US 12,433,179 B2
Vehicle with detection system for detecting ground surface and sub-surface objects, and method for controlling vehicle
Michael Ryan Davern, Eagan, MN (US); and Rex Ray Bergsten, Burnsville, MN (US)
Assigned to THE TORO COMPANY, Bloomington, MN (US)
Appl. No. 17/624,734
Filed by THE TORO COMPANY, Bloomington, MN (US)
PCT Filed Jul. 30, 2020, PCT No. PCT/US2020/044165
§ 371(c)(1), (2) Date Jan. 4, 2022,
PCT Pub. No. WO2021/025933, PCT Pub. Date Feb. 11, 2021.
Claims priority of provisional application 62/889,253, filed on Aug. 20, 2019.
Claims priority of provisional application 62/883,526, filed on Aug. 6, 2019.
Prior Publication US 2022/0248589 A1, Aug. 11, 2022
Int. Cl. A01B 45/02 (2006.01); A01D 34/00 (2006.01); B60W 10/08 (2006.01); B60W 50/16 (2020.01); G01S 13/56 (2006.01); G01S 13/931 (2020.01); G06K 19/07 (2006.01); H01Q 1/32 (2006.01); H04B 17/318 (2015.01); B60W 50/14 (2020.01)
CPC A01B 45/023 (2013.01) [B60W 50/16 (2013.01); G01S 13/56 (2013.01); G01S 13/931 (2013.01); G06K 19/0723 (2013.01); H01Q 1/3233 (2013.01); H04B 17/318 (2015.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2420/408 (2024.01)] 10 Claims
OG exemplary drawing
 
1. A powered ground maintenance vehicle comprising:
a chassis supported upon a ground surface by ground contact members;
a prime mover attached to the chassis;
a traction drive system powered by the prime mover and adapted to selectively power one or more of the ground contact members to propel the vehicle over the ground surface;
a ground maintenance implement carried by the chassis;
an implement engagement system connecting the implement to the chassis, the engagement system adapted to selectively engage the implement with, and disengage the implement from, the ground surface;
a detection system comprising a Radio Frequency Identification (RFID) antenna adapted to monitor a detection zone forward of the implement and detect an RFID tag associated with an object passing through the detection zone as the vehicle traverses the ground surface, wherein the detection system is further adapted to periodically capture object information associated with the object while the object remains in the detection zone; and
an electronic controller adapted to communicate with the detection system, wherein the controller is adapted to receive the object information and estimate a time, based upon vehicle ground speed, when the implement will reach the object, and wherein the controller is further adapted to issue a notification to disengage the implement from the ground surface before the implement contacts the object.