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公开(公告)号：WO2020112401A2
公开(公告)日：2020-06-04
申请号：PCT/US2019/061962
申请日：2019-11-18
Applicant: THE TORO COMPANY
Inventor： FRIELL, Joshua Craig , GUST, Jackie R. , FRICK, Alexander Steven
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.
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2.发明申请
公开(公告)号：WO2019099253A8
公开(公告)日：2019-05-23
申请号：PCT/US2018/059573
申请日：2018-11-07
Applicant: THE TORO COMPANY , INGVALSON, Ryan Douglas , KRAFT, Jason Thomas , FRICK, Alexander Steven
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：WO2021108083A1
公开(公告)日：2021-06-03
申请号：PCT/US2020/058501
申请日：2020-11-02
Applicant: THE TORO COMPANY , FRICK, Alexander Steven , JANEY, Gregory S.
Inventor： FRICK, Alexander Steven , JANEY, Gregory S.
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.
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公开(公告)号：WO2020205300A1
公开(公告)日：2020-10-08
申请号：PCT/US2020/024136
申请日：2020-03-23
Applicant: THE TORO COMPANY , FRICK, Alexander Steven , ARENDT, Peter M. , CURTIS, Aaron Y.
Inventor： FRICK, Alexander Steven , ARENDT, Peter M. , CURTIS, Aaron Y.
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.
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公开(公告)号：WO2022266411A1
公开(公告)日：2022-12-22
申请号：PCT/US2022/033930
申请日：2022-06-17
Applicant: THE TORO COMPANY , FRICK, Alexander Steven , LAROSE, David Arthur , LANDERS, Stephen Paul Elizondo , SCHWENDEMANN, Eckhard
Inventor： FRICK, Alexander Steven , LAROSE, David Arthur , LANDERS, Stephen Paul Elizondo , SCHWENDEMANN, Eckhard
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.
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Patent Agency Ranking
公开(公告)号：WO2020197913A2
公开(公告)日：2020-10-01
申请号：PCT/US2020/023507
申请日：2020-03-19
Applicant: THE TORO COMPANY
Inventor： INGVALSON, Ryan Douglas , FRICK, Alexander Steven , KRAFT, Jason Thomas , CLEVELAND, Timothy Bertram
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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7.发明申请
公开(公告)号：WO2019099253A1
公开(公告)日：2019-05-23
申请号：PCT/US2018/059573
申请日：2018-11-07
Applicant: THE TORO COMPANY , INGVALSON, Ran Douglas , KRAFT, Jason Thomas , FRICK, Alexander Steven
Inventor： INGVALSON, Ran Douglas , KRAFT, Jason Thomas , FRICK, Alexander Steven
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：WO2021096722A1
公开(公告)日：2021-05-20
申请号：PCT/US2020/058629
申请日：2020-11-03
Applicant: THE TORO COMPANY , FRICK, Alexander Steven , JANEY, Gregory S.
Inventor： FRICK, Alexander Steven , JANEY, Gregory S.
Abstract: Apparatus, systems, and methods for operating an autonomous vehicle. In some embodiments, the vehicle is embodied as a mower having a downwardly extending sidewall and a cutting blade assembly. The cutting blade assembly is adapted to cut grass along a path defining a proximal cut edge located at a first distance from the sidewall when the mower is configured in a first operating mode, and at a second distance from the sidewall when the mower is configured in a second operating mode. The mower is adapted to automatically switch from the first operating mode to the second operating mode when an electronic controller associated with the mower determines a local area of operation of the mower is free of unknown objects.
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公开(公告)号：WO2020197768A1
公开(公告)日：2020-10-01
申请号：PCT/US2020/022051
申请日：2020-03-11
Applicant: THE TORO COMPANY , FRICK, Alexander Steven , KRAFT, Jason Thomas , ARENDT, Peter M. , JANEY, Gregory S.
Inventor： FRICK, Alexander Steven , KRAFT, Jason Thomas , ARENDT, Peter M. , JANEY, Gregory S.
IPC: G05D1/00
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：WO2020033504A3
公开(公告)日：2020-02-13
申请号：PCT/US2019/045443
申请日：2019-08-07
Applicant: THE TORO COMPANY , FRICK, Alexander Steven , KRAFT, Jason Thomas , INGVALSON, Ryan Douglas , OSTERWOOD, Christopher Charles , LAROSE, David Arthur , PARKER, Zachary Irvin , WILLIAMS, Adam Richard , LANDERS, Stephen Paul Elizondo , RAMSAY, Michael Jason , BEYER, Brian Daniel
Inventor： FRICK, Alexander Steven , KRAFT, Jason Thomas , INGVALSON, Ryan Douglas , OSTERWOOD, Christopher Charles , LAROSE, David Arthur , PARKER, Zachary Irvin , WILLIAMS, Adam Richard , LANDERS, Stephen Paul Elizondo , RAMSAY, Michael Jason , BEYER, Brian Daniel
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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