Autonomous grounds maintenance machines with path planning for trap and obstacle avoidance

Patent metadata

Field	Value
Publication number	US-11350563-B2
Application number	US-201916422153-A
Country	US
Kind code	B2
Filing date	May 24, 2019
Priority date	May 25, 2018
Publication date	Jun 7, 2022
Grant date	Jun 7, 2022

Abstract

Operating an autonomous grounds maintenance machine includes determining a travel path for the machine to reach a destination waypoint in a zone of a work region. The travel path is analyzed for problem areas based on a predetermined terrain map. Rotations of the machine may be planned even before the machine begins to travel down the path to proactively prevent the machine from becoming trapped.

First claim

What is claimed is:

1. A method of operation for an autonomous grounds maintenance machine comprising a controller adapted to perform the method, the method comprising:
determining a travel path for the machine to reach a destination waypoint in a work region;
analyzing whether the travel path will traverse a problem area based on a predetermined terrain map, the analysis indicating a risk of—immobility of the machine in the problem area due to at least one of: a grade in the problem area indicated by the terrain map; and a location in the problem area stored in the terrain map by the machine, the location being stored in response to getting previously stuck in the location, wherein no obstacle was detected by the machine at the location;
determining planned rotations of the machine along the travel path based on the predetermined terrain map, the planned rotations reducing the risk of the -immobility in the problem area by causing at least one of: increasing traction of the machine in the problem area; and avoiding the location in the problem area; and
commanding the machine to propel along the travel path based on the planned rotations.

2. The method of claim 1 , further comprising:
analyzing whether the travel path will cause the machine to traverse a prior rotatable area before the problem area using the predetermined terrain map;
determining a preferred direction to propel the machine through the problem area;
determining a direction that the machine will traverse the prior rotatable area; and
planning to rotate the machine in the prior rotatable area in response to determining that the machine will traverse the prior rotatable area in a direction different from the preferred direction for the problem area.

3. The method of claim 1 , further comprising determining the predetermined terrain map based on a previous traversal of the work region.

4. The method of claim 1 , wherein the risk of immobility comprises a loss of traction of the machine in the problem area, and the predetermined terrain map comprises a plurality of grades for a plurality of coordinates within the work region, the problem area being identified based on the grade in the problem area, the planned rotations orienting the machine to increase the traction of the machine in the problem area.

5. The method of claim 4 , further comprising determining a plurality of elevations, pitch, or roll grades along the travel path in the predetermined terrain map.

6. The method of claim 1 , wherein the risk of immobility comprises a loss of traction of the machine in the problem area, and analyzing whether the travel path traverses the problem area comprises comparing a plurality of grades along the travel path to a threshold grade for problem areas, the grade of the problem area exceeding the threshold grade.

7. The method of claim 1 , wherein the risk of immobility comprises a loss of traction of the machine in the problem area, the method further comprising analyzing whether the travel path traverses a rotatable area using a plurality of grades along the travel path and a threshold grade for rotatable areas, the grade of the problem area exceeding the threshold grade.

8. The method of claim 1 , further comprising analyzing a new travel path to a new destination waypoint for problem areas before rotating the machine to a new starting orientation.

9. The method of claim 8 , further comprising determining a starting coordinate within a new zone based on elevation or grade data using the predetermined terrain map.

10. An autonomous grounds maintenance machine comprising:
a housing defining a front end and a rear end;
an implement associated with the housing;
at least one front wheel supporting the front end of the housing upon a ground surface;
two rear wheels supporting the rear end of the housing upon the ground surface;
an implement motor supported by the housing;
a propulsion system supported by the housing and operably coupled to the rear wheels, wherein the propulsion system is adapted to control speed and rotational direction of the two rear wheels independently, thereby controlling both speed and direction of the housing over the ground surface; and
a controller operably coupled to the propulsion system, wherein the controller is adapted to generate a plan of travel for the housing, wherein the controller is adapted to autonomously:
determine a travel path for the housing to reach a destination waypoint in a work region;
analyze whether the travel path traverses a problem area based on a predetermined terrain map, the analysis indicating a risk of loss of mobility in the problem area due to at least one of: a grade in the problem area indicated by the terrain map; and a location in the problem area stored in the terrain map by the machine, the location being stored in response to getting previously stuck in the location, wherein no obstacle was detected by the machine at the location;
plan rotations of the housing based on the predetermined terrain map, the rotations reducing the risk of the loss of mobility in the problem area by causing at least one of: increasing traction of the machine in the problem area; and avoiding the location in the problem area; and command the propulsion system to propel the housing along the travel path based on the planned rotations.

11. The machine of claim 10 , wherein the controller is further adapted to autonomously:
analyze whether the travel path will cause the housing to traverse a prior rotatable area before the problem area using the predetermined terrain map;
determine a preferred direction to propel the housing through the problem area;
determine a direction that the housing will traverse the prior rotatable area; and
plan to rotate the housing in the prior rotatable area in response to determining that the housing will traverse the prior rotatable area in a direction different from the preferred direction for the problem area.

12. The machine of claim 10 , wherein determining the travel path comprises randomly selecting the destination waypoint or selecting a next destination waypoint in a planned pattern.

13. The machine of claim 10 , wherein the controller is further adapted to:
identify local maxima or minima along the travel path; and
define a rotatable area at the local maxima or minima.

14. The machine of claim 10 , wherein the controller is further adapted to autonomously command the propulsion system to propel the housing along the travel path after planning the rotations of the housing.

15. An autonomous grounds maintenance machine comprising:
a housing defining a front end and a rear end;
an implement associated with the housing;
at least one front wheel supporting the front end of the housing upon a ground surface;
two rear wheels supporting the rear end of the housing upon the ground surface;
an implement motor supported by the housing;
a propulsion system supported by the housing and operably coupled to the rear wheels, wherein the propulsion system is adapted to control speed and rotational direction of the two rear wheels independently, thereby controlling both speed and direction of the housing over the ground surface;
an obstacle sensing circuit positioned to detect an obstacle in the direction of the front or rear end of the housing; and
a controller operably coupled to the propulsion system and the obstacle sensing circuit, wherein the controller is adapted to autonomously:
determine planned rotations of the housing based on a predetermined terrain map and a current travel path;
detect an obstacle along the current travel path to a destination waypoint

Assignees

• The Toro Co

Inventors

• Kraft Jason T

Classifications

• G05D1/622

  Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W30/08) · CPC title

• A01D34/64

  mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle (A01D34/695 takes precedence) · CPC title

• A01D34/76

  Driving mechanisms for the cutters · CPC title

• G01C21/04

  by terrestrial means (G01C21/24, G01C21/26 take precedence) · CPC title

• A01D2101/00

  Lawn-mowers · CPC title