Patent Description:
Lawn and garden vehicles are known for performing a variety of tasks. For instance, powered lawn mowers are used by both homeowners and professionals alike to maintain turf areas within a property or yard.

Robotic mowers that autonomously perform a grass cutting function are also known. Autonomous mowers typically include a cutter housing having a cutting member or blade. A battery-powered electric motor is generally included to power both the cutting blade as well as a propulsion system. Depending on the property size, the mower may cut only a portion of the property before returning to a base station for battery re-charging.

Autonomous mowers typically cut grass in a random travel pattern within the property boundary. Some autonomous mowers define the property boundary by a continuous boundary marker, e.g., an energized wire laying on, or buried beneath, the lawn. Such boundary wires may also extend into the interior of the yard to demarcate obstacles (e.g., trees, flower beds, etc.) or other excluded areas. The mower may then move randomly within the areas delineated by the boundary wire.

While effective, installing boundary wire is perceived as a time-consuming process, especially for larger yards or those with intricate borders. Moreover, after installation, boundary wires may be inadvertently damaged, especially when the wire is laid upon, rather than beneath, the ground surface. Still further, a secondary device (manual lawn mower or string trimmer) may be needed to mow areas of the property inaccessible to the autonomous mower.

<CIT> discloses a method of mapping an area to be mowed with an autonomous mowing robot comprising receiving mapping data from a robot lawnmower, the mapping data specifying an area to be mowed and a plurality of locations of beacons positioned within the area to be mowed, and receiving at least first and second geographic coordinates for first and second reference points that are within the area and are specified in the mapping data. The mapping data is aligned to a coordinate system of a map image of the area using the first and second geographic coordinates. The map image is displayed based on aligning the mapping data to the coordinate system.

Embodiments described herein may provide, among other benefits, methods for autonomous vehicles that permit handle usage when the vehicle is in a manual mode of operation (e.g., for manual mower operation/transport or for perimeter training), and onboard handle storage when the vehicle is in an autonomous mode of operation.

In one embodiment useful for understanding the invention, an autonomous vehicle is provided that includes: a housing comprising a working member; and a handle assembly connected to the housing, wherein the handle assembly is movable between a first position and a second position. The vehicle is operable to perform a work function autonomously when the handle assembly is in the first position and move under manual (e.g., operator) control when the handle assembly is in the second position. The handle assembly is adapted to move from the first position to the second position by telescopically collapsing.

In another embodiment useful for understanding the invention, an autonomous mower is provided that includes: a housing; a cutting blade assembly carried by the housing; a handle assembly connected to the housing, the handle assembly moveable between a first or autonomous mode position and a second or manual mode position; a sensor adapted to both: detect when the handle assembly is moved away from the first position; and generate a signal representative thereof; and a controller associated with the housing, wherein the controller, upon receipt of the signal, automatically disables an autonomous mode of operation of the mower.

In still another embodiment useful for understanding the invention, an autonomous mower is provided that includes: a housing; a cutting blade assembly carried by the housing and operable to cut grass; a handle assembly connected to the housing, the handle assembly moveable between a first or autonomous mode position and a second or manual mode position; a cradle attached to the handle assembly, the cradle adapted to hold a mobile computer in an orientation visible to an operator standing behind the housing; and a controller associated with the housing, wherein the controller is adapted to communicate with the mobile computer during a training phase of the mower.

In still yet another embodiment, a method of training an autonomous vehicle to operate within a work region is provided, wherein the method includes: deploying a handle assembly connected to a housing of the vehicle from a first or autonomous mode position to a second or manual mode position; placing a mobile computer on a cradle attached to the handle assembly; initiating communication between the mobile computer and an electronic controller associated with the vehicle; selecting a boundary training phase of the vehicle via interaction with the mobile computer; traversing a boundary of the work region; collecting data associated with the boundary as the vehicle traverses the boundary of the work region; generating, with the controller, the mobile computer, or a remote computer a mapped boundary path based upon the data associated with the boundary; and indicating, on the mobile computer, whether the mapped boundary path satisfies path criteria.

In yet another embodiment, a method of training an autonomous vehicle to operate within a work region is provided, wherein the method includes: deploying a handle assembly connected to a housing of the vehicle from an autonomous mode position to a manual mode position; placing a mobile computer on a cradle attached to the handle assembly; initiating communication between the mobile computer and a controller associated with vehicle; initiating a transit path training phase of the vehicle via application software operating on the mobile computer; traversing a transit path across a portion of the work region; and collecting data associated with the transit path as the vehicle traverses the transit path.

In still yet another embodiment useful for understanding the invention, a mower system is provided, wherein the system includes a mower and a base station, the base station adapted to receive the mower when the mower is in a horizontal orientation during periods of inactivity of the mower. The mower and base station are adapted to be secured to one another to form a storage assembly, wherein the storage assembly comprises a hanging structure that permits the mower and base station together to be hung in a vertical orientation for storage.

The above summary is not intended to describe each embodiment or every implementation. Rather, a more complete understanding of illustrative embodiments will become apparent and appreciated by reference to the following Detailed Description of Exemplary Embodiments and claims in view of the accompanying figures of the drawing.

Exemplary embodiments will be further described with reference to the figures of the drawing, wherein:.

The figures are rendered primarily for clarity and, as a result, are not necessarily drawn to scale. Moreover, various structure/components, including but not limited to fasteners, electrical components (wiring, cables, etc.), and the like, may be shown diagrammatically or removed from some or all of the views to better illustrate aspects of the depicted embodiments, or where inclusion of such structure/ components is not necessary to an understanding of the various exemplary embodiments described herein. The lack of illustration/description of such structure/components in a particular figure is, however, not to be interpreted as limiting the scope of the various embodiments in any way.

In the following detailed description of illustrative embodiments, reference is made to the accompanying figures of the drawing which form a part hereof. It is to be understood that other embodiments, which may not be described and/or illustrated herein, are certainly contemplated.

All headings provided herein are for the convenience of the reader and should not be used to limit the meaning of any text that follows the heading, unless so specified. Moreover, unless otherwise indicated, all numbers expressing quantities, and all terms expressing direction/orientation (e.g., vertical, horizontal, parallel, perpendicular, etc.) in the specification and claims are to be understood as being modified in all instances by the term "about. " Further, the term "and/or" (if used) means one or all of the listed elements or a combination of any two or more of the listed elements. Still further, "i.e." may be used herein as an abbreviation for the Latin phrase id est and means "that is," while "e.g." may be used as an abbreviation for the Latin phrase exempli gratia and means "for example.

Embodiments of the present disclosure are directed to methods of operating autonomous vehicles having a working member or tool within a predefined work region. Such vehicles may operate in an autonomous mode wherein a work function (e.g., cutting grass) is performed autonomously. Exemplary vehicles as described herein may also operate in a manual mode suitable for, among other purposes, boundary or perimeter training of the vehicle by manually guiding the vehicle along boundaries of the work region.

One exemplary vehicle may be configured as an autonomous lawn mower adapted to cut grass as the mower travels over the work region. In the autonomous mode, mowers in accordance with embodiments of the present disclosure may perform the work function with little or no involvement from an operator. Again, however, such mowers may also be selectively configured in a manual mode. While the manual mode provides other benefits, it may provide a handle that is particularly useful for allowing the operator to manually guide the mower along boundaries (or designated paths) of the work region so that the mower may "learn" the boundary location (e.g., via odometry, vision sensors, geo-positioning, beacon location, etc.).

As used herein, "work region" may include an area bounded by a perimeter within which the mower will operate. The work region includes mowing areas (areas that will be mowed during operation), and, optionally, exclusion zones. "Exclusion zones" or areas are zones contained within the work region in which the mower will not operate (e.g., sidewalks, driveways, gardens, etc.). Embodiments of the present disclosure are suitable for training not only the work region perimeter, but also the boundaries of these exclusion zones, as well as transit paths across exclusion zones where needed.

In addition to using the handle for training of the mower, the manual mode of the mower may also be used for manual mowing tasks. For example, the handle could be deployed when the operator wishes to perform the work function (mowing) under direct control (e.g., when the operator wishes to operate the mower as a conventional walk power mower). Notwithstanding the ability of the mower to mow when in the manual mode, the manual mode will generally be described herein in the context of a training phase of the mower.

Accordingly, embodiments useful for understanding the invention of the present disclosure may provide a handle or handle assembly moveable between an autonomous mode position and a manual mode position corresponding to the autonomous and manual (e.g., training) modes, respectively, of the mower. As used herein, the term "movable" may refer to handles that are permanently attached to the mower and movable between the autonomous mode position and the manual mode position, as well as to handles that are attached to the mower in the manual mode position yet detached from the mower in the autonomous mode position.

While described herein as an autonomous mower, such a configuration is exemplary only as systems and methods described herein also have application to other autonomously operated vehicles having most any working member including, for example, commercial turf products, other ground working vehicles (e.g., debris blowers/vacuums, aerators, material spreaders, snow throwers), as well as indoor working vehicles such as vacuums and floor scrubbers/cleaners. In fact, aspects of the present disclosure may find application to most any autonomous vehicle that utilizes a working member to perform a work function.

It is noted that the terms "comprises" and variations thereof do not have a limiting meaning where these terms appear in the accompanying description and claims. Further, "a," "an," "the," "at least one," and "one or more" are used interchangeably herein. Moreover, relative terms such as "left," "right," "front," "fore," "forward," "rear," "aft," "rearward," "top," "bottom," "side," "upper," "lower," "above," "below," "horizontal," "vertical," and the like may be used herein and, if so, are from the perspective shown in the particular figure, or while the vehicle (e.g., mower <NUM>) is operating upon a ground surface <NUM> as shown in <FIG>. These terms are used only to simplify the description, however, and not to limit the interpretation of any embodiment described.

Still further, reference numeral suffixes "a" and "b" may, where beneficial, be used to denote various left- and right- side parts/features, respectively. However, in most pertinent respects, the parts/features denoted with "a" and "b" suffixes are substantially identical to, or mirror images of, one another. It is understood that, unless otherwise noted, the description or identification of an individual part/feature (e.g., part/feature identified with an "a" suffix) also applies to the opposing part/feature (e.g., part/feature identified with a "b" suffix). Similarly, the description or identification of a part/feature identified with no suffix may apply, unless noted otherwise, to both the corresponding left- and right- side part/feature.

<FIG> provide a perspective view and cut-away side elevation view, respectively, of an exemplary autonomous vehicle, e.g., autonomous lawn mower <NUM>, configured in a manual mode (e.g., for manual operation and/or a training phase) in accordance with embodiments of the present disclosure. As shown in these views, the mower <NUM> may include a housing <NUM> ("housing" is used herein to collectively refer to both a chassis or frame of the mower, as well as a perimeter bump shroud movably attached to the chassis) and an associated working member carried by the housing (e.g., cutting blade assembly <NUM>; shown diagrammatically in <FIG>, but see <FIG>), the housing supported in rolling engagement upon the ground surface <NUM> by a plurality of ground-engaging members. For example, rear wheels <NUM> (e.g., rear wheels 106a and 106b (see <FIG>)) and front wheels <NUM> (e.g., front wheel 108a and 108b (see also <FIG>)) may be attached, respectively, at or near the rear and front sides, respectively, of the housing as shown. The wheels may rotate, relative to the housing <NUM>, as the housing moves over the ground surface <NUM>. Some of the wheels (e.g., the rear wheels <NUM>) may be powered to propel the mower during operation. For example, the rear wheels <NUM> may be independently driven in forward and reverse directions, while the front wheels may passively caster.

In the illustrated embodiments useful for understanding the invention, the housing <NUM> may define a cutting deck supporting a working member configured as a cutting blade assembly <NUM> as further described below and shown in <FIG>. The housing may include an upper chamber wall <NUM> (see <FIG>) and downwardly extending sidewalls (e.g., left and right sidewalls 103a, 103b, and front sidewall <NUM>) forming a partially enclosed, downwardly opening cutting chamber <NUM>. While described as forming a "chamber," the cutting blade assembly <NUM> may operate regardless of the housing shape, e.g., the blade assembly may operate without the benefit of any volute shape that may be typical with conventional rotary mowers. In some embodiments useful for understanding the invention, some or all of the sidewalls may be formed by a perimeter bump shroud that may be used to detect contact with obstacles. The transverse outer edges of the left and right sidewalls <NUM> may extend outwardly to or beyond the rear wheel track width as indicated in <FIG>.

The mower <NUM> may also include a prime mover, e.g., electric motor <NUM> (see <FIG>), that in one embodiment useful for understanding the invention, is attached to the upper chamber wall <NUM> of the housing. While illustrated herein as an electric motor <NUM>, alternative prime movers, such as internal combustion engines, are also contemplated. Other components, e.g., battery <NUM> (see <FIG>), may also be attached to (e.g., enclosed within a compartment of) the housing <NUM>.

The motor <NUM> may include an output shaft <NUM> that extends vertically downward (in <FIG>) through the upper chamber wall <NUM> of the housing <NUM> and into the cutting chamber <NUM>. The cutting blade assembly <NUM> may be attached to an end of the shaft <NUM> within the cutting chamber <NUM>. As illustrated in <FIG>, the cutting blade assembly <NUM> may include a plurality of cutting blades <NUM> (e.g., four cutting blades) attached to a disk <NUM>. In some embodiments useful for understanding the invention, each of the cutting blades <NUM> may be pivotally attached to the disk <NUM> by a pin or fastener <NUM>. The disk <NUM> may be attached, directly or indirectly, to the output shaft <NUM>, by a fastener <NUM>.

During operation, the output shaft <NUM> rotates the cutting blade assembly <NUM> at a speed sufficient to permit the blades <NUM> to cut grass and other vegetation over which the housing <NUM> passes. By pivotally connecting each cutting blade <NUM> to the rotating disk <NUM>, the cutting blades are capable of incurring blade strikes against various objects (e.g., rocks, tree roots, etc.) without causing excessive damage to the blades <NUM>, blade assembly <NUM>, shaft <NUM>, or motor <NUM>. Moreover, while described herein in the context of one or more cutting "blades," other cutting elements including, for example, conventional mower blades, string or line elements, etc., are certainly possible.

Once again, the sidewalls <NUM>, <NUM> do not necessarily define walls that interact with the cutting blade assembly <NUM> in a manner similar to a conventional walk power mower (e.g., the cutting width of the blade assembly <NUM> may be significantly less that the width of the housing <NUM>). Rather, the sidewalls/bump shroud are primarily intended to prevent contact of the spinning blades with obstacles.

As stated above, the wheels <NUM> are powered at least during autonomous operation (e.g., by the motor <NUM> or separate wheel motors (not shown)) so that the mower <NUM> is self-propelled. While shown having four wheels, other embodiments useful for understanding the invention may utilize any number of wheels. Still further, as used herein, "wheels" may include other ground-engaging members such as tracks, rollers, or skids.

The mower <NUM> may include a controller <NUM> (see <FIG>) adapted to monitor and control various mower functions including, for example, the selection of an autonomous mode or a manual mode of the mower <NUM>. In some embodiments useful for understanding the invention, the mower <NUM>/controller <NUM> may detect a position of a handle or handle assembly <NUM> (see <FIG>) connected to the housing <NUM>. That is to say, the controller <NUM> may receive handle position data and, in response, control whether the mower <NUM> operates in the autonomous mode or the manual mode. "Handle assembly and "handle" are used herein to refer to both a unitary (e.g., single piece) handle construction as well as an assembly of components that together form a handle. These terms may be used interchangeably herein without limitation.

The exemplary controller <NUM> may include a processor <NUM> and memory <NUM>, where the processor <NUM> receives various inputs and executes one or more computer programs or applications stored in the memory <NUM>. The memory <NUM> may include computer-readable instructions or applications that, when executed, e.g., by the processor <NUM>, cause the controller <NUM> to perform various calculations and/or issue various commands. That is to say, the processor <NUM> and memory <NUM> may together define a computing apparatus operable to process input data and generate the desired output to one or more components/devices.

The handle assembly <NUM> may, in some embodiments useful for understanding the invention, be movable or otherwise configurable, relative to the housing <NUM>, between a first position (also referred to herein as the autonomous mode position) and a second position (also referred to herein as a manual mode position). As described herein, the mower <NUM> may be adapted to perform its work function (i.e., cutting grass) autonomously when the handle assembly is in the first position, and perform the work function (or operate in a training phase with or without blade assembly operation) under manual control when the handle assembly is in the second position.

As stated above, the controller <NUM> may, in some embodiments useful for understanding the invention, detect when the handle assembly <NUM> is in either or both of the first position and the second position. For example, movement of the handle assembly <NUM> to the manual mode position (see <FIG>, wherein the handle assembly extends outwardly (e.g., rearwardly and upwardly) from the housing in a manner similar to a conventional mower) - or otherwise moved away from the autonomous mode position - may be detected by sensors or switches <NUM> (140a and 140b; see <FIG>) that then generate or provide a signal representative thereof to the controller <NUM>. The controller <NUM> may then, upon receipt of the signal, permit operation (e.g., collection of training information and/or operation of the motor <NUM>/cutting blade assembly <NUM>) in the manual mode. That is to say, the controller <NUM> may automatically disable the autonomous mode of operation of the mower when the handle assembly is in the manual mode position or is otherwise not in the autonomous mode position. Moreover, the controller <NUM> may be adapted to permit initiation of the training phase only when the handle assembly is in the manual mode position. Once again, the manual mode position of the handle assembly <NUM> may also be beneficial to manual mowing operation and non-operational transport of the mower <NUM> (e.g., transport of the mower to a storage location and/or manually pushing the mower when the battery is drained).

Movement of the handle assembly <NUM> to the autonomous mode position (see, e.g., <FIG>), on the other hand, may also be detected by the same (or different) sensors or switches <NUM>, and a corresponding signal provided to the controller <NUM>. That is to say, moving the handle assembly <NUM> to the autonomous mode position (see <FIG>) may be a prerequisite to enable the autonomous mode of operation of the mower.

The handle assembly <NUM> is shown in the manual mode position in <FIG>, while <FIG> illustrates an intermediate or transitioning position of the handle assembly to the autonomous mode position shown in <FIG>. Once again, while illustrated as moving between its two positions via collapsing into or onto the housing <NUM>, such a configuration is exemplary as embodiments useful for understanding the invention wherein the handle assembly completely detaches from the housing <NUM> when in the autonomous mode position are also contemplated.

During operation in either the manual or autonomous mode, the processor <NUM> may receive various input data including, for example, positional data from a global positioning system (GPS) receiver (not shown). In other embodiments useful for understanding the invention, one or more of the wheels <NUM>, <NUM> may include encoders (also not shown) that provide wheel rotation/speed (e.g., odometry) information that may be used to estimate mower position (e.g., based upon an initial start position) within a given work region. Other sensors (e.g., infrared, radio detection and ranging (radar), light detection and ranging (lidar), etc.) now known or later developed may also be incorporated into the mower <NUM>. The mower <NUM> may optionally include sensors adapted to detect a boundary wire if such detection is needed. Still further, the housing may include a radio <NUM> (see <FIG>) or other communication device adapted to permit wireless communication with wide area networks (e.g., cellular data networks), local area networks (e.g., residential wireless networks), and/or personal area networks (e.g., short-range networks such as those utilizing "Bluetooth" communication protocols).

In the autonomous mode, the controller <NUM> may generate speed and steering angle commands to drive wheel motor(s) (not shown), which cause the drive wheels <NUM> to rotate (at the same or different speeds and in the same or different directions). In other words, the controller <NUM> may control the steering angle and speed of the mower <NUM>, as well as the speed and operation of the cutting blade assembly <NUM>, during autonomous mode operation.

The functionality of the controller <NUM> may be implemented in any manner known to one skilled in the art. For instance, the memory <NUM> may include any volatile, non-volatile, magnetic, optical, and/or electrical media, such as a random-access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), electrically-erasable programmable ROM (EEPROM), flash memory, and/or any other digital media. While shown as both being incorporated into the controller <NUM>, the memory <NUM>, and the processor <NUM> could be contained in separate modules.

The processor <NUM> may include any one or more of a microprocessor, a controller, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), and/or equivalent discrete or integrated logic circuitry. In some embodiments useful for understanding the invention, the processor <NUM> may include multiple components, such as any combination of one or more microprocessors, one or more controllers, one or more DSPs, one or more ASICs, and/or one or more FPGAs, as well as other discrete or integrated logic circuitry. The functions attributed to the controller/processor herein may be embodied as software, firmware, hardware, or any combination thereof. In at least one embodiment useful for understanding the invention, various subsystems of the mower <NUM>, as described above, could be connected in most any manner, e.g., directly to one another, wirelessly, via a bus architecture (e.g., controller area network (CAN) bus), or any other connection configuration that permits data and/or power to pass between the various components of the mower.

The following description may be organized by headings and/or subheadings for presentation only. The particular headings/subheadings are not intended to limit in any way the embodiments described therein, i.e., alternative embodiments may be found elsewhere in the specification, and the specification is to be viewed as a whole.

The autonomous mower <NUM> may also include an operator handle assembly connected to the housing, embodiments useful for understanding the inventionof which are as shown in <FIG>, and <FIG>. In some embodiments useful for understanding the invention, exemplary handle assemblies <NUM> (see <FIG>, and <FIG>) may be formed by at least one handle member or tube <NUM> that attaches to the housing <NUM>. For example, the handle assembly <NUM> may be formed by spaced-apart left and right handle tubes 122a, 122b as shown in <FIG>. The tubes <NUM> may pivotally attach to the housing <NUM> at their respective proximal ends and be joined near their distal ends by a cross member forming a transverse grip area <NUM>. Accordingly, the handle assembly <NUM> may form a generally U-shaped structure. In other embodiments useful for understanding the invention, the handle assembly <NUM> could utilize a single handle tube or member, where the grip area is formed by transversely extending portions (e.g., a T-shaped handle assembly). Regardless of the particular handle assembly construction, the handle assembly <NUM> may be movable or otherwise reconfigurable between a first (autonomous mode) position (see, e.g., <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, and <FIG>), and a second (manual mode) position (see, e.g., <FIG> and <FIG>).

As stated above and illustrated diagrammatically in <FIG>, the mower <NUM> may, in some embodiments useful for understanding the invention, include one or more switches or sensors <NUM> that, along with the controller <NUM>, assist in detecting the position of the handle assembly <NUM> (or assembly <NUM> described below), e.g., whether the handle assembly is in the autonomous mode position and/or in the manual mode position. While <FIG> illustrates a switch/sensor associate with each side (e.g., sensor 140a for tube 122a and sensor 140b for tube 122b), other embodiments useful for understanding the invention may utilize a single sensor.

In response to detecting that the handle assembly <NUM>/tubes <NUM> are in the manual mode position of <FIG>, the controller <NUM> may disable or prevent autonomous mode functionality and instead permit operation of the mower <NUM> in the manual mode, which may be required during a training phase as further described below. Likewise, in response to detecting, among other things, that the handle assembly <NUM>/tubes <NUM> are in the autonomous mode position (see, e.g., <FIG>), the controller may permit autonomous mode functionality (e.g., execute autonomous mowing algorithms associated with the autonomous mode), assuming other requirements are also satisfied.

Accordingly, the sensors/switches <NUM> may function as interlocks to ensure that the mower <NUM> operates in the autonomous mode only when the handle assembly is in the autonomous mode position, and in the manual mode when the handle assembly is not in the autonomous mode position (e.g., is in the manual mode position). As a result, during transition of the handle assembly from the manual mode position to the autonomous mode position (and vice versa), the motor <NUM> (and other motors/systems) may, in some embodiments useful for understanding the invention, be disabled by the controller <NUM>.

These handle assembly position detection features may be optional. That is, mowers wherein the controller <NUM> is unaware of the handle assembly position are also contemplated within the scope of this disclosure.

As illustrated in <FIG>, when in the manual mode position, the handle assembly <NUM> may extend generally rearwardly and upwardly from the housing <NUM> in a manner similar to a conventional (non-autonomous) walk power mower. The grip areas <NUM> may be spaced apart from the housing <NUM> when the handle assembly <NUM> is in the manual mode position to ensure that the operator, when gripping the grip area <NUM> of the handle assembly <NUM>, is located at a predetermined distance from the housing <NUM>.

As stated above, the autonomous mode position and the manual mode position of the handle assembly <NUM> may correspond to the two modes of operation of the mower <NUM>. Advantageously, the ability to reconfigure the mower <NUM> between the autonomous and manual modes allows the mower <NUM> to operate autonomously while mowing a majority of the work region, and then operate manually to address those areas that may be inaccessible during autonomous operation. Moreover, manual mode position of the handle assembly <NUM> may also be used for training the mower as further described below.

The handle assembly <NUM> may include various controls (not shown) for controlling mower operation when in the manual mode. For instance, controls (e.g., bails, buttons, levers, etc. (not shown)) for controlling propulsion, operator presence detection, blade engagement, etc., may be provided near the grip area <NUM> of the handle assembly <NUM>.

In some embodiments useful for understanding the invention, a cradle <NUM> (see <FIG> and <FIG>) may be attached to and be part of the handle assembly. The cradle may be adapted to receive and hold a mobile computer <NUM> (e.g., smartphone) as shown in <FIG> in an orientation visible to the operator standing or walking behind the housing (when the handle assembly is in the manual mode position). The mobile computer may support a communication protocol compatible with a radio of the mower <NUM> (see, e.g., radio <NUM> in <FIG>) for reasons further described below. Alternatively, the mower <NUM> and cradle <NUM> may include provisions for a wired connection (e.g., serial, Universal Serial Bus, etc.) to the controller <NUM>. Regardless of the control interface provided to the operator, he or she may control and manipulate the mower by interacting with controls associated with the handle assembly <NUM> (e.g., with virtual controls on the mobile computer).

<FIG> illustrate one embodiment useful for understanding the invention of the handle assembly <NUM>. As shown in these views, the handle assembly <NUM> may pivot in the direction <NUM> from the manual mode position (see broken line position in <FIG>) to an intermediate position (see solid line position in <FIG>), after which it may be telescopically received (slid in the direction <NUM>) into handle channels <NUM> (left handle channel 112a and right handle channe112b) formed on the housing <NUM> (shown in dotted lines in <FIG> and <FIG>) to its autonomous mode position. That is to say, the handle assembly <NUM> is adapted to move between its first or autonomous mode position and its second or manual mode position via telescopic action. While the handle channels <NUM> are illustrated in <FIG> as being contained within the housing <NUM>, other embodiments useful for understanding the invention are contemplated. For example, the tubes <NUM> could slide into receptacles or guides (not shown) at, below, or above an upper surface of the housing <NUM>.

To facilitate movement of the handle assembly <NUM> between the autonomous mode position and the manual mode position, the handle assembly <NUM> may be pivotally connected to the housing <NUM> at pivots <NUM> (e.g., tube 122a attached at pivot 113a and tube 122b attached at pivot 113b). The handle assembly <NUM>/tubes may be locked in the position shown in <FIG>, and subsequently released to allow for pivoting (folding) downwardly, as indicated by direction <NUM> in <FIG>. Subsequent to pivoting downwardly, the handle assembly <NUM>/tubes <NUM> may be slid forwardly (e.g., telescopically collapsed) into the handle channels <NUM> (e.g., the pivots <NUM> may be configured as slides that allow telescopic movement of the tubes <NUM> into the channels <NUM>) as indicated by direction <NUM> in <FIG>, resulting in the handle assembly <NUM> reaching the autonomous mode position. In the autonomous mode position, the handle assembly <NUM> may lie or extend generally parallel to the housing <NUM>, e.g., parallel to the upper surface of the housing.

Conversely, the handle assembly <NUM>/tubes <NUM> may be slid from or withdrawn from the handle channels <NUM> (pulled opposite the direction <NUM> in <FIG>) and then pivoted upwardly (opposite of arrow <NUM> in <FIG>) to the manual mode position shown in dotted lines in <FIG>. Once again, a latch or similar mechanism may be associated with the pivots <NUM> to allow locking of the handle assembly in the manual mode position. The handle assembly <NUM> may optionally be locked in the autonomous mode position to prevent the tubes <NUM> from sliding out of the handle channels <NUM>. Any suitable locking mechanism can be used for holding the handle assembly <NUM> in the manual mode position and/or the autonomous mode position.

<FIG> and <FIG> illustrate a mower <NUM> in accordance with another embodiment useful for understanding the invention of the disclosure. Like the mower <NUM>, the mower <NUM> includes a handle assembly <NUM>. However, instead of two rigid tubes 122a, 122b, the handle assembly of <FIG> may include two tube assemblies <NUM> (left tube assembly 123a and right and right tube assembly 123b) that are each configured as a plurality of telescoping elements (e.g., elements <NUM>, <NUM>, <NUM>). For instance, one (e.g., first) handle element <NUM> (150a, 150b) may be telescopically received within an intermediate handle element <NUM> (151a, 151b), wherein the first and intermediate handle elements are telescopically received within another (e.g., second) handle element <NUM> (152a, 152b). In the illustrated embodiment useful for understanding the invention, the second handle element <NUM> of each (e.g., left and right) tube assembly <NUM> may be pivotally attached to the housing <NUM> as already described herein. While illustrated herein as incorporating three handle elements, each tube assembly (including alternate embodiments useful for understanding the invention such as handle <NUM> described below) could be constructed of two handle elements. That is, each tube assembly could provide for the first handle element <NUM> to be telescopically received directly by the second handle element <NUM> without any intermediate handle element present. In still other embodiments useful for understanding the invention, each tube assembly may include two or more intermediate handle elements to produce a tube assembly having four or more handle elements.

Each tube assembly <NUM> may again be laterally spaced from, and parallel to, the other and joined to the other near their respective upper ends by the transverse grip area <NUM>, again producing a generally U-shaped handle assembly. The tube assemblies <NUM> may be pivotable, in the direction <NUM>, from the manual mode position (illustrated in broken lines in <FIG>), to a lowered, intermediate position (e.g., generally horizontal with the housing <NUM>) as shown in <FIG>.

As shown in <FIG>, each handle element <NUM> may be telescopically received within its associated intermediate handle element <NUM> by pushing in the direction <NUM>. Each handle element <NUM> (which now includes its corresponding handle element <NUM> therein in this example) is then telescopically received within its respective handle element <NUM> by continuing to push in the direction <NUM>, resulting in a telescopically collapsed handle assembly <NUM> stowed in close proximity to the housing <NUM>. Regardless of the number of handle elements provided, when the handle assembly <NUM> is in the autonomous mode position, the first handle element is telescopically received within the second handle element and the second handle element is telescopically received by, or within, the housing <NUM>.

Once again, while each of the two tube assemblies <NUM> is shown with three handle elements, any number (e.g., two or four or more) of handle elements may be used. Moreover, the elements <NUM>, <NUM>, and <NUM> may include various locks that permit the elements to remain in their extended relationship until the handle assembly is moved to the autonomous mode position. For example, female ends of the handle elements <NUM> may include a split collet and a threaded collar that permits the split collet to contract and expand in response to tightening and loosening, respectively, of the collar. Alternatively, male portions of each handle element may include a biased button that interacts with an aperture formed in the female portion of the associated handle element when the two handle elements are extended relative to each other to the positions corresponding to the manual mode position of the handle assembly. To collapse such a handle assembly, the operator may be required to depress the buttons sufficiently to permit the male elements to telescope back into the female elements. An example of another biased button embodiment useful for understanding the invention is described further below with reference to <FIG>. Each of the tube assemblies <NUM> may also include a sensor or switch (not shown) that may indicate, to the controller <NUM>, whether the tube is extended or collapsed.

<FIG> illustrate top plan views of the mower <NUM> of <FIG>, respectively, wherein: <FIG> illustrates the handle assembly <NUM> after pivoting to the intermediate position shown in <FIG>; <FIG> illustrates the handle assembly <NUM> after handle elements <NUM> have been telescopically collapsed into their respective handle elements <NUM>; and <FIG> illustrates the handle assembly <NUM> after the handle elements <NUM> have been collapsed into the respective handle elements <NUM>.

While the mower <NUM> could operate autonomously with the handle assembly <NUM> protruding rearwardly as shown in <FIG> and <FIG>, <FIG> illustrate yet another embodiment useful for understanding the invention wherein the handle assembly <NUM>, after having been telescopically collapsed to a position similar to that shown in <FIG> and <FIG>, is then pivoted forwardly, e.g., in the direction <NUM>. That is, the mower <NUM> could, like the mower <NUM> described above, include pivots <NUM> (e.g., left pivot 113a and right pivot 113b) that permit the handle assembly <NUM> to be moved from a position extending behind the mower <NUM> (as illustrated in <FIG> and <FIG>), to a position contained within the mower footprint by pivoting the handle assembly <NUM> forwardly about the pivots <NUM>.

While the handle assembly <NUM> is illustrated as generally horizontal above the mower <NUM> in the autonomous mode position in <FIG>, such a position in not limiting. That is, other embodiments useful for understanding the invention could position the handle assembly at an oblique angle relative to the housing <NUM>. Regardless, once the handle assembly <NUM> in the autonomous mode position, the aforementioned switches/sensors <NUM> (see <FIG>) may be used (at least in some embodiments useful for understanding the invention) to indicate to the controller <NUM> that the handle assembly <NUM> is in the autonomous mode position and that the mower is ready (assuming other steps are taken) for autonomous operation.

<FIG> illustrate yet other embodiments useful for understanding the invention of an autonomous mower <NUM> (shown partially in these views) incorporating a handle assembly <NUM> connected to a housing <NUM> and movable/reconfigurable between a first or autonomous mode position as shown in <FIG> (corresponding to an autonomous mode of the mower) and a second or manual mode position as shown in <FIG> (corresponding to a manual mode of the mower). Once again, in the manual mode position, the handle assembly <NUM> may extend outwardly (e.g., upwardly and rearwardly) from the housing <NUM> as shown.

Like the other mowers described herein, the mower <NUM> may include a housing <NUM> supported by ground-engaging members such as two rear wheels <NUM> and two front wheels (not shown). Other aspects of the mower <NUM> that are not described and/or illustrated may be generally similar to the mowers <NUM>, <NUM> (e.g., the mower <NUM> may include front wheels, a cutting blade assembly, motor(s), controller, etc. that are the same or similar to the components already described herein in the context of the mowers <NUM>, <NUM>) and, as such, are not separately described herein.

The handle assembly <NUM> may again be formed by telescoping sections that permit the handle assembly to extend as shown in <FIG> during manual mode operation of the mower and collapse to the position shown in <FIG> for autonomous mode operation. To permit this collapsing capability, the handle assembly <NUM> may include two (e.g., left and right) handle tube assemblies <NUM> (left tube assembly 723a and right tube assembly 123b) that each include two or more (e.g., first and second) nesting or telescoping handle elements. For example, each tube assembly <NUM> may include a first handle element <NUM> (left and right handle elements 750a, 750b) that may be telescopically received within a corresponding intermediate handle element <NUM> (left and right handle elements 751a, 751b), wherein each intermediate handle element <NUM> (with its associated first handle element <NUM>) may be telescopically received within a corresponding second handle element <NUM> (left and right handle elements 752a, 752b). As shown in <FIG>, the handle element <NUM> of each tube assembly <NUM> may, when the handle assembly is in the autonomous mode position, remain connected to and be telescopically received within the housing <NUM> as further described below. Thus, as indicated in <FIG>, the handle elements <NUM>, <NUM>, and <NUM> may, once collapsed, be stored substantially within the housing <NUM> of the mower. As is evident in <FIG>, the handle assembly <NUM> may optionally include a transverse brace <NUM> that may be attached to the upper ends of the two handle elements <NUM> as shown.

As with the other handle assemblies described herein, each tube assembly <NUM> may be laterally spaced from, and parallel to, the other. Moreover, the tube assemblies <NUM> may be joined to each other near their respective distal ends (e.g., near their upper ends when the handle assembly is in the manual mode position of <FIG>) by a transverse grip area <NUM> that is (when the handle assembly is again in the manual mode position) spaced apart from the housing, resulting once again in a generally U-shaped handle assembly. The grip area <NUM> may again provide a grip for grasping by a walk-behind operator during manual mode operation of the mower. As used herein with reference to the handle assembly <NUM>, "distal" refers to a portion of the handle assembly or a handle element that is closer to the grip area <NUM>, while the term "proximal" refers to the opposite end of the handle assembly or handle element (that portion closer to the housing when the handle assembly is in the manual mode position).

To reconfigure the handle assembly <NUM> from the manual mode position shown in <FIG> to the autonomous mode position shown in <FIG>, the handle assembly may first be collapsed, e.g., by manually displacing the grip area <NUM> in the direction <NUM> as shown in <FIG>. As the handle assembly is collapsed, the associated handle elements <NUM> may telescope into handle elements <NUM>, and then into the associated handle elements <NUM> as shown. When the handle elements <NUM>, <NUM>, and <NUM> of both tube assemblies <NUM> are sufficiently collapsed as shown in <FIG>, the handle assembly <NUM> may partially disengage from the housing <NUM> in a manner that permits the handle assembly to pivot, relative to the housing <NUM> in the direction <NUM>, to the position shown in <FIG>. Once the handle assembly <NUM> reaches the position shown in <FIG>, it may be pushed in the direction <NUM> until it reaches the autonomous mode position shown in <FIG>. The handle assembly <NUM> may be positively retained in the autonomous mode position, or it may be retained in place via friction of the various components (e.g., friction between the handle elements <NUM>, <NUM>, and <NUM>).

<FIG> illustrates the exemplary handle assembly <NUM> in isolated section when the handle assembly is in a collapsed position (i.e., as it may be when in the autonomous mode position), and <FIG> shown enlarged portions of the same. As shown in these views, the grip area <NUM> may include or have connected thereto an actuator <NUM>. The actuator <NUM> may include a button portion <NUM> extending outwardly through the grip area <NUM> so as to be accessible (e.g., for pushing) by the operator. Upon application of a manual force applied to the button portion <NUM> in a direction <NUM>, the actuator <NUM> may move in the direction <NUM> relative to the grip area <NUM> between a neutral position (solid line portion <NUM> in <FIG>) to an actuated position (partial broken line portion <NUM> in <FIG>). To constrain movement of the actuator <NUM> to the desired direction <NUM> (such direction being parallel to a centerline axis of the tube assemblies <NUM>), the actuator may define slots <NUM> that receive pins <NUM> associated with the grip area <NUM>. Selective movement of the actuator <NUM> as described may allow unlocking of the handle assembly <NUM>, i.e., movement may permit the handle element <NUM> to be telescopically received within the handle element <NUM>, the latter of which may be telescopically received within the handle element <NUM>, and the handle element <NUM> to be telescopically received within the housing <NUM>.

As the actuator <NUM> is displaced, relative to the grip area <NUM> in the direction <NUM>, a rod <NUM> (left and right rods 768a, 768b) contained within each tube assembly <NUM> is correspondingly displaced (e.g., downwardly in <FIG>). A distal end of each rod <NUM> may include a plunger <NUM> that, as the rod moves in the direction <NUM>, presses against a button <NUM> of an associated pin lock assembly <NUM> (see left pin lock assembly 770a and right pin lock assembly 770b), an example of which is illustrated diagrammatically in <FIG> (note that while pin lock assembly 770a is illustrated in <FIG>, assembly 770b may be generally identical).

Each pin lock assembly <NUM> may include a body <NUM> having a base surface <NUM>. The button <NUM> is journaled for movement relative to the body in the direction <NUM> (and in a direction opposite thereto). The button <NUM> may include an angled guide or slot <NUM> in which a follower <NUM> may move. The follower <NUM> is connected to a pin <NUM> that is journaled for movement in a direction <NUM> (and in a direction opposite thereto), which may be orthogonal to the direction <NUM>. The button <NUM> and the pin <NUM> may be constrained for movement in their desired directions by bushings or bearings <NUM> as shown in <FIG>.

A spring or other biasing element <NUM> may bias the button <NUM>, thus biasing the pin <NUM> to the extended position shown in solid lines in <FIG>. When the button <NUM> is depressed (due to the force applied by the rod <NUM> in the direction <NUM>), the follower <NUM> may move from the location shown in solid lines within the slot <NUM>, to the relative position within the slot shown in broken lines (actual pin movement would be in direction <NUM> only). As a result, the pin <NUM> retracts into the body <NUM> (e.g., from the location shown in solid lines to the location shown in broken lines).

As shown in <FIG> and <FIG>, a pin lock assembly <NUM> is associated with a proximal end of each of the handle elements <NUM> and is adapted to effectively lock the corresponding handle element <NUM> relative to the associated handle element <NUM> when the handle assembly is in the manual mode position. Similarly, a pin lock assembly <NUM> (870a, 870b) having a pin <NUM> (similar to the pin <NUM>) is associated with a proximal end of each of the handle elements <NUM> and is adapted to effectively lock the corresponding handle element <NUM> relative to the associated handle element <NUM> when the handle assembly is in the manual mode position. Further, a pin lock assembly <NUM> (970a, 970b) having a pin <NUM> (again, similar to the pin <NUM>) is associated with a proximal end of each of the handle elements <NUM> and is adapted to effectively lock the corresponding handle element <NUM> relative to the housing <NUM> when the handle assembly is in the manual mode position. The pin lock assemblies <NUM> and <NUM> may be similar (e.g., differing only in size) or even identical in construction and operation to the pin lock assembly <NUM> and are thus not separately described herein.

The pin lock assemblies <NUM>, <NUM>, and <NUM> may be used to lock or otherwise secure the associated handle elements of the handle assembly <NUM> relative to the housing <NUM> in an extended position (e.g., as when the handle assembly is in the manual mode position of <FIG>). More specifically, the pins <NUM>, <NUM>, and <NUM> of the respective pin lock assemblies <NUM>, <NUM>, and <NUM> may be biased outwardly such that they may engage apertures provided in the various handle elements and in the mower housing <NUM> as further described below to secure the handle assembly in the manual mode position of <FIG>. Moreover, the pins <NUM>, <NUM>, and <NUM> of each pin lock assembly may be selectively released to permit collapse of the handle assembly <NUM> and movement of the same to the autonomous mode position of <FIG>.

When the handle assembly <NUM> is in the manual mode position as shown in <FIG> and <FIG>, each handle element <NUM> may be extended (relative to the associated handle member <NUM>) sufficiently to align its associated pin <NUM> with an aperture <NUM> formed near a distal end of the associated handle element <NUM>. Due to the outward bias of the pin <NUM>, it may engage the aperture <NUM> and lock or secure the handle element <NUM> relative to the associated handle element <NUM> (when the handle assembly is in the manual mode position).

In a similar manner, each handle element <NUM> may be extended (relative to the associated handle element <NUM>) sufficiently to align the pin <NUM> with an aperture <NUM> formed near a distal end of the handle element <NUM>. Due to the outward bias of the pin <NUM>, it may engage the associated aperture <NUM> and secure the handle element <NUM> relative to the associated handle element <NUM>.

As shown in <FIG>, each handle element <NUM> may include a first pin <NUM> and a second pin <NUM> near its respective proximal end. The pins <NUM> and <NUM> are adapted to abut corresponding surfaces within slots <NUM> and <NUM>, respectively, formed in a bracket <NUM> of the housing <NUM> when the handle assembly is in the manual mode position as shown in <FIG> and <FIG>. To place the handle assembly <NUM> in this position, each handle element <NUM> may be withdrawn from the housing <NUM> (e.g., pulled in the direction <NUM> as shown in <FIG>) until the associated pins <NUM> each seat fully into their associated slots <NUM>. At this point, the handle assembly <NUM> may pivot about a pivot axis <NUM> (see <FIG>) defined by the pin <NUM> from the position shown in <FIG> to the position shown in <FIG> (e.g., as the handle assembly pivots, relative to the housing, from the autonomous mode position toward the manual mode position). As this pivoting occurs, the pins <NUM> may ultimately swing into and fully seat within their associated slots <NUM>, at which point the pins <NUM> (see <FIG>) may engage associated apertures <NUM> in the respective brackets <NUM>. Each of the left and right brackets <NUM> may provide a ramped face <NUM> that allows the associated pin <NUM> to retract as the handle assembly pivots toward the position shown in <FIG>. Due to the outward bias of the pin <NUM>, however, the pin may extend and engage the aperture <NUM> and secure the respective handle element <NUM> relative to the housing <NUM> at a position corresponding to the manual mode position shown in <FIG>. As one can appreciate, the pin lock assemblies <NUM> may also lock the handle assembly <NUM> at a predetermined angular orientation relative to the housing <NUM> when the handle assembly is in the manual mode position.

To move the handle assembly <NUM> from the manual mode position of <FIG> to the autonomous mode position of <FIG>, the operator may first depress the button <NUM> (see <FIG> and <FIG>), thereby translating the actuator <NUM> relative to the grip area <NUM> in the direction <NUM>. As the actuator is depressed, the rods <NUM> (768a and 768b) are displaced toward the mower housing <NUM>. This movement causes the button <NUM> of each pin lock assembly <NUM> to depress, retracting the pins <NUM> from the associated apertures <NUM>. As the pins <NUM> retract, each handle element <NUM> is able to telescope or retract into its respective handle element <NUM>.

As each handle element <NUM> retracts into its associated handle element <NUM>, the base surface <NUM> (see <FIG>) of each pin lock assembly <NUM> eventually contacts and depresses a button (like button <NUM>) of the associated pin lock assembly <NUM>, effectively retracting the pin <NUM> from the aperture <NUM> of the handle element <NUM>. Thus, the combined handle elements <NUM>, <NUM> are able to retract into their respective handle members <NUM>.

As each pair of combined handle elements <NUM>, <NUM> retract further, a base surface (like base surface <NUM> of pin lock assembly <NUM>) of each pin lock assembly <NUM> eventually contacts and depresses a button (like button <NUM>) of the associated pin lock assembly <NUM>, effectively retracting its associated pin <NUM> from the aperture <NUM> of the bracket <NUM> (see <FIG>). With both pins <NUM> retracted, the handle assembly <NUM> is adapted to pivot (about the axis <NUM> in <FIG>) from the position shown in <FIG> to the position shown in <FIG> by pivoting in the direction <NUM>. Such pivoting is accommodated by the pins <NUM> rotating relative to surfaces forming their respective slots <NUM> (see <FIG> and <FIG>).

Once the handle assembly <NUM> is positioned in a generally horizontal position as shown in <FIG>, it may be advanced toward the housing <NUM> (e.g., moved in the direction <NUM> shown in <FIG>) until the handle assembly is located in the autonomous mode position shown in <FIG>.

As shown in <FIG> and <FIG>, the handle elements <NUM>, <NUM>, and <NUM> may be contained mostly, or even completely, within the housing <NUM> when the handle assembly <NUM> is in the autonomous mode position. That is to say, the housing <NUM> (e.g., the chassis and/or bump shroud) may define two channels <NUM> each adapted to telescopically receive the corresponding handle tube assembly <NUM> (e.g., a separate channel may be provided for each of the left and right tube assemblies) when the handle assembly is in the autonomous mode position. In addition to reducing debris collecting on the handle elements and the pin lock assemblies, internal storage of the handle assembly elements may reduce the chances that the handle <NUM> might catch on objects (e.g., shrubs, trees, etc.) when the mower operates in the autonomous mode. In some embodiments useful for understanding the invention, the grip portion <NUM> of the handle assembly <NUM> may be positively retained relative to the housing (e.g., by engaging a feature provided on either the bump shroud or the chassis) when the handle assembly is in the autonomous mode position.

While various handle assembly embodiments useful for understanding the invention are described and illustrated separately herein, components of the various embodiments useful for understanding the invention may be combined. For example, while the brace <NUM> is shown with the handle assembly <NUM>, it could also be included with the other handle assemblies <NUM> described herein. Similarly, although not shown in the embodiments useful for understanding the invention illustrated in <FIG>, the handle assembly <NUM> could also include a cradle (see, e.g., cradle <NUM> of <FIG> and <FIG>, or cradle <NUM> described below) attached to the handle assembly at or near the grip area <NUM>. Further for example, the mower <NUM> could incorporate a sensor or switch like the sensors or switches <NUM> (see 140a, 140b in <FIG>) to detect handle assembly position. Accordingly, aspects of the various embodiments may be combined as desired to produce additional embodiments not specifically described herein.

In order to operate autonomously, the mower <NUM> must first know the boundaries of the work region. While various boundary detection systems are known, mowers in accordance with embodiments of the present disclosure may determine the bounds of the work region by initially undergoing a training procedure or phase as described in more detail below. After training, the mower <NUM> may operate autonomously within the work region. During the training phase, the mower is configured in the manual mode (the handle assembly is in the manual mode position). For simplicity, the mower referred to herein in the following paragraphs is the mower <NUM> described above. However, the mowers <NUM> and <NUM> could be substituted without limitation.

As stated above, the handle assembly <NUM> may include the cradle <NUM>, an example of which is shown in more detail in <FIG>. The cradle <NUM> may receive therein a mobile computer <NUM> (e.g., smartphone) that supports a communication protocol (wired or wireless) compatible with the radio <NUM> of the mower <NUM> (see <FIG>). For example, the mobile computer <NUM> may support short-range wireless communication via the Bluetooth wireless protocol. The controller <NUM> may communicate with the mobile computer <NUM> (e.g., during, among other times, the training phase) to present various controls and operator feedback during the training phase of the mower as further described below.

The cradle <NUM> may include various features that assist in holding the mobile computer <NUM> during the training phase. For example, the cradle may include an angled surface <NUM> that supports the mobile computer such that a display <NUM> is inclined at an angle (the angle in some embodiments being adjustable to accommodate the viewing preferences of the operator) that provides adequate visibility to an operator standing or walking behind the mower. Moreover, the cradle <NUM> may include retention features that hold the mobile computer during movement of the mower. For example, the cradle may include two opposed surfaces <NUM>, wherein one or both of the surfaces is spring-loaded toward the other. To place the mobile computer <NUM> into the cradle, the operator may first displace the surface <NUM> away from the opposing surface <NUM> (e.g., in the direction <NUM>). The mobile computer <NUM> may then be located between the surfaces <NUM> and the biased surface <NUM> released, wherein it contacts the mobile computer and biases it against the opposing surface <NUM>.

Other embodiments may utilize most any other retention device that is capable of securing the mobile computer during movement of the mower <NUM>. For example, <FIG> and <FIG> illustrate an embodiment of another cradle <NUM> attached near the grip area <NUM> of a handle assembly <NUM>. The cradle <NUM> includes a slot <NUM> that receives the mobile computer <NUM> therein as shown in <FIG>. A retention mechanism configured as a spring-loaded arm (e.g., a torsion spring <NUM>) may be attached to the cradle as shown in <FIG>. The spring <NUM> may be deflected to permit mobile computer insertion into the slot <NUM>. Once the mobile computer is seated in the slot <NUM>, however, the spring <NUM> is released, after which it abuts an edge of the mobile computer as shown. The spring thus holds the mobile computer <NUM> in place against the slot as shown in <FIG>.

To enter the training phase, the handle assembly <NUM> may (if not already in position) first be deployed or moved from the first or autonomous mode position to the second or manual mode position. After the handle assembly is in place, the mobile computer <NUM> may be placed in or on the cradle <NUM> as described above. The operator may then initiate communication between the mobile computer <NUM> and the controller <NUM> (see <FIG>). This initiation may involve pairing or otherwise connecting the mobile computer <NUM> to the mower <NUM> (e.g., to the controller <NUM>) so that the two devices may wirelessly communicate with one another. While described herein as wireless communication (e.g., Bluetooth), alternate embodiments could again provide a wired interconnection. The operator may then launch application-specific software on the mobile computer that presents status information <NUM> to the operator during the training phase. The software may further permit the operator to issue commands during the training process via inputs provided by virtual buttons <NUM> that appear on the display <NUM> (see <FIG>). For example, the application may allow the operator to, among others, issue commands and receive instructions directed to: entering the training phase; starting/stopping recording of data related to the traversal of a boundary of a work region, an exclusion zone, or a transit path; and when to push the mower along an identified boundary or path.

When the operator is ready to initiate the training phase, the mower may be pushed, using the handle assembly <NUM>, to a perimeter of the work region (or to a perimeter of an exclusion zone). At this point, training may begin by selecting the appropriate training phase (e.g., a boundary training phase for the work region or an exclusion zone, or a transit path training phase) via interaction with the mobile computer (e.g., the display <NUM>). In the case of the boundary training phase, the operator may then commence to traverse the boundary of the work region.

During the boundary training phase, the mower <NUM> may record or otherwise collect data associated with the boundary as the mower traverses the boundary. The mower <NUM> may further (via the application software running on the mobile computer <NUM>) present various status information (see, e.g., <NUM> in <FIG>) of the training phase to the operator during traversal/training. For instance, the display <NUM> may plot, in real-time, zone coordinates of the mower during perimeter recording. In addition, the display <NUM> may present instructions requesting that the operator change (e.g., reduce) mower speed. Maintaining mower speed below a threshold during training may be important, especially for vision-based systems, to ensure that the mower is able to capture sufficient data.

Such speed-related instructions/feedback may be presented textually or graphically to the operator. For example, feedback and/or other status information may be presented as a quantitative speed indicator (e.g., speedometer), or a speed-related icon or object (e.g., an icon that changes color: green for acceptable speed, yellow or red for unacceptable speed). In other embodiments, the display <NUM> could indicate whether a change in speed is needed by showing a speedometer reading alongside a desired target speed or showing "up" or "down" arrows to indicate a faster or slower speed is recommended. In yet other embodiments, the display could provide a simplistic "pass/fail" indicator or provide audible indicators (via the mobile computer <NUM> or the mower/controller) during or after the training phase.

<FIG> is a diagrammatic representation of an exemplary yard or work region <NUM> defined by a perimeter or boundary <NUM>. Within the work region <NUM> are two exclusion zones <NUM>, <NUM> (e.g., landscaped gardens) also defined by boundaries <NUM>, <NUM>, respectively. As stated above, exclusion zones are areas within a work region that the mower <NUM> is not intended to mow. In some instances, the mower may cross through an exclusion zone (e.g., a transit path as described below), but the mower does not typically power its cutting blade assembly during such crossing.

A base station <NUM> is also provided and connected to a source of electrical power (e.g., a household alternating current outlet <NUM>). The base station <NUM> provides a storage location for the mower when not operating, and further includes self-engaging electrical connections to permit the mower to autonomously return to the base station <NUM> and recharge its battery <NUM> (see <FIG>) when needed.

<FIG> illustrates an exemplary process <NUM> for training the mower (e.g., <NUM>, <NUM>, <NUM>) with regard to boundaries. It is noted that this process describes only an exemplary boundary training method. It is understood that other operations may need to occur before or after the process <NUM> in order to permit autonomous operation of the mower. However, these other operations are not specifically addressed herein. In practice, the operator would first train the boundary <NUM> of the work region <NUM>, and then proceed to train exclusion zones and transit paths. The process <NUM> assumes that the mower <NUM> is positioned at or near a boundary of the work region <NUM> (e.g., to train the boundary <NUM> as indicated by the mower <NUM> in <FIG>), or at or near a boundary of one of the exclusion zones <NUM>, <NUM> (e.g., to train the boundary <NUM>, <NUM>). Although the process of <FIG> is described below in the context of training the boundary <NUM> of the work region <NUM>, the process would apply, with slight variation, to the boundaries <NUM> and <NUM>, and to transit paths as well. Moreover, while described in the context of mower <NUM>, any mower (e.g., mower <NUM> or <NUM> described herein) may be used.

The process <NUM> is entered at <NUM>. Once the mower <NUM> is located along the boundary <NUM> (see mower <NUM> adjacent boundary <NUM> <FIG>), the training process or phase may be initiated at <NUM>. Initiating the training process may include deploying the handle (e.g., moving the handle to the manual mode position as described herein), locating the mobile computer <NUM> in the cradle (see, e.g., cradle <NUM> in <FIG>) and interacting with the software running on the mobile computer <NUM>. Once the training process is initiated, the operator may select whether the boundary to be trained is a work region boundary (e.g., <NUM> in <FIG>), an exclusion zone boundary (e.g., boundary <NUM>), or a transit path.

The operator may command the mower (again, via interaction with the display <NUM> of the mobile computer <NUM>) to record data associated with the boundary ("boundary data") as the mower traverses the boundary at <NUM>. Once recording is initiated, the mower may utilize a variety of sensors (e.g., GPS, wheel encoders, vision systems, lidar, radar, etc.) to record its travel path as the mower <NUM> is manually guided or pushed around the boundary <NUM> (see <FIG>) as indicated at <NUM> in <FIG>. In some embodiments, the mower may provide an assistive torque to the rear wheels <NUM> (see <FIG>) to assist the operator as the mower is guided around the boundary <NUM>. Moreover, the cutting blade assembly <NUM> (see <FIG>) could be either active or inactive during the training phase. Activating the cutting blade assembly <NUM> during the training phase could provide feedback as to the actual cutting path the mower will make as it is guided about the boundary. If cutting blade assembly <NUM> actuation is allowed, it may be controlled by an option presented on the display <NUM> (see <FIG>) during training. Such cutting operation may necessitate the use of operator presence controls (e.g., on the handle itself or on the display <NUM> of the mobile computer <NUM>).

Because a cutting width <NUM> of the mower <NUM> is narrower than the housing <NUM> width (see, e.g., <FIG>), the top of the housing <NUM> may include visual markings <NUM> (shown in <FIG> only) that indicate to the operator the cutting width of the mower (e.g., the markings aligning with the transverse cutting width <NUM> (see <FIG>) of the cutting blade assembly <NUM>). Such markings may be useful to the operator when the blade assembly <NUM> is unpowered during the training phase.

During traversal of the boundary, the mower <NUM> (via the display <NUM>) may optionally indicate/display to the operator status and/or training alerts at <NUM>. For example, the controller <NUM> may graphically or audibly recommend slowing ground speed to improve data capture.

Once the operator (mower) has completed traversal of the boundary <NUM> (e.g., moved slightly beyond the original starting point) at <NUM>, the operator may indicate (e.g., via the mobile computer) that boundary traversal is complete at <NUM>. The controller <NUM> and/or the computer <NUM> (or other remote computer) may then compile the boundary data collected to ultimately generate a mapped boundary path of the work region (or exclusion zone, transit path) based upon the boundary data at <NUM>.

The mower may provide (via an onboard display or via the mobile computer <NUM>) feedback regarding status of the training process (e.g., status of boundary recording) at <NUM>. For example, at completion, the mower <NUM> may provide an indication on the mobile computer that the boundary training was successful (e.g., the data/mapped boundary path satisfies predetermined path criteria) by displaying a status such as a simple "pass/fail" indication at <NUM>. Path criteria that may affect training success includes determining whether the mapped boundary path defines a bounded area (e.g., forms an enclosed or bounded area or shape). Other path criteria may include determining whether bottlenecks are present. A bottleneck may exist, for example, when a mapped boundary path of the work region is within a threshold distance of an object or another mapped boundary path (e.g., the boundary <NUM> is too close - such that a path width is insufficient for the mower to easily pass - to another boundary path (boundary <NUM> or <NUM>).

If the training process is successful at <NUM>, the operator may remove the mobile computer from the cradle, move the handle assembly to the first or autonomous mode position, and command or instruct the mower <NUM> to traverse the trained boundary of the work region <NUM> (or exclusion zone or transit path) autonomously at <NUM>. Assuming the operator concludes that the trained path is acceptable at <NUM>, the process ends at <NUM>. If, on the other hand, it is determined that training was unsuccessful at <NUM>, or the operator finds autonomous operation to be unacceptable at <NUM>, the process may return to <NUM> and training (or a portion thereof) re-executed. The process <NUM> may then be repeated for each boundary (including exclusion zones) and transit path. In some embodiments, the software running on the mobile computer <NUM> may permit the operator to revise, add, and/or delete some or all of a boundary path or portion thereof during the process <NUM>.

In addition to containment/exclusion zone training, the mower <NUM> may also be trained to utilize one or more "return-to-base" transit paths ("RTB transit paths") using the handle assembly <NUM> in the manual mode position. That is, the mower <NUM> may also be trained as to what path or paths it should use to return to the base station <NUM>. Two such RTB transit paths are shown in <FIG> as paths <NUM> and <NUM>. Path <NUM> is trained from a location <NUM>, while path <NUM> is trained from a location <NUM>. Training RTB transit paths may be useful to assist or expedite the mower's return to the base station to, for example, account for complex yards, or to otherwise allow the operator to constrain the mower's preferred return path. While only two paths <NUM>, <NUM> are illustrated, any number of RTB transit paths may be trained. During autonomous operation, the mower <NUM> may guide itself to the nearest RTB transit path and then follow that path to the base station <NUM> when operation is complete or the mower battery needs re-charging. Of course, to permit RTB transit path training, the mower/controller may also permit the operator to establish or otherwise train a "home" location of the base station <NUM>.

Referring once again to <FIG>, before autonomous mowing may take place, the yard (work region <NUM>) is mapped. Yard mapping involves defining the mowing area (e.g., work region boundary <NUM>), defining all exclusion zones (e.g., boundaries <NUM>, <NUM> of all exclusion zones), identifying the home position for the base station <NUM>, and optionally identifying transit paths. In addition to RTB transit paths, transit paths may be used to define how the mower <NUM> gets from one portion of the work region <NUM> to another (or to an isolated second work region). For example, transit paths may be configured to direct the mower: to a particular mowing area; across an exclusion zone such as a sidewalk, patio, or driveway that bifurcates the work region; or through a gate of a fenced yard. The mower will generally not enter into an exclusion zone unless a transit path is trained through the exclusion zone. Moreover, the mower may not typically mow while moving along some of these transit paths.

<FIG> illustrates an exemplary transit path <NUM> extending across an exclusion zone <NUM> (e.g., driveway). The mowing area (e.g., work region <NUM>) may be located on each side of the driveway, but no mowing area connects these two sides. To train the transit path <NUM>, the mower <NUM> (with the handle assembly <NUM> in the manual mode position) is first placed at the desired starting point (see solid line representation of mower <NUM> in <FIG>). The training phase may then be initiated using the mobile computer. Once initiated, the mower <NUM> may be pushed along the desired transit path <NUM>. Once the desired path is traversed (see broken line mower <NUM> in <FIG>), the operator may end the training session and save the transit path. During autonomous mower operation, the mower <NUM> will only cross from one side of the driveway <NUM> to the other using the defined transit path <NUM>. Multiple transit paths could be trained across any one exclusion zone.

Once all boundaries (including exclusion zones) and transit paths are taught, a map of the work region may be presented to the operator on the mobile computer so that the operator can confirm that all boundaries (including exclusion zones) and transit paths are properly accounted for. The operator may then confirm that the boundaries and transit zones are properly represented before autonomous mowing operation may begin. As stated above, in some embodiments the operator may be able to delete and/or modify boundaries and transit paths using the mobile computer during this review.

As illustrated in <FIG>, <FIG>, and <FIG>, the handle assembly <NUM> may protrude from the housing <NUM> when the handle assembly is in the autonomous mode position. Accordingly, the handle assembly (e.g., the grip area <NUM>) may also function as a lifting point for the mower, or even as a hangar to permit the mower to be hung from a wall hook <NUM> (see <FIG>) during off-season storage. That is, the mower <NUM> (and optionally the base station <NUM> as described below) may be stored, e.g., on a wall <NUM>, with the housing <NUM> in a generally vertical orientation during storage using the handle assembly <NUM>.

For instance, the mower <NUM> could first be placed into its charging base station <NUM> as shown in <FIG>. During periods of inactivity between (e.g., between mowing sessions), the base station <NUM> is adapted to receive the mower <NUM> when the base station and mower are in a horizontal orientation. While the mower may dock with, and undock from, the base station autonomously as needed during normal operation, it may also positively secure in place relative to the base station <NUM> (e.g., via a manual latch (not shown) or the like) to form a unitary storage assembly for off-season storage. Some part of the storage assembly (e.g., a part of the mower and/or the base station) may form a hanging structure that permits the mower and the base station together (the storage assembly), when in a vertical orientation, to be hung from the wall <NUM> for storage. For example, in some embodiments useful for understanding the invention, the storage assembly (mower <NUM> and base station <NUM>) could be hung in the vertical orientation by the handle assembly <NUM> as shown in <FIG>.

<FIG> illustrates another example of storing the mower <NUM> and base station <NUM> together in a vertical orientation on a wall <NUM> using a wall hook <NUM>. In this embodiment useful for understanding the invention, the hook <NUM> engages a feature (e.g., aperture; see apertures <NUM> in <FIG>) formed in the base station <NUM> as shown instead of the mower <NUM> or mower handle assembly <NUM>. <FIG> illustrates a hook <NUM> that may be used to store only the mower <NUM> (and not the base station) on the wall <NUM>. The wall hook <NUM> may engage a feature (e.g., housing) of the mower to support it in the vertical orientation.

<FIG> illustrate yet another embodiment useful for understanding the invention of the mower <NUM> and a base station <NUM> configured for storage in a vertical orientation. Like the base stations described above, the base station <NUM> may be hung from a wall e.g., using the hooks <NUM> (see <FIG>) engaging apertures <NUM>. However, unlike the base station <NUM>, the base station <NUM> may include: a handle <NUM>; one or more wheels <NUM>; and a foot <NUM>. Once the mower is placed within the base station <NUM>, it may be secured therein, e.g., with latches (not shown) or the like. Once the mower is secured, the base station (with mower in place) may be rotated until it sits vertically on wheels <NUM> and the foot <NUM>. Accordingly, the mower <NUM> and base station <NUM> may be stored in a vertical orientation either upon a floor or on the wall. Moreover, the base station <NUM> can be tilted from vertical as shown in <FIG> so that the wheels <NUM> permit rolling transport of the storage assembly (base station and mower) by gripping the handle <NUM>.

Claim 1:
A method of training an autonomous vehicle (<NUM>) to operate within a work region, the method comprising:
deploying a handle assembly (<NUM>) connected to a housing (<NUM>) of the vehicle (<NUM>) from a first position to a second position;
placing a mobile computer (<NUM>) on a cradle (<NUM>) attached to the handle assembly (<NUM>);
initiating communication between the mobile computer (<NUM>) and an electronic controller (<NUM>) associated with the vehicle (<NUM>);
selecting a boundary training phase of the vehicle (<NUM>) via interaction with the mobile computer (<NUM>);
traversing a boundary (<NUM>) of the work region (<NUM>);
collecting data associated with the boundary (<NUM>) as the vehicle (<NUM>) traverses the boundary (<NUM>) of the work region (<NUM>);
generating, with the controller (<NUM>), the mobile computer (<NUM>), or a remote computer a mapped boundary path based upon the data associated with the boundary (<NUM>); and
indicating, on the mobile computer (<NUM>), whether the mapped boundary path satisfies path criteria, wherein the path criteria comprises one or more of: determining whether the mapped boundary path defines a bounded area; determining whether bottlenecks are present; and determining whether the mapped boundary path is within a threshold distance of another boundary path.