Control interface for autonomy
A control device for an autonomous lawn mower is described which receives input signals from a first and/or second hand control and determines a control signal for controlling the autonomous lawn mower. The hand controls may provide for intuitive control of the mower by a user. The control signals may be used to operate the autonomous lawn mower to perform a task such that, when later detached or otherwise decoupled, the autonomous lawn mower may perform the same or similar tasks substantially autonomously based on data (e.g., sensor signals, control signals, etc.), generated during manual operation. In some examples, the control signals may be determined to aid a user in maintaining a straight mow, proximity to a desired pattern for mowing, and/or be otherwise altered based on the presence of a user.
1 . A method for controlling an autonomous lawn mower, the method comprising:
determining whether an operator is present on the mower;
generating a command signal for driving one or more traction motors to move the mower, wherein the command signal is limited to a safety limit based on determining that an operator is present on the mower, and wherein the command signal is not limited based on determining that an operator is not present on the mower;
driving the one or more traction motors and/or one or more blade motors using the command signal;
based on the presence of the operator, adjusting a blade height adjustment mechanism using the command signal; and
automatically determining the safety limit based on the presence of the operator on the mower,
wherein the safety limit comprises; a maximum safe torque output limit of the one or more traction motors for safely operating the mower with the operator present or, and a maximum safe speed output limit of the one or more traction motors for safely operating the mower with the operator present.
2 . The method of claim 1 , wherein the command signal is generated in response to operator input received from the operator present on the mower.
3 . The method of claim 1 , wherein the command signal is generated in response to input received when the mower is operating in an autonomous mode.
4 . The method of claim 1 , wherein the command signal is generated in response to input from an autonomy system which is autonomously operating the mower.
5 . The method of claim 1 , wherein determining whether an operator is present on the mower further comprises receiving a signal from a sensor associated with the mower which is activated based on the presence of the operator on the mower.
6 . The method of claim 5 , wherein the sensor includes at least one of an inductive proximity sensor, a camera, hand control touch sensor, a pressure sensor, or an RFID tag.
7 . The method of claim 1 , wherein determining whether an operator is present further comprises receiving a signal from a sensor associated with an operator platform of the mower.
8 . The method of claim 7 , wherein the sensor is activated dependent upon a weight of the operator on the operator platform.
9 . The method of claim 1 , wherein the safety limit comprises a minimum blade height of the blade height adjustment mechanism for safely operating the mower with the operator present.
10 . The method of claim 1 , wherein the safety limit comprises a maximum blade speed output limit of the one or more blade motors for safely operating the mower with the operator present.
11 . An autonomous lawn mower comprising:
a mower body having a cutting deck with a rotatable cutting blade;
one or more traction motors connected to the mower body to move the mower body; and
a controller coupled to the one or more traction motors, wherein the controller is configured to:
determine whether an operator is present on the mower;
generate a command signal for driving the one or more traction motors to move the mower, wherein the command signal is limited to a safety limit based on determining that an operator is present on the mower, and wherein the command signal is not limited based on determining that an operator is not present on the mower;
driving the one or more traction motors and/or one or more blade motors using the command signal;
based on the presence of the operator, adjusting a blade height adjustment mechanism using the command signal; and
automatically determining the safety limit based on the presence of the operator on the mower,
wherein the safety limit comprises: a maximum safe torque output limit of the one or more traction motors for safely operating the mower with the operator present, and a maximum safe speed output limit of the one or more traction motors for safely operating the mower with the operator present.
12 . The mower of claim 11 , further comprising a sensor associated with the mower which is activated based on the presence of the operator on the mower, the sensor being coupled to the controller, wherein the controller is configured to determine whether an operator is present on the mower by receiving a signal from the sensor.
13 . The mower of claim 12 , wherein the sensor includes at least one of an inductive proximity sensor, a camera, a pressure sensor, hand control touch sensor, or an RFID tag.
14 . The mower of claim 12 , wherein the sensor is associated with an operator platform of the mower.
15 . The mower of claim 14 , wherein the sensor is activated dependent upon a weight of the operator on the operator platform.
16 . The mower of claim 11 , wherein the safety limit comprises a minimum blade height of the blade height adjustment mechanism for safely operating the mower with the operator present.
17 . The method of claim 11 , wherein the safety limit comprises a maximum blade speed output limit of the one or more blade motors for safely operating the mower with the operator present.