US 2026/0223774 A1Published application

Mower Detection Zones

AssigneeAutonomous Solutions, Inc.

InventorsGarrett Winward, Mckay Colleni, Jeff Ferrin, Levi Rupert, Taylor Bybee

Life of this patent

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Abstract

Disclosed are systems and methods for safely navigating an autonomous work vehicle by instructing the autonomous work vehicle to provide measured responses according to the proximity of an obstacle to the autonomous work vehicle. The response of the autonomous work vehicle may be determined based on a response set associated with one or more zones disposed around the autonomous work vehicle or about a selected navigational path. The response set may include warnings, such as activation of lights and/or alarms of the autonomous work vehicle, and/or motor actions, including reducing a velocity of the autonomous work vehicle, selecting another navigational path to avoid the obstacle, and/or adjusting the activation and/or position of an implement connected to the autonomous work vehicle. A response may be initiated when visual sensor signal data associated with a zone indicates the presence of an obstacle within the zone.

Claims21

Dependent claims

An autonomous work vehicle comprising:

a steering control system for autonomously controlling a driving direction of the autonomous work vehicle;
a speed control system for autonomously controlling a speed of the autonomous work vehicle;
an alert control system for autonomously controlling warning signals of the autonomous work vehicle;
one or more sensors, including a visual sensor;
one or more processors communicatively coupled with the one or more sensors, the steering control system, the speed control system, and the alert control system;
and
one or more computer-readable media having stored thereon instructions that when executed cause the one or more processors to:
receive visual sensor signal data from the visual sensor in predetermined time packets, wherein the visual sensor signal data comprises data points of a virtual space that represents at least a portion of an operating environment;
assign a subset of the data points of the visual sensor signal data to a series of nested zones, wherein the series of nested zones surrounds a portion of the virtual space representing a space occupied by the autonomous work vehicle, wherein the series of nested zones includes, in order of increasing size, an occlusion zone, a hazard zone, a slowing zone, and a warning zone, and wherein the portion of the virtual space representing the space occupied by the autonomous work vehicle is surrounded by each zone of the series of nested zones;
and
instruct the autonomous work vehicle to drive at a first velocity;
instruct the autonomous work vehicle to respond when the visual sensor signal data indicates that an obstacle is present within a zone of the series of nested zones, such that:
when the visual sensor signal data indicates that an obstacle is present within the warning zone, instruct the alert control system to send a light beam or an audio alarm perceptible within the warning zone;
when the visual sensor signal data indicates that an obstacle is present within the slowing zone, instruct the speed control system to slow a velocity of the autonomous work vehicle to a second velocity less than the first velocity;
when the visual sensor signal data indicates that an obstacle is present within the hazard zone, instruct the speed control system to slow a velocity of the autonomous work vehicle to a third velocity less than the second velocity;
and
when the visual sensor signal data indicates that an obstacle is present within the occlusion zone, instruct the speed control system to stop the autonomous work vehicle.

14 more elements

An autonomous work vehicle comprising:

a steering control system for autonomously controlling a driving direction of the autonomous work vehicle;
a speed control system for autonomously controlling a speed of the autonomous work vehicle;
one or more sensors, including a visual sensor;
one or more processors communicatively coupled with the one or more sensors, the steering control system, and the speed control system;
and
one or more computer-readable media having stored thereon instructions that when executed cause the one or more processors to:
receive visual sensor signal data from the visual sensor in predetermined time packets, wherein the visual sensor signal data comprises data points of a virtual space that represents at least a portion of an operating environment;
assign a subset of the data points of the visual sensor signal data to a zone within the operating environment, wherein the zone surrounds a portion of the virtual space representing a space occupied by the autonomous work vehicle;
adjust a dimension of the zone based on a velocity and/or curvature of the autonomous work vehicle;
and
instruct the speed control system to adjust a velocity of the autonomous work vehicle when an obstacle is detected within the zone.

8 more elements

An autonomous work vehicle comprising:

a steering control system for autonomously controlling a driving direction of the autonomous work vehicle;
a speed control system for autonomously controlling a speed of the autonomous work vehicle;
one or more sensors, including a visual sensor;
one or more processors communicatively coupled with the one or more sensors, the steering control system, and the speed control system;
and
one or more computer-readable media having stored thereon instructions that when executed cause the one or more processors to:
receive visual sensor signal data from the visual sensor in predetermined time packets, wherein the visual sensor signal data comprises data points of a virtual space that represents at least a portion of an operating environment;
define a first zone represented by a first polygon that surrounds a first portion of the virtual space corresponding to a space occupied by the autonomous work vehicle and assign a first subset of the data points to the first zone;
define a second zone represented by a second polygon that surrounds the first portion of the virtual space corresponding to the space occupied by the autonomous work vehicle and assign a second subset of the data points to the second zone, wherein the second polygon has a smaller area than the first polygon;
when an obstacle is detected within the first zone, instruct the speed control system to automatically slow the autonomous work vehicle;
and
when an obstacle is detected within the second zone, instruct the speed control system to automatically stop the autonomous work vehicle.

9 more elements

Dependencies are inferred from the claim text.

Facts

Application: 19/389,254Filed 14 Nov 2025
Priority: 31 Jan 2025
Published: 6 Aug 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification9 codes

A01D 34/008
Control or measuring arrangements: for automated or remotely controlled operation
A01D 75/185
Safety devices for parts of the machines: avoiding collisions with obstacles
G05D 1/243
Arrangements for determining position or orientation: means capturing signals occurring naturally from the environment, e.g. ambient optical,…
G05D 1/622
Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards: obstacle avoidance