公开(公告)号：US20200050208A1

公开(公告)日：2020-02-13

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

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：US12239055B2

公开(公告)日：2025-03-04

申请号：US18200857

申请日：2023-05-23

Applicant: THE TORO COMPANY

Inventor： Joshua Craig Friell ,  Jackie R. Gust ,  Alexander Steven Frick

IPC: E01C23/06 ,  A01B69/04 ,  A01C21/00 ,  A01G20/18 ,  A01G20/30 ,  B60P3/06 ,  E01C11/00 ,  E01C19/16 ,  E01C19/20 ,  G05D1/00

Abstract: A ground surface treatment vehicle and systems and methods using the same. In some embodiments, the vehicle may be adapted to autonomously or semi-autonomously identify and optionally treat target areas such as divots on turf surfaces. The vehicle may identify the target area via onboard or remote sensors and autonomously treat the target area by providing a treating material such as infill, seed, particulate matter, and liquids.

公开(公告)号：US12048267B2

公开(公告)日：2024-07-30

申请号：US17261406

申请日：2019-08-07

Applicant: THE TORO COMPANY

Inventor： Alexander Steven Frick ,  Jason Thomas Kraft ,  Aaron Yarrow Curtis ,  Kevin Dale Docken ,  Khari Sekou Clarke

IPC: A01D34/00 ,  A01D34/82 ,  G01C21/00 ,  G05D1/00 ,  G06V10/46 ,  G06V10/75 ,  G06V20/10 ,  G06V20/64 ,  A01D34/69 ,  A01D34/78 ,  A01D101/00

CPC classification number: A01D34/008 ,  A01D34/824 ,  G01C21/3848 ,  G01C21/3867 ,  G05D1/0061 ,  G05D1/0088 ,  G05D1/0221 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0274 ,  G06V10/462 ,  G06V10/757 ,  G06V20/10 ,  G06V20/64 ,  A01D34/69 ,  A01D34/78 ,  A01D2101/00

Abstract: A handle assembly for an autonomous vehicle such as a lawn mower is provided and may include a cradle adapted to receive a mobile computer. The handle assembly may be configured in both an autonomous mode position and a manual mode position. The vehicle may operate autonomously when the handle assembly is in the autonomous mode position, and be adapted to move under manual operator control, e.g., for perimeter training, when the handle assembly is in the manual mode position.

公开(公告)号：US20220129000A1

公开(公告)日：2022-04-28

申请号：US17436276

申请日：2020-03-19

Applicant: THE TORO COMPANY

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

IPC: G05D1/02 ,  G05D1/00

Abstract: This disclosure provides an autonomous machine system having a scheduling controller configured to determine one or more windows of availability over a time period when the autonomous machine is allowed to operate to perform one or more operational tasks; determine a total operation time over the time period; and determine an operating schedule for a work region that assigns one or more operational tasks to the one or more windows of availability based on the total operation time. The autonomous machine may be commanded to operate in the work region according to the operating schedule.

公开(公告)号：US20210368696A1

公开(公告)日：2021-12-02

申请号：US17290907

申请日：2019-11-18

Applicant: THE TORO COMPANY

Inventor： Joshua Craig Friell ,  Jackie R Gust ,  Alexander Steven Frick

IPC: A01G20/30 ,  A01B69/04 ,  E01C19/20 ,  E01C11/00 ,  A01C21/00 ,  E01C19/16 ,  E01C23/06 ,  B60P3/06 ,  A01G20/18 ,  G05D1/02

Abstract: An autonomous ground maintenance system comprising a vehicle comprising a chassis supported upon a ground surface by ground support members, a container supported by the chassis, the container defining a discharge outlet operable to disperse treating material held within the container to a target area of the ground surface, a gate adapted to selectively open and close the discharge outlet, a sensor adapted to identify the target area, and an electronic controller supported by the chassis, the controller being in communication with the sensor and the gate. The controller is adapted to position the chassis at a location proximate the target area such that the discharge outlet is capable of delivering the treating material to the target area and energize the gate to open the discharge outlet.

公开(公告)号：US20210161066A1

公开(公告)日：2021-06-03

申请号：US17154505

申请日：2021-01-21

Applicant: THE TORO COMPANY

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

IPC: A01D34/00 ,  G05D1/02

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.

公开(公告)号：US20240248484A1

公开(公告)日：2024-07-25

申请号：US18564173

申请日：2022-06-17

Applicant: THE TORO COMPANY

Inventor： Alexander Steven Frick ,  David Arthur LaRose ,  Stephen Paul Elizondo Landers ,  Eckhard Schwendemann

IPC: G05D1/246 ,  A01D34/00 ,  A01D101/00 ,  G05D1/648 ,  G05D105/15 ,  G05D111/10 ,  G06T7/73

CPC classification number: G05D1/2462 ,  A01D34/008 ,  G05D1/648 ,  G06T7/73 ,  A01D2101/00 ,  G05D2105/15 ,  G05D2111/10 ,  G06T2207/10028

Abstract: An autonomous work vehicle generates a localization image of a part of a scene surrounding the autonomous work vehicle and generates a check image of a different part of the scene. A controller of the vehicle performs a localization process that involves generating the localization image and the check image. The localization image is used to determine an estimated pose of the autonomous work vehicle within the work region via a stored 3D point cloud (3DPC). The estimated pose and the 3DPC are used to determine predicted features within the check image. A comparison between the predicted features and corresponding features in the check image validates the estimated pose based on the comparison satisfying a threshold.

公开(公告)号：US12044056B2

公开(公告)日：2024-07-23

申请号：US17437582

申请日：2020-03-23

Applicant: THE TORO COMPANY

Inventor： Alexander Steven Frick ,  Peter M. Arendt ,  Aaron Y. Curtis

IPC: E05F15/77 ,  A01D34/00 ,  E05B47/00 ,  E05F15/627 ,  E05F15/73 ,  G05D1/00 ,  G07C9/10 ,  A01D101/00

CPC classification number: E05F15/77 ,  A01D34/008 ,  E05B47/0001 ,  E05F15/627 ,  E05F15/73 ,  G05D1/0212 ,  G07C9/10 ,  A01D2101/00 ,  E05B2047/0016 ,  E05Y2201/434 ,  E05Y2201/654 ,  E05Y2400/40 ,  E05Y2400/53 ,  E05Y2400/61 ,  E05Y2400/664 ,  E05Y2800/10 ,  E05Y2900/40

Abstract: A system for use with an autonomous working machine such as a robotic lawn mower. The system may allow communication (directly or indirectly) between the machine and a gate or other barrier opening to allow unattended or remotely-controlled passage of the machine through the gate. In some embodiments, the mower may include a vision system operable to detect unknown objects within an area adjacent to the gate.

公开(公告)号：US20230225241A1

公开(公告)日：2023-07-20

申请号：US18011259

申请日：2021-06-23

Applicant: Alexander Steven FRICK ,  Michael Jason RAMSAY ,  David Arthur LAROSE ,  Stephen Paul Elizondo LANDERS ,  Zachary Irvin PARKER ,  David Ian ROBINSON ,  Christopher Charles OSTERWOOD ,  THE TORO COMPANY

Inventor： Alexander Steven Frick ,  Michael Jason Ramsay ,  David Arthur LaRose ,  Stephen Paul Elizondo Landers ,  Zachary Irvin Parker ,  David Ian Robinson ,  Christopher Charles Osterwood

IPC: A01D34/00 ,  G05D1/02 ,  G06T7/215 ,  G06T7/246

CPC classification number: A01D34/008 ,  G05D1/0253 ,  G06T7/215 ,  G06T7/246 ,  A01D2101/00

Abstract: Vision systems for autonomous machines and methods of using same during machine localization are provided. Exemplary systems and methods may reduce computing resources needed to perform vision-based localization by selecting the most appropriate camera from two or more cameras, and optionally selecting only a portion of the selected camera's field of view, from which to perform vision-based location correction. Other embodiments may provide camera lens coverings that maintain optical clarity while operating within debris-filled environments.

公开(公告)号：US20230020033A1

公开(公告)日：2023-01-19

申请号：US17778764

申请日：2020-11-02

Applicant: THE TORO COMPANY

Inventor： Alexander Steven Frick ,  Gregory S. Janey

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

Abstract: Training an autonomous machine in a work region for navigation in various lighting conditions includes determining a feature detection range based on an environmental lighting parameter, determining a feature detection score for each of one or more positions in the containment zone based on the feature detection range, determining one or more localizable positions in the containment zone based on the corresponding feature detection scores, and updating the navigation map to include a localization region within the containment zone based on the one or more localizable positions. Navigation may use one or more of an uncertainty area, the localization region, and one or more buffer zones to navigate based on lighting conditions.