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：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.