System and method for defining a work region boundary for use by an autonomous grounds care vehicle
Systems and methods of defining a boundary of a work region are provided. The work region may be an area in which an autonomous vehicle (e.g., mower) may operate after boundary definition. The vehicle may initially be moved along a path around a work region, and geographic locations periodically recorded. Upon approaching an earlier geographic location, a controller associated with the vehicle may close the boundary (to form an enclosed area) upon sensing return or proximity to the earlier geographic location.
1 . A method of defining a boundary of a work region, comprising:
moving a vehicle along a path around a work region, wherein the vehicle is associated with a detection zone that is defined by a predetermined size and that is positioned relative to the vehicle;
recording a geographical location at each of a plurality of vehicle positions as the vehicle traverses the path;
sensing exiting of recorded geographical locations from the detection zone of the vehicle in response to the detection zone passing beyond the recorded geographical locations;
flagging recorded geographical locations that exit the detection zone as being candidate geographical locations for closing a boundary of the work region;
sensing return of the vehicle to a candidate geographical location in response to the candidate geographical location falling within the detection zone; and
closing the boundary of the work region in response to sensing return of the vehicle to the candidate geographical location.
2 . The method according to claim 1 , wherein a geometric center of the detection zone is located at approximately a center of the vehicle.
3 . The method according to claim 1 , wherein the detection zone is biased forward of a mid-point of the vehicle towards a front end of the vehicle.
4 . The method according to claim 1 , wherein the detection zone is located proximate a cutting deck attached to the vehicle.
5 . The method according to claim 1 , wherein:
the vehicle comprises an implement towed by the vehicle; and
the detection zone is positioned between a mid-point of the vehicle and a mid-point of the implement.
6 . The method according to claim 1 , wherein closing the boundary comprises automatically closing the boundary in response to sensing return of the vehicle to the eligible geographical location.
7 . The method according to claim 1 , wherein closing the boundary comprises issuing a notification via a user interface in response to sensing return of the vehicle to the eligible geographical location, the notification requesting user action to manually close the boundary.
8 . The method according to claim 1 , further comprising:
repeating the method to define a boundary of an exclusion zone within the boundary of the work region;
automatically determining that the exclusion zone falls within the boundary of the work region; and
autonomously operating the vehicle within the boundary of the work region while avoiding the exclusion zone.
9 . The method according to claim 1 , further comprising defining the boundary by the eligible geographical location and additional geographical locations recorded as the vehicle traversed the path away from the eligible geographical location and back to the eligible geographical location.
10 . A system for defining a boundary of a work region, comprising:
a vehicle configured to traverse a path around a work region;
a positioning sensor supported by the vehicle; and
a controller supported by the vehicle and operably coupled to the positioning sensor, the controller configured to:
record a geographical location at each of a plurality of vehicle positions as the vehicle traverses the path, wherein the vehicle is associated with a detection zone that is defined by a predetermined size and that is positioned relative to the vehicle;
sense exiting of recorded geographical locations from the detection zone of the vehicle in response to the detection zone passing beyond the recorded geographical locations;
flag the recorded geographical locations that exit the detection zone as being candidate geographical locations for boundary closure;
sense return of the vehicle to a candidate geographical location in response to the candidate geographical location falling within the detection zone; and
close a boundary of the work region in response to sensing return of the vehicle to the candidate geographical location.
11 . The system according to claim 10 , wherein the vehicle comprises either: a grounds care vehicle comprising a grounds care implement and operable in an autonomous mode; or a survey vehicle.
12 . The system according to claim 10 , comprising a user interface operably coupled to the controller, the user interface configured to receive a user command to initiate defining of the boundary.
13 . The system according to claim 10 , comprising a user interface operably coupled to the controller, the user interface configured to one or both of visually and audibly communicate status of defining the boundary.
14 . The system according to claim 10 , comprising a user interface operably coupled to the controller, wherein the user interface is a component of the vehicle, or is a component of a separate electronic device communicatively coupled to the controller.
15 . The system according to claim 10 , wherein a geometric center of the detection zone is located at approximately a center of the vehicle.
16 . The system according to claim 10 , wherein:
the vehicle comprises a front end and a rear end; and
the detection zone is biased forward of a mid-point of the vehicle towards the front end.
17 . The system according to claim 10 , wherein the detection zone is located proximate a cutting deck of the vehicle.
18 . The system according to claim 10 , wherein:
the vehicle comprises a grounds care implement towed by the vehicle; and
the detection zone is positioned between a mid-point of the vehicle and a mid-point of the implement.
19 . The system according to claim 10 , wherein the predetermined size of the detection zone is larger than the size of the vehicle.
20 . The system according to claim 10 , wherein the predetermined size of the detection zone corresponds to a width of the vehicle or a radius of the vehicle.
21 . The system according to claim 10 , wherein the controller is configured to autonomously work the work region within the boundary using a grounds care implement.
22 . The system according to claim 21 , wherein the grounds care implement comprises one of a cutting deck, an aerator, a snow clearing implement, a fertilizing implement, and a weed management implement.
23 . The method of claim 1 , wherein the size of the detection zone is different than a size of a sensing zone of a non-contact obstacle detection sensor of the vehicle.
24 . The system of claim 10 , further comprising a non-contact obstacle detection sensor, wherein the size of the detection zone is different than a sensing zone of the non-contact obstacle detection sensor of the vehicle.