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US 12,591,243 B2Granted
Path determination for automatic mowers
AssigneeDoosan Bobcat North America, Inc.
InventorDylan Stokosa
Life of this patent
Estimating the term…
Abstract
Methods and systems are provided for controlling automatic travel of a power machine, particularly a mower. A set of points associated with a geographical area can be used to define a work path for a work task associated with the geographical area. The power machine can be controlled to perform the work task by traveling along the work path.
Claims19
A method of controlling a power machine, the method comprising:
- receiving a set of points associated with a geographical area;
- with an electronic processor, recording the set of points associated with the geographical area, and defining with the set of points a work path for a work task associated with the geographical area;
- with the electronic processor, receiving position data associated with the power machine, wherein the position data comprises wheel speed data and global positioning system (“GPS”) data;
- and
- with the electronic processor, controlling, based on the position data, the power machine to perform the work task by traveling along the work path, wherein the power machine traveling in a first direction along the work path includes traveling successively to each point included in the set of points,
- wherein controlling the power machine includes:
- determining a current operation of the power machine;
- and
- in response to determining that the current operation is a turning operation, applying a first weighting factor to the wheel speed data and a second weighting factor to the GPS data, wherein the first weighting factor is greater than the second weighting factor.
6 more elements
A power machine comprising:
- a main frame;
- a work element coupled to the main frame;
- a plurality of electrical actuators coupled to the main frame;
- an electrical power source configured to power the plurality of electrical actuators;
- and
- an electronic controller in communication with the plurality of electrical actuators, the electronic controller configured to:
- operate in a learn mode in response to an operator input, including:
- receiving a set of points associated with a geographical area,
- recording the set of points associated with the geographical area as a first work path for a work task associated with the geographical area, and in response to receiving an operator selection associated with the first work path:
- receive position data associated with the power machine, wherein the position data comprises wheel speed data and global positioning system (“GPS”) data;
- and
- control, based on the position data, the power machine to perform the work task by traveling along the first work path in a first direction,
- wherein the control of the power machine includes:
- determining a current operation of the power machine;
- and
- in response to determining that the current operation is a turning operation, applying a first weighting factor to the wheel speed data and a second weighting factor to the GPS data, wherein the first weighting factor is greater than the second weighting factor.
13 more elements
A method of controlling a power machine, the method comprising:
- receiving, with an electronic processor, a set of points associated with a geographical area;
- defining, with the electronic processor, based on the set of points, a perimeter for mowing operations;
- with the electronic processor, determining a work path for a work task associated with the geographical area, wherein the work path is included within and determined based on the perimeter;
- with the electronic processor, receiving position data associated with the power machine, wherein the position data comprises wheel speed data and global positioning system (“GPS”) data;
- and
- with the electronic processor, controlling, based on the position data, the power machine to perform the work task by traveling along the work path,
- wherein controlling the power machine includes:
- determining a current operation of the power machine;
- and
- in response to determining that the current operation is a turning operation, applying a first weighting factor to the wheel speed data and a second weighting factor to the GPS data, wherein the first weighting factor is greater than the second weighting factor.
7 more elements
Dependencies are inferred from the claim text.