公开(公告)号：US20220253063A1

公开(公告)日：2022-08-11

申请号：US17732255

申请日：2022-04-28

Applicant: THE TORO COMPANY

Inventor： Alexander Steven Frick ,  Jason Thomas Kraft ,  Ryan Douglas Ingvalson ,  Christopher Charles Osterwood ,  David Arthur LaRose ,  Zachary Irvin Parker ,  Adam Richard Williams ,  Stephen Paul Elizondo Landers ,  Michael Jason Ramsay ,  Brian Daniel Beyer

IPC: G05D1/02 ,  G01C21/32 ,  G05D1/00 ,  A01D34/00 ,  A01D34/82

Abstract: Autonomous machine navigation techniques may generate a three-dimensional point cloud that represents at least a work region based on feature data and matching data. Pose data associated with points of the three-dimensional point cloud may be generated that represents poses of an autonomous machine. A boundary may be determined using the pose data for subsequent navigation of the autonomous machine in the work region. Non-vision-based sensor data may be used to determine a pose. The pose may be updated based on the vision-based pose data. The autonomous machine may be navigated within the boundary of the work region based on the updated pose. The three-dimensional point cloud may be generated based on data captured during a touring phase. Boundaries may be generated based on data captured during a mapping phase.

公开(公告)号：US11334082B2

公开(公告)日：2022-05-17

申请号：US16534515

申请日：2019-08-07

Applicant: THE TORO COMPANY

Inventor： Alexander Steven Frick ,  Jason Thomas Kraft ,  Ryan Douglas Ingvalson ,  Christopher Charles Osterwood ,  David Arthur LaRose ,  Zachary Irvin Parker ,  Adam Richard Williams ,  Stephen Paul Elizondo Landers ,  Michael Jason Ramsay ,  Brian Daniel Beyer

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/32 ,  A01D34/00 ,  A01D34/82 ,  A01D34/69 ,  A01D34/78 ,  A01D101/00

Abstract: Autonomous machine navigation techniques may generate a three-dimensional point cloud that represents at least a work region based on feature data and matching data. Pose data associated with points of the three-dimensional point cloud may be generated that represents poses of an autonomous machine. A boundary may be determined using the pose data for subsequent navigation of the autonomous machine in the work region. Non-vision-based sensor data may be used to determine a pose. The pose may be updated based on the vision-based pose data. The autonomous machine may be navigated within the boundary of the work region based on the updated pose. The three-dimensional point cloud may be generated based on data captured during a touring phase. Boundaries may be generated based on data captured during a mapping phase.

公开(公告)号：US10932409B2

公开(公告)日：2021-03-02

申请号：US16636079

申请日：2018-11-07

Applicant: THE TORO COMPANY

Inventor： Ryan Douglas Ingvalson ,  Jason Thomas Kraft ,  Alexander Steven Frick

IPC: A01D34/00 ,  G05D1/02 ,  A01D34/64 ,  A01D101/00

Abstract: Apparatus, systems, and methods for directing an autonomous robotic vehicle such as a lawn mower relative to a work region. In some embodiments, the vehicle travels in a random pattern within a travelling containment zone of a lesser size than the work region. The travelling containment zone may move or travel across the work region such that, over time, the travelling containment zone travels over most all of a working surface of the work region.