Autonomous ground surface treatment systems, vehicles, and methods

Patent metadata

Field	Value
Publication number	US-12239055-B2
Application number	US-202318200857-A
Country	US
Kind code	B2
Filing date	May 23, 2023
Priority date	Nov 28, 2018
Publication date	Mar 4, 2025
Grant date	Mar 4, 2025

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.

First claim

What is claimed is:

1. An autonomous natural turf 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, wherein the target area comprises at least one of divots and ruts;
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 in communication with the sensor and the gate, wherein 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.

2. The system according to claim 1 , wherein the sensor comprises at least one of:
an image sensor adapted to identify a difference in contrast, color, or reflectivity between the target area and a surrounding ground surface;
a depth sensor;
a thermal sensor;
an acoustic sensor;
a radio detection and ranging device; and
a spectral reflectance measurement sensor.

3. The system according to claim 1 , wherein the treating material comprises any one, or a combination, of infill, seed, particulate matter, liquid, soil, granular fertilizer, or liquid fertilizer.

4. The system according to claim 1 , wherein the treating material is contained in a plurality of packages, and wherein the system further comprises a slicer adapted to slice the packages before or during dispersal of the treating material to the target area.

5. The system according to claim 1 , wherein the discharge outlet is movable, relative to the chassis, under control of the controller.

6. The system according to claim 1 , wherein the sensor is remote from the chassis.

7. The system according to claim 1 , wherein the vehicle further comprises a debris collector configured to collect debris and store the debris in an onboard container.

8. The system according to claim 1 , wherein the at least one of divots and rust further comprises uneven natural turf.

9. The system according to claim 1 , further comprising a grooming tool connected to the chassis and adapted to distribute the treating material in and around the target area.

10. The system according to claim 9 , wherein the grooming tool is further adapted to level the target area to a substantially equal elevation as surrounding turf.

11. A method of operating an autonomous turf maintenance vehicle, the method comprising:
establishing a work region in which the vehicle will operate, the work region comprising a turf surface;
transporting the vehicle to the work region, the vehicle comprising:
a chassis supported upon the turf surface by ground support members, wherein one or more of the ground support members comprises a drive member adapted to propel and steer the vehicle over the turf surface;
one or more motors adapted to power the drive member;
a container supported by the chassis, the container comprising a discharge outlet operable to transfer treating material held within the container to a target area of the turf surface, wherein the target area comprises at least one of divots and ruts;
a sensor adapted to identify the target area; and
an electronic controller supported by the chassis, the controller in communication with the sensor and the one or more motors;

autonomously propelling the vehicle across the work region; and
autonomously identifying, with the sensor, the target area.

12. The method according to claim 11 , further comprising metering the treating material dispersed through the discharge outlet.

13. The method according to claim 12 , further comprising measuring a depth of the target area with a depth sensor and calculating, with the controller, a volume of treating material to be metered to the target area.

14. The method according to claim 11 , further comprising collecting debris and storing the debris in an onboard container.

15. The method according to claim 14 , further comprising pulverizing the stored debris.

16. The method according to claim 11 , further comprising:
positioning, under control of the controller, the discharge outlet of the container relative to the target area;
selectively opening, under control of the controller, a gate associated with the discharge outlet to disperse the treating material in and around the target area; and
closing, under control of the controller, the gate.

17. The method according to claim 16 , further comprising removing from the turf surface a predetermined portion of turf around the target area before dispersing the treating material in and around the target area.

18. The method according to claim 11 , further comprising distributing the treating material in and around the target area using a grooming tool connected to the chassis.

19. The method according to claim 18 , further comprising leveling the target area to a substantially equal elevation as surrounding turf using the grooming tool.

20. The method according to claim 18 , further comprising manipulating the grooming tool with the vehicle to smooth the treating material dispersed in and around the target area.

Assignees

• The Toro Co

Inventors

• Friell Joshua Craig
• Gust Jackie R
• Frick Alexander Steven

Classifications

• E01C13/08

  Surfaces simulating grass {; Grass-grown sports grounds (grass-like surfaces for skiing E01C13/12)} · CPC title

• G05D1/43

  Control of position or course in two dimensions [2D] · CPC title

• G05D2111/30

  Radio signals · CPC title

• E01C23/06

  Devices or arrangements for working the finished surface (working freshly laid paving E01C19/42 - E01C19/44, E01C23/02; mining picks E21C35/18); Devices for repairing {or reconditioning} the surface of damaged paving; {Recycling in place or on the road} · CPC title

• E01C19/20

  Apparatus for distributing, e.g. spreading, granular or pulverulent materials, e.g. sand, gravel, salt, dry binders ({E01C19/21, E01C19/4813, E01C19/482, E01C23/098, E01C23/166 take precedence; } fertiliser distributors A01C15/00 {; permanently-installed devices for applying gritting or thawing materials E01H10/005; mobile spreaders specially adapted for treating wintry roads E01H10/007}) · CPC title