Method of generating a three-dimensional map of a lawn and its use to improve mowing efficiency

• US 10,188,029 B1
• Filed: 10/20/2015
• Issued: 01/29/2019
• Est. Priority Date: 10/20/2014
• Status: Active Grant

• Current Assignee: Hydro-Gear Limited Partnership
• Original Assignee: Hydro-Gear Limited Partnership
• Inventors: Brown, Alyn G., Dunten, David H.
• Primary Examiner(s): Smith, Jelani A
• Assistant Examiner(s): WALLACE, DONALD JOSEPH
• Application Number:
  US14/918,455
• Time in Patent Office: 1,197 Days
• CPC Class Codes: A01D 34/006 Control or measuring arrangements
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method is provided for generating a three-dimensional geographical map of a lawn using a mower equipped with sensors for monitoring geographic location, pitch and roll, comprising the steps of: periodically acquiring position, pitch and roll data as the lawn is mowed; transmitting the geographic location, pitch and roll data to a computer processor; and processing the geographic location, pitch and roll data to generate the map. The method is useful for enhancing mowing efficiency and managing the activities of a fleet of mower units.

Claims

1. A method comprising the steps of:

operating a plurality of devices on a plurality of lawns according to a first schedule, each device having at least one sensor wherein the plurality of devices comprises two or more different types of devices;

generating, for each device, a respective map including;

setting a positioning point for the device;

acquiring a data set from the at least one sensor in relation to the device'"'"'s orientation, motion and position relative to the positioning point, the data set comprising (i) pitch and roll data of the device, and (ii) data selected from a group consisting of GPS location, speed, velocity, acceleration, power usage, fuel usage, and combinations thereof;

transmitting the data set to a processor; and

processing the data set through the processor to generate the map;

determining, based on the generated maps, an operational efficiency of the plurality of devices operating according to the first schedule;

determining a second schedule for the plurality of devices based on the operational efficiency; and

operating the plurality of devices on the plurality of lawns according to the second schedule.

2. The method of claim 1, wherein the generating the map step further comprises displaying the maps on a display device selected from a group consisting of a remote computer screen, a portable communication device, an onboard computer screen, and a printout.

3. The method of claim 1, wherein the generating the map step further comprises generating three-dimensional contour maps.

4. The method of claim 3, wherein the generating the three-dimensional contour map step further comprises providing an information set about a perimeter of a respective lawn, and wherein the information set includes a size data set, a shape data set and a location data set of at least one non-mowable section within the perimeter of the respective lawn.

5. The method of claim 4, wherein the generating the map step further comprises displaying the map on a display device selected from a group consisting of a computer screen and a portable communication device and wherein the displaying the map step further comprises depicting the at least one non-mowable section with a symbol selected from a group consisting of a text, a color, a hash mark, and a combination thereof.

6. The method of claim 1, wherein determining the second schedule further comprises selecting the second schedule based on a parameter selected from a group consisting of operation time period, operation fuel usage, operation power usage, and combinations thereof.

7. A system, comprising:

a plurality of vehicles, each vehicle having one or more sensors, wherein the plurality of vehicles comprises two or more different types of vehicles; and

a processor in communication with each of the plurality of vehicles, the processor configured to;

acquire geographic location data of the plurality of vehicles as the plurality of vehicles move on a plurality of lawns according to a first schedule;

acquire sensor data from the one or more sensors, the acquired sensor data comprising pitch and roll data of the plurality of vehicles;

for each of the plurality of vehicles, determine an information set about a perimeter of one of the plurality of lawns, and wherein the information set includes a size data set, a shape data set and a location data set of at least one non-mowable section within the perimeter of the one lawn;

generate a plurality of respective maps, each map being based on the acquired geographic location data and the acquired sensor data of one of the plurality of vehicles;

determine, based on the generated maps, an operational efficiency of the plurality of vehicles operating according to the first schedule; and

determine a second schedule for the plurality of vehicles based on the operational efficiency.

8. The system of claim 7, wherein the processor is further configured to display the maps on a display device selected from a group consisting of a remote computer screen, a portable communication device, an onboard computer screen, and a printout.

9. The system of claim 7, wherein the processor is further configured to generate three-dimensional contour maps.

10. The system of claim 7, wherein the processor is further configured to display the maps on a display device selected from a group consisting of a computer screen and a portable communication device and wherein displaying the maps further comprises depicting the at least one non-mowable section with a symbol selected from a group consisting of a text, a color, a hash mark, and a combination thereof.

11. The system of claim 7, wherein the processor is further configured to acquire sensor data selected from a group consisting of GPS location, speed, velocity, acceleration, power usage, fuel usage, and combinations thereof.

12. The system of claim 7, wherein the processor is further configured to determine the second schedule for the plurality of vehicles based on a parameter selected from a group consisting of operation time period, operation fuel usage, operation power usage, and combinations thereof.

13. A system, comprising:

a plurality of vehicles, each vehicle having one or more sensors, wherein the plurality of vehicles comprises two or more different types of vehicles; and

a processor configured to;

acquire geographic location data of the plurality of vehicles as the plurality of vehicles move on a plurality of lawns according to a first schedule;

acquire sensor data from the one or more sensors, the acquired sensor data comprising (i) pitch and roll data of the plurality of vehicles, and (ii) sensor data selected from a group consisting of GPS location, speed, velocity, acceleration, power usage, fuel usage, and combinations thereof;

generate a plurality of respective maps based on the acquired geographic location data and the acquired sensor data; and

determine, based on the generated maps, an operational efficiency of the plurality of vehicles operating according to the first schedule; and

determine a second schedule for the plurality of vehicles based on the operational efficiency.

14. The system of claim 13, wherein the processor is further configured to display the maps on a display device selected from a group consisting of a remote computer screen, a portable communication device, an onboard computer screen, and a printout.

15. The system of claim 13, wherein the processor is further configured to generate three-dimensional contour maps.

16. The system of claim 13, wherein the processor is further configured to provide an information set about a perimeter of a first lawn of the plurality of lawns, and wherein the information set includes a size data set, a shape data set and a location data set of at least one non-mowable section within the perimeter of the first lawn.

17. The system of claim 16, wherein the processor is further configured to display the maps on a display device selected from a group consisting of a computer screen and a portable communication device and wherein displaying the maps further comprises depicting the at least one non-mowable section with a symbol selected from a group consisting of a text, a color, a hash mark, and a combination thereof.

18. The system of claim 13, wherein the processor is further configured to determine the second schedule for the plurality of vehicles based on a parameter selected from a group consisting of operation time period, operation fuel usage, operation power usage, and combinations thereof.