US 12,389,822 B2
System and method for operating an autonomous robotic working machine within a travelling containment zone
Ryan Douglas Ingvalson, Loretto, MN (US); Jason Thomas Kraft, Stillwater, MN (US); and Alexander Steven Frick, Farmington, MN (US)
Assigned to THE TORO COMPANY, Bloomington, MN (US)
Filed by THE TORO COMPANY, Bloomington, MN (US)
Filed on Jun. 15, 2023, as Appl. No. 18/210,285.
Application 18/210,285 is a continuation of application No. 17/154,505, filed on Jan. 21, 2021, granted, now 11,716,926.
Application 17/154,505 is a continuation of application No. 16/636,079, granted, now 10,932,409, previously published as PCT/US2018/059573, filed on Nov. 7, 2018.
Claims priority of provisional application 62/599,938, filed on Dec. 18, 2017.
Claims priority of provisional application 62/588,680, filed on Nov. 20, 2017.
Prior Publication US 2023/0320265 A1, Oct. 12, 2023
Int. Cl. A01D 34/00 (2006.01); G05D 1/00 (2006.01); A01D 34/64 (2006.01); A01D 101/00 (2006.01)
CPC A01D 34/008 (2013.01) [G05D 1/0219 (2013.01); G05D 1/0223 (2013.01); A01D 34/64 (2013.01); A01D 2101/00 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method of operating an autonomous working vehicle within a property containing at least one work region, the method comprising:
defining, with an electronic controller associated with the working vehicle, a travelling containment zone that lies at least partially within a first work region of the at least one work region, the travelling containment zone defining a zone area that is less than an area of the first work region;
autonomously transporting the working vehicle from a location outside of the travelling containment zone to a location within the travelling containment zone via transport of the working vehicle along a path from the location outside of the travelling containment zone to the location within the travelling containment zone; and
moving the travelling containment zone across the first work region while the working vehicle operates within the travelling containment zone, wherein moving the travelling containment zone comprises: adding a portion of the first work region located adjacent a leading edge of the travelling containment zone to the zone area; and removing a portion of the zone area located adjacent a trailing edge of the travelling containment zone from the zone area.