Vehicle with detection system for detecting ground surface and sub-surface objects, and method for controlling vehicle

Patent metadata

Field	Value
Publication number	US-12433179-B2
Application number	US-202017624734-A
Country	US
Kind code	B2
Filing date	Jul 30, 2020
Priority date	Aug 6, 2019
Publication date	Oct 7, 2025
Grant date	Oct 7, 2025

Abstract

A detection system for use with a powered ground maintenance vehicle, the detection system adapted to detect and avoid contact of a ground maintenance implement carried by the vehicle with an object associated with the ground surface. In some embodiments, the detection system may automatically disengage the implement from the ground surface before the implement contacts the object and, optionally, automatically re-engage the implement with the ground surface after the implement has passed the object.

First claim

What is claimed is:

1. A powered ground maintenance vehicle comprising:
a chassis supported upon a ground surface by ground contact members;
a prime mover attached to the chassis;
a traction drive system powered by the prime mover and adapted to selectively power one or more of the ground contact members to propel the vehicle over the ground surface;
a ground maintenance implement carried by the chassis;
an implement engagement system connecting the implement to the chassis, the engagement system adapted to selectively engage the implement with, and disengage the implement from, the ground surface;
a detection system comprising a Radio Frequency Identification (RFID) antenna adapted to monitor a detection zone forward of the implement and detect an RFID tag associated with an object passing through the detection zone as the vehicle traverses the ground surface, wherein the detection system is further adapted to periodically capture object information associated with the object while the object remains in the detection zone; and
an electronic controller adapted to communicate with the detection system, wherein the controller is adapted to receive the object information and estimate a time, based upon vehicle ground speed, when the implement will reach the object, and wherein the controller is further adapted to issue a notification to disengage the implement from the ground surface before the implement contacts the object.

2. The vehicle of claim 1 , wherein the controller is adapted to issue the notification to the implement engagement system, and wherein the implement engagement system is adapted to automatically raise or otherwise disengage the implement from the ground surface before contact of the implement with the object.

3. The vehicle of claim 2 , wherein the controller is adapted to issue an engage notification to the implement engagement system to automatically lower or otherwise engage the implement with the ground surface after the implement passes the object.

4. The vehicle of claim 1 , wherein the implement comprises a turf aerator.

5. The vehicle of claim 1 , wherein the object comprises an irrigation sprinkler head.

6. A method of controlling a vehicle performing a ground maintenance task, the method comprising:
propelling the vehicle in a forward direction over a ground surface, the vehicle comprising a chassis and a ground maintenance implement attached to the chassis;
engaging the implement with the ground surface;
monitoring a detection zone forward of the implement with a detection system comprising a first and a second Radio Frequency Identification (RFID) antenna;
detecting with both the first and second RFID antennas an RFID tag located on or near an object at or near the ground surface that passes through the detection zone, wherein the first and second RFID antennas define first and second detection areas, respectively, that together form the detection zone;
periodically capturing, with both the first and second RFID antennas, object information associated with the object while the object passes through the detection zone;
determining a relative location of the object within the detection zone via the object information captured by both the first and the second RFID antennas;
estimating, based upon the object information, a time period before the implement will reach the object; and
issuing with a controller a notification to disengage the implement from the ground surface prior to the implement reaching the object.

7. The method of claim 6 , wherein the notification to disengage the implement is a disengage command issued to an implement engagement system to automatically raise, or otherwise disengage, the implement from the ground surface, and the method further comprises issuing an engage command with the controller to the implement engagement system to re-engage the implement with the ground surface after the implement has traveled past the object.

8. The method of claim 6 , wherein detecting the object comprises detecting a sprinkler head.

9. A method of controlling a vehicle performing a ground maintenance task, the method comprising:
propelling the vehicle in a forward direction over a ground surface, the vehicle comprising a chassis and a ground maintenance implement attached to the chassis;
engaging the implement with the ground surface;
monitoring a detection zone forward of the implement with a detection system comprising a Radio Frequency Identification (RFID) antenna;
detecting with the RFID antenna an RFID tag located on or near an object at or near the ground surface that passes through the detection zone;
periodically capturing, with the RFID antenna, object information associated with the object while the object passes through the detection zone;
estimating, based upon the object information, a time period before the implement will reach the object; and
issuing with a controller a disengage command to an implement engagement system to automatically raise, or otherwise disengage, the implement from the ground surface prior to the implement reaching the object;
wherein capturing the object information comprises capturing and storing object information associated with the RFID tag, wherein the object information comprises, for each RFID tag read, any one or more of: an identity of the RFID antenna; a unique tag identifier; a time; a received signal strength indication (RSSI); a frequency channel of the RFID antenna; a phase shift between signals transmitted from and received by the RFID antenna; and a ground speed of the vehicle.

10. The method of claim 9 , further comprising calculating, after the object is no longer detected within the detection zone, one or more tag statistics, the one or more tag statistics comprising any one or more statistics selected from: a presence time period during which the object was detected within the detection zone; a maximum received signal strength indication (RSSI) detected during the presence time period; a minimum RSSI detected during the presence time period; a standard deviation of RSSI detected during the presence time period; a time period between a first detection of the object and a time of the maximum RSSI; a time period between detection of the maximum RSSI and a last detection of the object; a linear distance travelled during which the object was detected; a linear distance travelled between the first detection and the time of the maximum RSSI; and a linear distance travelled between the time of the maximum RSSI and the last detection.

Assignees

• The Toro Co

Inventors

• Davern Michael Ryan
• Bergsten Rex Ray

Classifications

• B60W2420/408

  Radar; Laser, e.g. lidar · CPC title

• H01Q1/3233

  particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems · CPC title

• G06K19/0723

  the record carrier comprising an arrangement for non-contact communication, e.g. wireless communication circuits on transponder cards, non-contact smart cards or RFIDs · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S13/56

  for presence detection {(presence detection using near field arrangements G01V3/00, e.g. G01V3/08, G01V3/12; burglar, theft or intruder alarms with electrical actuation G08B13/22 - G08B13/26)} · CPC title