror the boundaries of the golf course. Stay on the cart paths, don't let minors operate, and follow the 90 degree-rule straight to your agent before hitting the links.
Man's best friend is also a huge cause of loss. Simply allowing the presence of any dog on your insured premises as a keeper or harborer is typically enough to trigger strict liability under Ohio law. But if your friend's dog has previously caused injury to someone — even if you don't know about it — your insurance may leave you scraping together your own kibble to pay for someone's injuries based on an exclusion for dogs that have previously injured someone. Pit bulls and other large breeds are often excluded as well even if they have previously bitten no one.
By not paying for losses that do occur through exclusions and claims denied.
In order to increase profit, insurance companies raise premiums, exclude from coverage risks that create exposure, and place legal loopholes and limitations in their insurance contracts with their insureds. What often the insured believes is covered turns out to not be covered. But this is often learned too late, after a claim or lawsuit has arisen. You want to not only thoroughly read not only your primary policy when it arrives, but also your excess and umbrella policies. These may contain even more exclusions and lack of coverages.
You should not only change your smoke detector batteries once per year, but you should also make it your practice to review your insurance policies once a year as well. Both are needed for your safety and security. Under Ohio law, insurers are required to make a good faith investigation before denying a claim, and typically do. But if they can find some reasonable justification to deny your claim, you may just find yourself with a policy-exclusion hole in your umbrella and a lot of rain coming in. And your insurance company typically won't use your exclusions or what is not covered in its advertising. Read your policies before calamitous-loss season arrives. This will allow you to enjoy a relaxing summer knowing that the risks you truly needed covered are properly covered.


text:
Rogue River National Forest
41S-5W-11
1923: A telephone line was constructed from the Oregon Caves to Whiskey Peak.
1924: "A lookout house was built on Whiskey Peak. The lumber was cut for this house at the Medford warehouse by Floyd Murray and others. Murray erected the house on Whiskey Peak in April." (History of the Rogue River National Forest, Volume 1 - Carroll E. Brown)
October 11, 1929: "Cal Winningham, lookout on Whiskey Peak in the Applegate section, was put out of business last Sunday morning when his lookout structure caught fire while he was outside repairing a chimney, and a gust of wind blew fire from the stove onto bedding and wood. All his personal belongings and the government supplies on hand were burned up with the structure." (Medford Mail Tribune)
October 12, 1929: "The lookout cabin at Whiskey Peak was destroyed by fire Sunday, caused by fire starting near the flue. Cal Winningham, lookout man, tried hard to put out the fire but wood which was stored inside caught on fire, making it impossible. The government loss was $1,000 and Mr. Winningham lost his clothing and bedding. Whiskey Peak is about eight miles from the Steamboat road." (Medford Mail Tribune)
June 20, 1930: "Cal Winningham was stationed at Whiskey Peak. Mr. Winningham is living in a tent as the lookout was burned down last fall. He is trimming the trail so lumber can be packed to the top of the peak. The Forest Service expects to start building the new house in July." (Medford Mail Tribune)
June 27, 1930: "Forest Service will begin work next week on the new lookout that is being constructed on Whiskey Peak since the old one was destroyed last fall by fire. It is to have a concrete floor and Tom Bigsby from Eagle Point will pack the sand and gravel from Big Applegate to the top of the peak." (Medford Mail Tribune)
July 23, 1930: "New forest lookout stations are being erected on four peaks in the Crater national forest this month, forest officials announce. The buildings which arrive here ready made from service headquarters in Portland." One of these buildings is to be placed on Whiskey Peak. (Morning Oregonian)
July 25, 1930: "Work was started by the national forest service on the new lookout station on top of Whiskey Peak to take the place of the one destroyed last year by fire. Garold Buck is running the caterpillar tractor and trailer hauling sand and gravel from the bed of Big Applegate up to the end of the road, where Tom Bigsby continues with pack horses to the top. The new house is to have a concrete floor. Cal Winningham, the new lookout for the forest service is living in a tent while the new house is being constructed." (Medford Mail Tribune)
October 3, 1930: "The new Whiskey Peak lookout building has been completed, but was a little late for this season. Cal Winningham, the lookout man, was taken off duty this week. He remained on top of the mountain, however, to paint the new house." (Medford Mail Tribune)
July 13, 1933: Panorama photos taken
June 28, 1935: "Mr. and Mrs. George Ellis went Tuesday to Whiskey Peak, where they will have charge of the lookout for the summer." (Medford Mail Tribune)
August 7, 1936: "James McLean, 20, of Hillsboro, Ore., a forest service lookout, stationed at Whiskey Peak, in the upper reaches of the Applegate, yesterday afternoon was shot in the left leg by the accidental discharge of a .22 caliber rifle.
The weapon was behind the lookout station door. When McLean closed the door, the rifle fell to the floor and was discharged. The bullet struck McLean near the knee and coursed upwards.
McLean applied a tourniquet, and dressed his would, then telephoned for aid.
The attending physician said there was a possibility McLean had sustained a severed major nerve center, and a large artery." (News-Review)
August 14, 1936: "James MacLean, forestry student at Oregon State college who has been confined at Community hospital with a bullet would in his left leg, showed a turn for the worse last night and his father, A. MacLean of Hillsboro, was called to the city.
Because of the lack of circulation, gangrene has shown evidence of developing and it might become necessary to amputate the leg midway between the knee and ankle, the attending physician said.
MacLean was shot accidentally a week ago yesterday at the remote Whiskey Peak fire lookout station at the head of the Applegate river on the Rogue river national forest where he was employed for the summer.
As he was about to leave the lookout house the door swung wide and knocked over a .22 calibre rifle standing behind it. The gun discharged and the bullet pierced his leg above the knee, puncturing a sheath containing the sciatic nerve, a vein and an artery." (Medford Mail Tribune)
August 21, 1936: "Jim Arnold of Oak Grove district has taken charge of Whiskey Peak lookout for the remainder of fire season. Mr. Arnold succeeds two CCC men from Camp Applegate who assumed the post temporarily following the gun accident two weeks ago in which Lookout James MacLean was seriously injured." (Medford Mail Tribune)
October 30, 1936: "James McLean, who has been confined in Community hospital for the past three months, is to leave this evening by train for his home in Portland. McLean has been convalescing from the amputation of his right leg, necessitated by a wound suffered when he accidentally shot himself last August 6. He was stationed at Whiskey Peak lookout in the Rogue River national forest when the accident occurred and was unable to get help for several hours, as he was alone at the lookout. He was brought to medical aid by a CCC crew who then carried him down the mountain trail by stretcher as there were no roads to the station. He was employed for the summer, being a sophomore at the school of forestry, Oregon State college." (Medford Mail Tribune)
June 10, 1938: "Larry Kaiser, student of Southern Oregon Normal School, will be accompanied by his bride at Whiskey Peak lookout. Thursday he was united in marriage to Margaret Mee Franks of the Applegate." (Medford Mail Tribune)
June 24, 1938: "Orie Phillips, employed as forest service packer here, established Mr. and Mrs. Larry Kaiser on their post at Whiskey Peak during the last few days." (Medford Mail Tribune)
Activated: August 26, 1942; Deactivated: October 16, 1943. Roseburg Filter Center
1942: "The two man team of Paul Stibran and Bill Zeigler manned the lookout during the winter as AWS observers. Bill's dog Two-Bits fell off Whiskey Peak two or three times during the winter, but survived to die of old age." (The History of the Rogue River National Forest, Vol. 2)
January 25, 1943: " 'Two Bits' is a little fox terrier dog, the companion of Bill Ziegler, observer at a lookout station on the Rogue River National Forest. One morning recently, Two Bits, feeling extra frisky because of the cold, snowy weather, chased an imaginary squirrel too close to the cliff's edge near the lookout house, skidded around, barked for help, and fell over.
Since the drop is about 800 feet straight down, Bill mourned the loss of his pal.
Ten days later Bill started down the trail to cut a pole, and just around the first curve, saw Two Bits climbing slowly toward him, right in the middle of the trail, head down and tail wagging. After a happy reunion and a good meal, Two Bits did his best to explain that a deep drift had cushioned his fall, so he dug himself out, hunted around at the foot of the mountain until he found the trail, and made the two-and-a-half mile steep climb back to his home. There hadn't been anything to eat on the way, and it was pretty cold, but he felt fine anyway." (Medford Mail Tribune)
October 16, 1943: Aircraft Warning Service Station "Nan 2-5" was inactivated. The service utilized existing Forest Service facilities and added a small sleeping quarters to the improvements using AWS funds. At the end of service the Forest Service retained the structures for the original function of spotting fires. (Report of the Aircraft Warning Service Stations, May 1, 1944)