Abstract:
A method and apparatus for the detection, treatment or collection of a quantity of solid animal excrement from a surface, particularly a grassy surface. The method includes the steps of autonomously or semi-autonomously detecting the presence of the excrement on the surface, moving a collection/treatment device into position over the detected excrement, and, thereupon, subjecting the detected excrement to one or more of deodorization, disinfection, enhancement of deterioration, dispersal and/or collection of the detected excrement. The apparatus of the present invention operates without the immediate or continued intervention of a human. Preferably, the device us robotic in nature, is readily portable, and preferably includes a rechargeable power source.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    Not Applicable 
       STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
       [0002]    Not Applicable 
       FIELD OF INVENTION 
       [0003]    This invention relates to methods and devices for treatment and/or collection of solid excrement deposited by a pet or other animal on a surface, and particularly to the use of a robotic device for detecting and carrying out the treatment and/or collection functions. 
       BACKGROUND OF INVENTION 
       [0004]    A major concern of the owner of a pet or other animal, as well as the public in general, is the disposition of solid or semi-solid excrement of pets. This concern extends to lawns, public parks and other grassy areas and to the structures where the animal is housed on a permanent or semi-permanent basis, such as kennels, barns, stalls and the like. 
         [0005]    Removal of a pet&#39;s waste is a primary concern for many pet owners. It can be linked to unsanitary conditions, damage to landscaping and unsightly conditions. Known practical solutions for removal of such waste require a human to search for, identify, and remove the waste if the owner does not want the waste to remain on the premises. Excrement disposition associated with housing structures for dogs and horses, and/or other animals require routine cleaning and/or other treatment on a regular basis to avoid matters such as offensive odors and/or the spread of infectious diseases. 
         [0006]    “Walking” of pets, in particular, for purposes of permitting the animal to relieve their kidneys or bowels is commonplace and can be the source of serious objections by neighbors or members of the public. Prohibition of the “walking” of an animal except within designated areas, provides localization of the problem of waste removal, but still requires human intervention to maintain sanitary conditions. 
         [0007]    It is therefore desirable that there be provided a method and/or device which is capable of autonomously detecting, treating and/or collecting of solid or semi-solid animal excrement disposed on a surface, particularly a grassy surface. 
     
    
     
       BRIEF DESCRIPTION OF FIGURES 
         [0008]      FIG. 1  is a flow diagram of one embodiment of the method of the present invention; 
           [0009]      FIG. 2  is a schematic representation of one embodiment of a device for detecting and/or treatment of animal excrement disposed on a surface and embodying various of the features of the present invention; 
           [0010]      FIG. 3  is a skeletal schematic diagram of one embodiment of a navigation and control system of an apparatus of the present invention; 
           [0011]      FIG. 4  is a top plan view representation of the embodiment of the present invention depicted in  FIG. 2  with the chassis cover removed; and 
           [0012]      FIG. 5  is a front view of the device depicted in  FIG. 2 . 
       
    
    
     SUMMARY OF THE INVENTION 
       [0013]    In one aspect of the present invention there is provided a method for the detection and treatment or collection of a quantity of solid or semi-solid animal excrement from a surface, particularly a grassy surface, including the steps of autonomously or semi-autonomously detecting the presence of the excrement on the surface, moving a collection/treatment device into position over the detected excrement, and, thereupon, subjecting the detected excrement to one or more of deodorization, disinfection, enhancement of deterioration, dispersal and/or collection. 
         [0014]    The device of the present invention operates without the immediate or continued intervention of a human. Preferably, the device is robotic in nature, is readily portable, and preferably includes a rechargeable power source. 
       DETAILED DESCRIPTION OF INVENTION 
       [0015]    With reference to the several Figures, in one embodiment of the present system, an autonomous or semi-autonomously operating robotic vehicle  12  is adapted to be disposed within, and moveable over, an area which contains or potentially will contain solid or semi-solid pet waste. The area may be the floor of a pen or other structure where animals reside or over which they may move. Particularly, the area may be a grass-covered lawn. Once the apparatus is positioned within the selected area, the apparatus is switched ON as illustrated in  FIG. 1 . Optionally, the robotic apparatus may be programmed to maneuver over the selected area autonomously or semi-autonomously, being guided via various sensor devices adapted to detect the presence and location of a quantity of solid or semi-solid waste deposited on the surface of the selected area by a pet or other animal. 
         [0016]    Detection of the waste deposit may be by means of odor sensors  16 ,  18 , camera  20 , infrared sensors  22 ,  24  or a combination of these and/or other known types of sensors. 
         [0017]    Once a deposit is detected, a central control unit  26  for the robotic vehicle is activated to navigate the vehicle to a position adjacent to or hovering over, the detected waste deposit. Thereupon, the apparatus is further activated to perform at least one of treating the deposit to enhance its decomposition (applying an enzyme to the deposit, for example), application of a deodorant to the waste deposit, application of a disinfectant onto the waste deposit, dispersal of the waste deposit thereby enhancing its early decomposition, or collection of the waste deposit for disposal. 
         [0018]    Implementation of the present invention may comprise any of various forms of robotic vehicles. One embodiment of a useful robotic vehicle for the present invention, as depicted in  FIGS. 2-5  includes a Navigation assembly which serves to navigate the vehicle over a selected area of the surface. This assembly includes a vehicle chassis  28  adapted to be rollably supported and navigated over a selected area by a plurality of wheels  30 , 32 , 34 ,and  36 . The number and locations of the wheels is substantially optional so long as the wheels support the vehicle chassis substantially parallel to the surface over which the vehicle is to travel and are controllable for navigation of the vehicle. 
         [0019]    Referring specifically to  FIGS. 2-5 , power for navigation of the vehicle over the selected area may be provided by one or more electric motors  40  and  42  powered by one or more on-board rechargeable batteries  44  as shown in  FIG. 3  or a conventional internal combustion engine (not depicted). In the embodiment of  FIG. 2 , each of the wheels is connected to a respective one of the output shafts of the electric motors  40 ,  42 . The right hand side (as viewed in  FIG. 2 ) of the vehicle chassis is supported by a wheel pair having first and second wheels  32  and  34 . Similarly, the opposite side of the vehicle chassis is supported by a second wheel pair having wheels  36  and  38 . 
         [0020]    More specifically, the wheels  32  and  34  are connected through pulleys  50  and  52  respectively, as shown in  FIGS. 2 and 3  mounted on the output shaft  46 . This output shaft  46  is drivingly connected through pulleys  54  and  56  respectively. It will be noted that pulley  54  is mounted on axle  58  and that pulley  56  in mounted on axle  60  which drive wheels  32  and  34 , respectively. Each drive belt overwraps the pulleys and provides for transmission of drive power to the operatively associated wheel. As needed, reversing electric clutches or like devices can be incorporated in the drive system of the depicted robotic vehicle for speed selection, rotation direction, etc. of the wheels. 
         [0021]    In a like manner, the left hand side of the depicted vehicle chassis is driven through drive shaft  48  and its operatively associated pulleys  81  and  82  as shown in  FIG. 3 . Pulleys  80  and  81  are drivingly connected through drive belts  68  and  66 , respectively, which overwrap the operatively associated pulleys  72  and  70  respectively mounted on the respective axles  80  and  78 . It will be noted that the left hand wheel pair  38  and  36  are mounted on the axles  80  and  78 , respectively. Control of the direction and speed of rotation of the left hand wheels independently of the direction and speed of rotation of the right hand wheels provides for selection of the direction of forward, rearward and/or turning of the vehicle in response to the operation of the first and second motors as controlled by the central control unit  26 . 
         [0022]      FIG. 4  schematically depicts one embodiment of apparatus useful in the operation of a robotic vehicle of the present invention. Specifically, in the embodiment depicted in  FIG. 4 , each of the wheels of the vehicle is drivingly connected to a respective electric drive which in turn is independently controllably connected to a central controller unit  26 . Power for each motor is provided as by one or more rechargeable batteries. Preferably, the robotic vehicle is adapted to be stored in position to enable engaging the onboard battery to a source of electrical energy suitable for recharging of the battery when the vehicle is not in use. 
         [0023]    Navigation of the present robotic vehicle is a function of the detection of a quantity of pet waste deposited within the selected area over which the vehicle is to travel. Specifically, employing one or more of infrared (heat detectors) sensors  22 ,  24 , physical presence (camera  20  capable of comparing objects in the path of the vehicle to stored possible pet waste deposits), and/or odor sensors, and/or triangulation principles known in the art, signals from one or more of these sensors are input to a central controller unit  26 . Within the central controller unit  26 , which preferably includes a programmable computer, the signals are processed and output signals are issued to each of the drive motors for the wheels to cause the vehicle to be moved into a position adjacent to or preferably hovering over, a detected waste deposit. Thereupon, the central controller unit  26  issues one or more selected commands to effect actuation of one or more of (a) dispensing of disinfectant from a storage container  90  (see  FIG. 3 ) carried on the chassis of the vehicle onto and/or around the waste deposit, (b) dispensing a deodorizer from a storage container  92  onto and/or around the waste deposit, (c) activation of a rotary sweeper  94  adapted to sweep the waste deposit from the area surface and into a receptacle  96  carried by the chassis of the vehicle. 
         [0024]    In the preferred embodiment, the receptacle  96  shown in  FIG. 3  is removably mounted on the chassis of the vehicle for ready withdrawal and transfer of collected waste to a proper disposal site. After cleaning of the emptied receptacle, it is returned to the vehicle for future use. 
         [0025]    Collection of the waste deposit may take the form of employing a rotating sweeper  94  in the nature of a bristled brush or combing implement oriented to sweep the waste deposit into a receptacle  96  carried by the robotic vehicle. In one embodiment, the rotary sweeper  94  may take the form of a stiff bristled elongated brush rotatably supported on the chassis of the vehicle and having its bristles exposed to the surface over which the vehicle is to travel. As desired, rotation of this brush may be continuous or be intermittently activated through the central controller  26 , such as when the vehicle is hovering over a detected waste deposit. If desired or needed by reason of the terrain over which the vehicle is to travel, metal combing teeth  98  may be substituted for the bristles of the rotating brush. In either event, the rotation of the sweeper may be effected by means of a pulley  100  mounted on the spindle  102  of the sweeper which is, in turn, drivingly connected to the output shaft of the electric motor  42  by means of a drive belt  104  or the like. Activation of the electric motor is controlled through the central controller unit, as noted. 
         [0026]    With reference to  FIG. 2 , one of more sensors are mounted on the front end  108  of the vehicle, each directionally aimed forwardly of the vehicle. In  FIG. 2 , there are depicted first and second infrared sensors  22 , 24  mounted adjacent opposite side margins  110  and  112  of the front end of the vehicle chassis. These sensors are oriented such that the beams  114  and  116  from each of these infrared sensors intersect one another at a selected distance ahead of the vehicle and in alignment with the centerline  108  of travel of the chassis of the vehicle. As desired, these beams optionally may be designed to “sweep” the surface area over which the vehicle is traveling and when one beam detects a perceived waste deposit, the other of the beams “homes” in on the same perceived waste deposit to develop triangulation information which is fed to the central controller  26 . Within the central controller unit  26 , output signals are directed to respective ones of the driven wheels of the vehicle to adjust the direction of travel of the vehicle along a path which will cause the vehicle to move into position contiguous to and preferably hovering over, the perceived waste deposit substantially in register with the centerline  106  of the vehicle  12  and directly in line with the rotating sweeper  94 . Thereby, the perceived waste deposit is positioned for treatment and/or collection by the present robotic vehicle. 
         [0027]    Whereas infrared sensing of waste deposits may only occur with respect to “fresh” waste deposits emanating heat, the present invention contemplates the use of object detection employing a camera  20  or the like as a further or alternative mode for detecting a perceived waste deposit. In this instance, the image from the camera is directed to the central controller  26  where such image is compared to known or sample images of waste deposits and, as in order, provides an output which confirms the presence of a perceived waste deposit and/or results in the issuance of an action signal(s) from the central controller unit to one or more of the action elements of the vehicle  12 , such as navigation, collection, or treatment of the perceived waste deposit. 
         [0028]    Still further, it is within the purview of the present invention to include odor sensors  16 ,  18  whose detection beams function in like manner as the detection beams of the infrared sensors. Such odor sensors may be employed in combination and complementary fashion with the infrared sensors, or they may function independently of the infrared sensors to provide triangulation information to the central controller of a perceived waste deposit. 
         [0029]    Whereas the vehicle of the present invention may move forward in a continuous fashion, treating and/or collecting waste deposits as it moves forwardly, preferably, the vehicle detects a perceived waste deposit, moves into a position generally over the perceived waste deposit and then hovers over the perceived wasted deposit for a period of time within which the perceived waste deposit is treated and/or collected as selected by the controller unit  26 . Following the expiration of such hover time period, the central controller unit activates the vehicle to again commence scanning the area over which the vehicle is to travel. 
         [0030]    Selection of the area over which the present robotic vehicle is to travel may involve random forward movement of the vehicle  12  over the selected area, with the sensors serving to scan the surface of the area and providing guidance as to the forward movement of the vehicle. In this mode of operation, the camera may be provided with stored data which, when compared to the image transmitted by the camera to the central controller unit, detects objects in the path of the vehicle  12  which clearly are not waste deposits. Thereupon the central controller unit  26  may issue a signal(s) to the drive units for the wheels to alter the direction of forward movement of the vehicle around such non-waste deposit object. Numerous suitable modes of detecting objects in the path of the forwardly moving vehicle, and the guidance of the vehicle around such objects, are known in the art. Moreover, the vehicle may be programmed to reverse and change direction if an obstacle is encountered. 
         [0031]    Alternatively, the vehicle  12  of the present invention may be programmed to move over the selected area in a grid pattern which results in the vehicle moving over the entire selected area over a period of time of operation of the vehicle. The prior art also includes numerous suitable means for such grid pattern type movement of a robotic vehicle. In this latter instance, upon the detection of a waste deposit, the central controller  26  of the present invention activates the operation of the treatment and/or collection functions of the present invention in the manner described hereinabove. In any event, the central controller  26  may be programmed to ensure that the vehicle has covered the entire selected area over a selected time period, if desired. 
         [0032]    Also known in the prior art are various robotic vehicles. One particular prior art robotic vehicle is that known as the ExplorBot® ERSP® robotic development platform offered by Evolution Robotics, Inc. This particular platform may serve as the basis for the addition of those elements of the present invention which provide for the navigation of the present vehicle, detection and/or treatment of detected waste deposits, and/or other functions of the vehicle of the present invention are described herein. Among other things, this platform permits travel over irregular terrain. 
         [0033]    While the present invention has been illustrated by description of several embodiments and while the illustrative embodiments have been described in considerable detail, it is not the intention of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific detail, representative apparatus and methods, and illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of applicant&#39;s general inventive concept.