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公开(公告)号：US11716926B2
公开(公告)日：2023-08-08
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 , A01D34/64 , A01D101/00
CPC classification number: A01D34/008 , G05D1/0219 , G05D1/0223 , A01D34/64 , A01D2101/00 , G05D2201/0208
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.
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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
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.
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公开(公告)号：US20220167552A1
公开(公告)日：2022-06-02
申请号：US17437257
申请日：2020-03-11
Applicant: THE TORO COMPANY
Inventor： Alexander Steven Frick , Jason Thomas Kraft , Peter M. Arendt , Gregory S. Janey
Abstract: A supplemental monitoring and security function and system for use with an autonomous working machine such as a robotic lawn mower. The system may use cameras associated with the machine to capture image data and transmit the data to a remote computer. The system may be utilized as a theft deterrent for the mower itself, as well as provide a mobile sentry mode for surveilling and observing a property.
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公开(公告)号：US20210251139A1
公开(公告)日：2021-08-19
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
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 mobile computer may communicate with a controller carried by the mower. 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. Methods for training the mower and apparatus for storing the mower are also provided.
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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.
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Patent Agency Ranking
公开(公告)号：US20220185317A1
公开(公告)日：2022-06-16
申请号：US17441899
申请日：2020-04-17
Applicant: THE TORO COMPANY
Inventor： Jason Thomas Kraft , Adam Burghardt Stroud
Abstract: An autonomous machine may be returned to a base station for charging based on remaining battery energy and an estimated travel energy threshold. The estimated travel energy threshold may be determined based on a direct and obstacle-free route from the machine's current position to the base station and an estimated energy consumed per unit distance, which may be updated. The remaining battery energy may be calculated using a battery management system.
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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
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.
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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
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.
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公开(公告)号：US12124262B2
公开(公告)日：2024-10-22
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: G05D1/00
CPC classification number: G05D1/0214 , G05D1/0055 , G05D1/0088 , G05D1/0219
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.
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10.发明公开公开(公告)号：US20230320265A1
公开(公告)日：2023-10-12
申请号：US18210285
申请日：2023-06-15
Applicant: THE TORO COMPANY
Inventor： Ryan Douglas Ingvalson , Jason Thomas Kraft , Alexander Steven Frick
CPC classification number: A01D34/008 , A01D34/64 , G05D1/0223 , G05D1/0219
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.
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