Autonomous working machine with computer vision-based monitoring and security system
AssigneeThe Toro Company
InventorsAlexander Steven Frick, Jason Thomas Kraft, Peter M. Arendt, Gregory S. Janey
Life of this patent
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Abstract
A supplemental monitoring and security function and system for use with an autonomous working machine such as a robotic lawn mower. The system may use cameras associated with the machine to capture image data and transmit the data to a remote computer. The system may be utilized as a theft deterrent for the mower itself, as well as provide a mobile sentry mode for surveilling and observing a property.
Claims20
A method of performing a supplemental monitoring task utilizing a robotic working machine, the robotic working machine adapted to autonomously perform lawn mowing tasks within a work region of a property, wherein the method comprises:
- comparing a first site image to a second site image, wherein each of the site images are captured by a remote image sensor, and wherein each of the site images are captured at different times;
- detecting a potential unknown object in the work region based on comparing the first and second site images;
- communicating, from the remote image sensor to a controller located on the robotic working machine, information regarding the presence and location of the potential unknown object;
- dispatching, with the controller, the robotic working machine to an initial position at or near the potential unknown object, wherein the robotic working machine comprises one or more computer vision-based sensors to provide localization data of the robotic working machine as it moves to the initial position;
- capturing image data with the one or more computer vision-based sensors attached to the robotic working machine;
- comparing the image data to the site images;
- determining, with the controller, the presence or absence of a physical object corresponding to the potential unknown object based on the compared image data and site images;
- and
- if the potential unknown object is determined not to be a physical object, allowing for the robotic working machine to disregard the detected potential unknown object.
A system for performing a supplemental monitoring function utilizing an autonomous working machine configured to autonomously perform a lawn mowing task, the system comprising:
- the autonomous working machine comprising a tool adapted to perform the lawn mowing task;
- a remote image sensor configured to capture at least a first site image and a second site image and configured to compare the site images, wherein each of the site images is captured at different times, and wherein the remote image sensor detects a potential unknown object based on comparing the first and second site images;
- a controller located on the autonomous working machine, wherein the remote image sensor communicates information regarding a presence and location of the potential unknown object to the controller, and wherein the controller dispatches the autonomous working machine to a position at or near the potential unknown object;
- and
- one or more computer vision-based sensors to provide localization data of the autonomous working machine as it moves to the position, wherein the vision-based sensors capture image data,
- wherein the controller is configured to compare the image data and the site images and determine whether the potential unknown object is a physical object or merely a shadow based on the compared image data and site images.
Dependencies are inferred from the claim text.