System and method for autonomous work machine approval

Patent metadata

Field	Value
Publication number	US-12372959-B2
Application number	US-202217691475-A
Country	US
Kind code	B2
Filing date	Mar 10, 2022
Priority date	Mar 22, 2021
Publication date	Jul 29, 2025
Grant date	Jul 29, 2025

Abstract

A mobile device includes a processor and memory, coupled to the processor, which memory contains instructions that when executed cause the processor to provide an autonomy management application. The autonomy management application includes an autonomy approval function. The autonomy approval function provides a user interface configured to display at least one aspect of an autonomy job to a user and receive user acceptance of the autonomy job. The autonomy approval function is configured to instruct the user to move within a pre-determined distance from an autonomous work machine that will execute the autonomy job and provide a machine-verified indication of user proximity within the pre-determined distance. The autonomy approval function includes a begin mission user interface element displayable after verification that a user has moved within the pre-determined distance of the autonomous work machine, which begin mission user interface element, when selected, causes the autonomy approval function to initiate motion. A computer-implemented method is also provided.

First claim

What is claimed is:

1. A mobile device comprising:
a processor;
memory, coupled to the processor, the memory containing instructions that when executed cause the processor to provide an autonomy management application, wherein the autonomy management application includes an autonomy approval function;
the autonomy approval function providing a user interface configured to display an autonomy job to a user, the display including a map of a selected field and pathing information relative to the selected field, the user interface being configured to receive user acceptance of the autonomy job;
the autonomy approval function being configured to instruct the user to move within a pre-determined distance from an autonomous work machine that will execute the autonomy job, and provide a machine-verified indication of user proximity within the pre-determined distance;
the autonomy approval function providing a display indicative of at least one system check performed by the autonomous work machine, wherein the at least one system check includes a subsystem check of an implement coupled to the autonomous work machine;
the autonomy approval function including a begin mission user interface element displayable based on verification that the user has moved within the pre-determined distance of the autonomous work machine, wherein the begin mission user interface element is configured to receive user input and wherein the processor is configured to selectively cause the autonomy approval function to display a depiction of the autonomous work machine with a visual indication that the autonomous work machine is initiating motion and wherein the autonomy approval function is configured to initiate motion based on the user input to the begin mission user interface element.

2. The mobile device of claim 1 , wherein user proximity within the pre-determined distance is detected by comparing GPS coordinates of the autonomous work machine with GPS coordinates of the mobile device.

3. The mobile device of claim 1 , wherein the display provides an indication of a perception system check, wherein the perception system check includes a check of a plurality of cameras coupled to the autonomous work machine.

4. The mobile device of claim 1 , wherein the display provides an indication of a positioning system check.

5. The mobile device of claim 1 , wherein the display provides an indication of a tractor subsystem check.

6. The mobile device of claim 1 , wherein the display provides a countdown timer indicating time until the autonomous work machine will begin motion.

7. The mobile device of claim 1 , wherein the display provides a flashing indication relative to lights of the autonomous work machine and also causes corresponding lights on the autonomous work machine to flash.

8. The mobile device of claim 7 , wherein the autonomy approval function provides a halt user interface element that is configured to receive user input and wherein the processor is configured to selectively halt motion of the autonomous work machine based on user input to the halt user interface element.

9. The mobile device of claim 1 , wherein the autonomy management application provides an edit user interface element that is configured to receive user input and wherein the processor is configured to selectively allow the user to edit the autonomy job based on user input to the edit user interface element.

10. The mobile device of claim 1 , wherein the begin mission user interface element requires the user to slide the user interface element.

11. A computer-implemented method of providing autonomy approval for an autonomous work machine, the method comprising:
displaying a selected field and pathing of an autonomy job for an autonomous work machine to a user;
receiving user approval of the autonomy job;
instructing the user to ensure that the user is within a pre-determined distance from the autonomous work machine;
detecting user proximity within the pre-determined distance from the autonomous work machine;
executing a system perception check that checks at least a plurality of cameras positioned on the autonomous work machine based on user approval of the autonomy job;
executing an implement subsystem check based on user approval of the autonomy job;
providing a begin mission user interface element based on detecting the user proximity within the pre-determined distance;
selectively engaging motion of the autonomous work machine based on user input to the begin mission user interface element; and
generating an alert that motion startup is occurring, wherein the alert includes a depiction of the autonomous work machine with a visual indication that the autonomous work machine is initiating motion.

12. The computer-implemented method of claim 11 , wherein detecting user proximity includes detecting electromagnetic radiation relative to at least one of the user and the autonomous work machine.

13. The computer-implemented method of claim 11 , wherein the begin mission user interface element is provided on a mobile device.

14. The computer-implemented method of claim 11 , and further comprising providing a halt user interface element that is configured to receive user input and wherein the processor is configured to selectively halt the autonomous work machine to halt motion based on user input to the halt user interface element.

15. The computer-implemented method of claim 11 , and further comprising executing a perimeter check around the autonomous work machine.

16. The computer-implemented method of claim 15 , and further comprising providing an indication of progress relative to the perimeter check.

17. The computer-implemented method of claim 16 , wherein the indication is provided on a mobile device.

18. The computer-implemented method of claim 16 , wherein the indication of progress shows an individual perception system sensor that is being tested, among a plurality of perception system sensors.

Assignees

• Deere & Co

Inventors

• Ascherl Margaux M
• Runde Jeffrey E
• Maeder Curtis A
• Johnson David A
• Wassilak Erich
• Donini Mario L

Classifications

• A01B69/008 Primary

  automatic · CPC title

• A01D34/005

  Mulching means · CPC title

• A01D41/1278

  for automatic steering · CPC title

• A01D34/00

  Mowers (combined with apparatus performing additional operations while mowing A01D37/00 - A01D41/00, A01D43/00; convertible to apparatus for purposes other than mowing or capable of performing operations other than mowing A01D42/00); Mowing apparatus of harvesters · CPC title

• G05D1/00

  Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) · CPC title