US-20260123571-A1 - Property, Job, and Machine Setup for Autonomous Operation of a Mower

US20260123571A1US 20260123571 A1US20260123571 A1US 20260123571A1US-20260123571-A1

Abstract

Systems and methods for configuring, planning, and executing autonomous mowing operations in a turf environment using an autonomous mowing machine are described. The system determines external and internal boundaries of a property through position data (e.g., GPS, odometry) and visual information from onboard sensors. The collected information is used to create digital fences and zone boundaries. Objects within the mowing area are classified as transient or non-transient, with corresponding autonomous actions assigned. Boundaries and object data inform path planning, dynamically updating routes in response to environmental changes, object reclassification, or operator input via a client device. The machine executes the planned actions in real time, adjusting various operational parameters as it traverses the turf environment.

Inventors

Joel J. Sandoval
Timothy J. Lewis
Bradley A. Powers
Kent Michael Anderson
Wesley E. Clontz
Mo Fotouhi
Bijan Dadgar
Christopher J. Marry

Assignees

DEERE & COMPANY

Dates

Publication Date: 20260507
Application Date: 20251015

Claims (20)

1 . A method for generating a planned path for performing autonomous actions in a turf environment, the method comprising: determining, using an autonomous mowing machine, an area of the turf environment to collect position information and visual information representing the turf environment; determining, using the collected position information, an external boundary of the area of the turf environment; identifying, using the collected visual information, transient and non-transient objects inside the external boundary of the turf environment; determining, for each object inside the external boundary of the turf environment, an autonomous action to perform, the determined autonomous action based on whether the object is identified as transient or non-transient; generating the planned path for performing autonomous actions in the turf environment, the planned path comprising at least the determined autonomous actions for the identified objects; and performing, using the autonomous mowing machine, the determined autonomous actions as the autonomous mowing machine traverses the planned path.
2 . The method of claim 1 , further comprising: determining that the non-transient object in motion; in response, modifying a label of the non-transient object to transient object; modifying the planned path to account for the modified label; and performing the modified planned path.
3 . The method of claim 1 , wherein the autonomous actions determined for transient objects further comprises: assigning a first action boundary for transient objects that is greater than a second action boundary for non-transient objects.
4 . The method of claim 1 , further comprising configuring one or more operating parameters of the planned path, the operating parameters including one or more of speed, mowing height, or propulsion option.
5 . The method of claim 4 , further comprising: detecting one or more job quality parameters of the autonomous mowing machine performing the planned path; and adjusting the operating parameters of the autonomous mowing machine in response to the detected job quality parameters.
6 . The method of claim 1 , wherein identifying transient and non-transient objects further comprises: receiving, from a client device in communication with the autonomous mowing machine, a modification to a label of identified transient or non-transient objects.
7 . The method of claim 6 , wherein performing the determined autonomous actions is based on the modified label received from the client device.
8 . The method of claim 1 , wherein performing the determined autonomous actions further comprises: maintaining a set distance threshold to one or more other autonomous machines or one or more operators.
9 . A non-transitory computer-readable storage medium storing for generating a planned path for performing autonomous actions in a turf environment, the instructions, when executed by one or more processors, causing the one or more processors to perform steps comprising: determining, using an autonomous mowing machine, an area of the turf environment to collect position information and visual information representing the turf environment; determining, using the collected position information an external boundary of the area of the turf environment; identifying, using the collected visual information, transient and non-transient objects inside the external boundary of the turf environment; determining, for each object inside the external boundary of the turf environment, an autonomous action to perform, the determined autonomous action based on whether the object is identified as transient or non-transient; generating the planned path for performing autonomous actions in the turf environment, the planned path comprising at least the determined autonomous actions for the identified objects; and performing, using the autonomous mowing machine, the determined autonomous actions as the autonomous mowing machine traverses the planned path.
10 . The non-transitory computer-readable storage medium of claim 9 , wherein the one or more processors further perform steps comprising: determining that the non-transient object in motion; in response, modifying a label of the non-transient object to transient object; modifying the planned path to account for the modified label; and performing the modified planned path.
11 . The non-transitory computer-readable storage medium of claim 9 , wherein the autonomous actions determined for transient objects causes the one or more processors to further perform steps comprising: assigning a first action boundary for transient objects that is greater than a second action boundary for non-transient objects.
12 . The non-transitory computer-readable storage medium of claim 9 , wherein the one or more processors further perform steps comprising: configuring one or more operating parameters of the planned path, the operating parameters including one or more of speed, mowing height, or propulsion option.
13 . The non-transitory computer-readable storage medium of claim 12 , wherein the one or more processors further perform steps comprising: detecting one or more job quality parameters of the autonomous mowing machine performing the planned path; and adjusting the operating parameters of the autonomous mowing machine in response to the detected job quality parameters.
14 . The non-transitory computer-readable storage medium of claim 9 , wherein identifying transient and non-transient objects further causes the one or more processors to perform steps comprising: receiving, from a client device in communication with the autonomous mowing machine, a modification to a label of identified transient or non-transient objects.
15 . The method of claim 6 , wherein performing the determined autonomous actions is based on the modified label received from the client device.
16 . The non-transitory computer-readable storage medium of claim 9 , wherein performing the determined autonomous actions further causes the one or more processors to perform steps comprising: maintaining a set distance threshold to one or more other autonomous machines or one or more operators.
17 . An autonomous mowing machine comprising: an imaging system configured to collect visual information of a turf environment; a navigation system configured to: control traversal of the autonomous mowing machine in the turf environment; collect position information representing the turf environment; one or more processors; and a non-transitory computer-readable storage medium storing instructions for generating a planned path for performing autonomous actions in the turf environment, the instructions, when executed by one or more processors, causing the one or more processors to perform steps comprising: determining an area of the turf environment to collect position information and visual information representing an external boundary of the turf environment; determining, using position information collected by the navigation system, an external boundary of the turf environment; identifying, using visual information collected by the imaging system, transient and non-transient objects inside the external boundary of the turf environment; determining, for each object inside the external boundary of the turf environment, an autonomous action to perform, the determined autonomous action based on whether the object is identified as transient or non-transient; generating the planned path for performing autonomous actions in the turf environment, the planned path comprising at least the determined autonomous actions for the identified objects; and performing, using the autonomous mowing machine, the determined autonomous actions as the autonomous mowing machine traverses the planned path.
18 . The autonomous mowing machine of claim 17 , wherein the one or more processors further perform steps comprising: determining that the non-transient object in motion; in response, modifying a label of the non-transient object to transient object; modifying the planned path to account for the modified label; and performing the modified planned path.
19 . The autonomous mowing machine of claim 17 , wherein the autonomous actions determined for transient objects further causes the one or more processors to perform steps comprising: assigning a first action boundary for transient objects that is greater than a second action boundary for non-transient objects.
20 . The autonomous mowing machine of claim 17 , wherein the one or more processors further perform steps comprising: configuring one or more operating parameters of the planned path, the operating parameters including one or more of speed, mowing height, or propulsion option.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Application Ser. No. 63/717,549 filed Nov. 7, 2024, and U.S. Provisional Application Ser. No. 63/718,101 filed on Nov. 8, 2024, both of which are incorporated by reference in its entirety. TECHNICAL FIELD Additionally, the present disclosure relates generally to systems, methods, and devices for configuring or setting up a property, job, and/or machine for autonomous operations of a mower. More specifically, the present disclosure relates to identifying and defining boundaries of a worksite using an mowing machine. BACKGROUND Grass mowing machines, or mowers, may be manual and/or autonomous and are used to cut grass, also called turf. Some mowers may mow an area to be mowed according to a coverage plan or path plan. In such a scenario, mowers may encounter boundaries, which may be a boundary indicating a property line or a boundary around an obstacle or keep out area within an area to be mowed. Moreover, mowers may encounter obstacles. Such obstacles may be known to the mower in advance of encountering the obstacle, such as those described above with pre-identified boundaries, or such obstacles may be unexpected. Moreover, obstacles, even if known, may move or change size. In some situations, grass mowing machines may leave an area of uncut grass around a boundary and/or obstacle. Often, this uncut grass must then be trimmed. Trimming can increase the time required to completely cut an area of turf. In some mowing applications, such as residential, commercial, and/or golf mowing, mowing is accomplished by a party that mows a plurality of areas. For example, a professional landscaping company may use one or more mowing devices to cut turf. Such a company may service a plurality of properties. Such a party may use one or more autonomous mowers to cut turf. In such a scenario, it may be beneficial to configure a property, job, and/or machine setup within one or more machines. SUMMARY In some aspects, the techniques described herein relate to a method for generating a planned path for performing autonomous actions in a turf environment, the method including: determining, using an autonomous mowing machine, an area of the turf environment to collect position information and visual information representing the turf environment; determining, using the collected position information, an external boundary of the area of the turf environment; identifying, using the collected visual information, transient and non-transient objects inside the external boundary of the turf environment; determining, for each object inside the external boundary of the turf environment, an autonomous action to perform, the determined autonomous action based on whether the object is identified as transient or non-transient; generating the planned path for performing autonomous actions in the turf environment, the planned path including at least the determined autonomous actions for the identified objects; and performing, using the autonomous mowing machine, the determined autonomous actions as the autonomous mowing machine traverses the planned path. In some aspects, the techniques described herein relate to a method, further including: determining that the non-transient object in motion; in response, modifying a label of the non-transient object to transient object; modifying the planned path to account for the modified label; and performing the modified planned path. In some aspects, the techniques described herein relate to a method, wherein the autonomous actions determined for transient objects further includes: assigning a first action boundary for transient objects that is greater than a second action boundary for non-transient objects. In some aspects, the techniques described herein relate to a method, further including configuring one or more operating parameters of the planned path, the operating parameters including one or more of speed, mowing height, or propulsion option. In some aspects, the techniques described herein relate to a method, further including: detecting one or more job quality parameters of the autonomous mowing machine performing the planned path; and adjusting the operating parameters of the autonomous mowing machine in response to the detected job quality parameters. In some aspects, the techniques described herein relate to a method, wherein identifying transient and non-transient objects further includes: receiving, from a client device in communication with the autonomous mowing machine, a modification to a label of identified transient or non-transient objects. In some aspects, the techniques described herein relate to a method, wherein performing the first additional autonomous action, or the second additional autonomous action is based on the modified label received from the client device. In some aspects, the techniques described herein relate to a method, wherein performing the determined autonomous actions fu