Volume measurement of material collected or processed by a ground care vehicle

Abstract

One or more sensors generate signals that can be used to detect at least one of a volume measurement or a volume flow measurement of plant debris or other material generated by a work machine. The volume measurement can be made in a container that holds the plant debris or other material. The volume measurement and / or the volume flow measurement can be used to characterize a work region covered by the work machine.

Description

VOLUME MEASUREMENT OF MATERIAL COLLECTED OR PROCESSED BY A GROUND CARE VEHICLE

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 528,457, filed on 24 July 2023, which is incorporated herein by reference in its entirety.SUMMARY

[0002] The present disclosure is directed to apparatuses and methods that facilitate volume measurement of debris processed by a ground care vehicle. In one embodiment, an apparatus includes a container with a bottom, an opening opposite the bottom, and at least one sidewall between the bottom and the opening. A sensor of the apparatus measures a fill level of plant debris relative to the bottom of the container and produces a signal in response thereto. A circuit of the apparatus converts the signal to a volume measurement of the plant debris. An external interface communicates at least one of the signal and the volume measurement from the apparatus.

[0003] In another embodiment, a ground care work vehicle, includes a cutter that generates plant debris while moving over a work region. A collection element of the work vehicle moves the plant debris through a flow path. A sensor of the work vehicle detects a volume flow of the plant debris through the flow path and produces a signal in response thereto. A processing circuit of the work vehicle is used to produce a volume flow measurement based on the signal. The volume flow measurement is stored to characterize the work region.

[0004] These and other features and aspects of various embodiments may be understood in view of the following detailed discussion and accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0005] The discussion below makes reference to the following figures, wherein the same reference number may be used to identify the similar / same component in multiple figures. The drawings are not necessarily to scale.

[0006] FIGS. 1, 2, 3, and 4 are a block diagrams of an apparatus according to various example embodiments;

[0007] FIGS. 5 and 6 are perspective views of an apparatus according to an example embodiment;

[0008] FIG. 7 is a top view of the apparatus shown in FIGS. 5 and 6;

[0009] FIGS. 8A and 8B are block diagrams of work vehicles according to example embodiments;

[0010] FIG. 9 is a block diagram of a system according to an example embodiment; and

[0011] FIGS. 10 and 11 are flowcharts showing methods according to example embodiments.DETAILED DESCRIPTION

[0012] 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 equivalent embodiments, which may not be described and / or illustrated herein, are also contemplated.

[0013] The present disclosure relates generally to ground care tools. Generally, ground care tools are used outdoors for care of plants, lawns, man-made surfaces (e.g., sidewalks, driveways), and other living or non-living infrastructure found outside of a home or business. Sometimes the outdoors areas are themselves the core feature of a business, such as golf courses and other sports playing fields. Regardless, significant effort is spent to create and maintain outdoor areas.

[0014] Particular examples described herein are related to ground care tools such as mowers that gather plant debris (e.g., grass clippings) and can make automatic volume measurements of collected debris. However, the same concepts may apply to other ground care tools such as debris blowers / vacuums / sweepers, aerators, dethatchers, material spreaders / sprayers, snow and ice treatment, weeding machines for weed remediationmobile watering / treating vehicles, indoor working vehicles such as vacuums and floor scrubbers / cleaners, construction and utility vehicles, etc.[00151 Collection and quantification of turfgrass clipping yield is a practice that is of interest to a growing number of turfgrass managers. Similar to yield monitoring in agricultural applications, measurement and analysis of turfgrass clipping yield can provide useful and actionable information related to the health, growth, and required inputs of turfgrass plants. Clipping measurements may inform turf maintenance practices to optimize input efficiency and avoid biotic and abiotic stresses.

[0016] Turfgrass that is growing vigorously will produce a greater quantity of clippings for a given height of cut and frequency of mowing events. Similarly, turf that is stressed, or for which the growth has been suppressed by the regulation of plant growth hormones, will have fewer clippings for the same height of cut and frequency of mowing events.

[0017] As such, individual measurements of clipping quantities, or time histories thereof, can be used to direct management practices or inputs such as fertilizer, plant growth regulators, irrigation, or cultivation practices. Clippings may be measured in bulk for a given area, or yield may be measured on small discrete sections across a larger area to characterize the spatial variability.

[0018] There are multiple measurement units used to quantify clipping yield. For research purposes, dry tissue mass is an ideal measurement because it removes the influence of tissue moisture or foreign materials from the measurement. Fresh tissue mass is also used but is subject to the influence of variable tissue moisture as well as potential foreign materials in the sample.

[0019] For practical applications in the field, fresh tissue volume can be used as a measurement because it is easily measured and minimizes the impact of moisture and foreign materials. It also requires no special equipment aside from a graduated container into which the clippings are emptied to obtain an estimate of volume. Mass or volume measurements may be normalized on an area basis to more accurately provide a comparison between distinct swards of turfgrass.

[0020] A practical measurement of clippings is measurement by volume as opposed to weight, because weight measurements are impacted by sand and water content collected in baskets. Manual measurement of clipping volume may be unappealing for some users due to the time and effort spent in to manually observing and recording the measurements and transferring the recorded data to a more permanent and accessible digital location so that analysis can be carried out using the data. It is currently rare for superintendents to track clippings due to the perception that it costs too much time or effort. For those that track clippings, they may write it down or enter the data into a computing device, e.g., an application on a smartphone.

[0021] In embodiments described herein, methods and apparatuses are described that can automate tracking of clippings or other debris such that the stakeholders (e.g., groundskeepers, businesses, property owners) can have regular and accurate data on clipping yields to help guide turf care decisions. Such techniques can have other uses in outdoor ground care such as volumetric measurement of leaves, soil, or other solid debris that may be useful in characterizing the entirety of a site’s biomass production, the effects of weather events, etc. Other material besides debris may also be collected and measured by an outdoor ground care vehicle, such as golf balls, flags / markers, etc.

[0022] In FIG. 1, a block diagram shows details of an apparatus 100 according to one or more embodiments. As seen in FIG. 1, the apparatus includes a container 101 with a bottom 102, an opening 104 opposite the bottom 102, and at least one sidewall 106 between the bottom 102 and the opening 104. The apparatus 100 includes a sensor 108 that measures a fill level distance 112 of plant debris 110 relative to the bottom 102 of the container 101 and produces a signal 113 in response thereto. A data interface 114 provides the signal 113 for processing, the processing converting the signal to a volume measurement 115 of the plant debris 110. The processing may further include storage of the volume measurement 115 in a data storage medium 116. The storage medium 116 is shown here as part of an external apparatus 124 (e.g., a mobile device), although may instead or in addition be stored in memory integrated within the sensor 108 (e.g., on-board flash memory).

[0023] The orientation in FIG. 1 indicates that the container 101 is oriented relative to gravity (g) such that the bottom 102 is the closest part of the container 101 to the ground 125. This may be the case where the plant debris 110 is fed in and / or held in the container 101 by gravity. In other case, the container 101 may be oriented at an angle relative to gravity, e.g., rotated 90 degrees relative to the illustrated orientation. This may involve other means of feeding in and / or holding the plant debris 110 in place for at least some of the time, e.g., forced airflow. Nonetheless, the bottom 102 in such an alternate orientation could still perform the function shown in FIG. 1, e.g., to serve as a reference surface from which fill level distance 112 of the plant debris 110 can be measured. Similarly, the opening 104 may be on a side of the container and still be opposed to the bottom 102, e.g., in an opposite location that allows gravity to move clippings to the bottom.

[0024] The sensor 108 shown in FIG. 1 may include a time-of-flight sensor. This is indicated by the way of emitted signal 120 and return signal 122. A device such as a laser, microwave waveguide, antenna, speaker, etc. may be used to generate the emitted signal 120, and a compatible sensor (e.g., optical detector, antenna, microphone) can be used to detect the return signal 122. Based on an elapsed time between when signal 120 is emitted and signal 122 is received, and further based on a known speed of the signals 120, 122 (e.g., the speed of light for electromagnetic signals, speed of sound in air for acoustic signals), the sensor 108 can calculate a distance between the emitting end 108a of the sensor 108 and a top of the plant debris 110. With knowledge of the rest of the apparatus geometry (e.g., cross sectional area of container, distance from emitting end 108a and bottom 102), the sensor 108 and / or an external apparatus 124 can estimate the volume measurement 115 of the plant debris from 110 from this distance measurement.

[0025] The container 101 shown in FIG. 1 may have a constant cross-sectional area from the bottom 102 to the opening 104. In such a case, the calculation of the volume measurement is distance 112 times this cross-sectional area. If the container 101 is tapered, e.g., area of opening 104 is larger than area of bottom 102, then the cross-sectional area depends on the distance 112. Calculation of volume in such a case can still be implemented by defining the volume as a function of measurement distance using known geometric parameters, using an algebraic formula, look-up table, etc. Such functions canalso take into account the distance of the emitting end 108a of the sensor 108 from the bottom 102, and other considerations (e.g., electronic delays in processing the signals).[00261 The container 101 and sensor 108 may comprise a standalone apparatus that can be used with any type of collection machine. For example, a mower may have a bag or the like to catch grass clippings, and those clippings can be emptied into the container 101 for automatic measurement and recording of the volume. The volume measurement 115 can be stored on the apparatus 100 for later retrieval (e.g., with a time / date stamp to record when the measurement was made) and / or be immediately uploaded to external device 124. Other data may be associated with the volume measurement 115, including, but not limited to, geolocation data (e.g., latitude / longitude, offset from a location reference such as a beacon, named location such as “Fairway X” that is entered via a user interface), identifier of the sensor 108 (e.g., MAC address or other unique code), user specified data (e.g., operator name, location name). Some of this data (e g., location data, user specified data) may be at least generated and / or entered via the external device 124, however may be transmitted to the sensor 108 where it can be locally associated with stored data as it is collected. Further, the sensor 108 may have a user interface that allows some interaction, e.g., a touchscreen.

[0027] The container 101 and sensor 108 may also or instead be mounted (e.g., removably mounted) within a work vehicle such that it can hold the debris in-situ as it is collected. The volume measurements 115 may be made repeatedly (e.g., regularly updated) as debris is added, such as being sampled based on changes in time and / or location. In this case, the geolocation data may be generated internally by the sensor 108, and / or by the external device 124 (which may be part of and / or carried with the work vehicle).

[0028] The data interface 114 may use a wired or wireless data transmission medium to communicate with the external device 124. The terms “wired” and “wireless” are intended to include optical data transmission as well, although in the former case an optical fiber or other waveguide is used in lieu of a wire. The data interface 114 may define a combination of: type of carrier wave(s) (e.g., radio, optical, ultrasonic), frequencies of the carrier wave(s), and protocols that define how transmission is carried outbetween devices. Such protocols include, for example, Bluetooth, near-field communications (NFC), WiFi, Ethernet, etc., which operate at the data link and network layers. At higher protocol layers (e.g., application layer), standardized protocols such as hypertext transport protocol (HTTP), secure shell (SSH), etc., can be used to effect communication of the volume measurement data 115 and other data exchanged during communication with external devices or with a user.

[0029] In FIGS. 2-4, different sensor embodiments are shown measuring debris 110 in the same container 101 shown in FIG. 1. In these embodiments, the data interface 114, external device 124, etc., are not shown, as the data communications can be implemented in a similar way amongst all of the embodiments. In FIG. 2, a sensor 208 includes two or more conductive paths 208a extending between the bottom 102 and the opening 104 of the container 101. These may be attached to the sidewall 106, for example. Generally, the debris 110 changes an electrical relationship (e g., resistance, capacitance) between the conductive paths 208a due to coverage of part of the paths 208a by the debris 110. A measurement across the conductive paths 208a can be used to determine the distance 112. This measurement may be made using a time varying signal (e.g., measuring an alternating current response of the conductive paths 208a) and may measure any combination of current, voltage, phase shift, pulse rate of decay, etc. The conductive paths 208a may have minimal resistance (e.g., conductive metal), or may be a device (e.g., carbon strip, semiconductor strip, linear / rotary potentiometer) with significant resistance along a length of the conductive paths 208a.

[0030] In FIG. 3, a sensor 308 includes an optical detector 308a that measures optical energy within an interior of the container 101. The sensor 308 works in conjunction with an optical emitter 302 which illuminates the interior of the container 101. The emitter 302 may include a single emitter or a plurality of discrete emitter elements. In one embodiment, the emitter 302 emits light at a wavelength that is dependent on the distance of the emission point from the bottom 102 of the container 101. In this example, the emitter 302 emits at wavelength i proximate the bottom of the container 101 and at wavelength X2 proximate the opening 104 of the container 101. In between the bottom 102and the opening 104, the light output from the emitter 302 varies, either continuously or discretely, between Xi and 2.[00311 The debris 110 will cover part of the emitter 302 such that only part of the light emitted by part of the emitter will be detected by the sensor 308. This will shape the spectrum of the emitted light, as indicated in graph 304. A cutoff wavelength Xc is determined based on a decline in optical amplitude, power, or the like. The cutoff wavelength Xc can be mapped (or otherwise converted) to a measurement of distance 112. The distance measurement can be converted to a volume measurement as described elsewhere herein.

[0032] In FIG. 4, a sensor 408 works in conjunction with a covering member 402 that is placed over the top of the debris 110. In this embodiment, the covering member 402 is shown as a plate or lid that is moved through the opening 104 and covers an area at the top of the debris 110. In other embodiments, the covering member 402 can be a rod, mesh, or other shape. The use of a plate-like covering member 402 can facilitate leveling the debris 110, compressing air pockets, etc., thereby achieving more consistent volume measurements. The sensor 408 is shown with one or more elongated parts 408a that makes contact with the covering member 402 as the covering member slides past. The elongated part 408a may be similar to the conductive paths 208a shown in FIG. 2. In other embodiments, the covering member 402 may be used with a time-of-flight sensor 108 as shown in FIG. 1 and / or an optical sensor 308 and emitter 302 as shown in FIG. 3.

[0033] In FIGS. 5-7, an apparatus 500 is shown according to one or more embodiments. As seen in FIG. 1, the apparatus includes a container 501 with a bottom 502, an opening 504 opposite the bottom 502, and at least one sidewall 506 between the bottom 502 and the opening 504. The apparatus 500 includes a sensor 508 that measures a fill level of plant debris (not shown) relative to the bottom 502 of the container 501 and produces a signal in response thereto.

[0034] In this example, the sensor 508 includes a first part 508a that extends into an interior of the container 501 and a second part 508b on an outside of the container 501. On a side of the second part 508b is a power switch and a charging port (not shown). User interface components are mounted on the second part 508b, and may include indicatorlights 508c and button / switch 508d. The button / switch 508d has an indicator light that indicates when the power is on. Indicator lights 508c are used to communicate to the user when the computer has a valid location and when a good data connection (e.g., cellular network, Bluetooth) has been established. When the button 508d has been pushed to take a volume measurement reading, indicators lights 508c are also used to communicate to the user that a reading has been initiated, properly sent to and received by target device (e.g., local storage, cloud server) and when the system is ready to take the next reading. Similar information could be displayed on a small on-board screen / display or on a mobile device like a phone. The sensor 508 may be configured as a time-of-flight sensor as described regarding FIG. 1, although it may be configured as a different type of sensor as described elsewhere herein.

[0035] The embodiment in FIGS. 5-7 may be usable with a covering member such as shown in FIG. 4. Such covering member may include a notch or other clearance feature so that it can be moved past the first part 508a of the sensor 508. Because the container in this example includes a slight taper from top to bottom (best seen in FIG. 7), the maximum outer diameter of the covering member may correspond to a diameter of the bottom 502 of the container 501 so that it can be moved close to the bottom 502 without getting stuck on the sidewall 506.

[0036] Any of the embodiments above that involve detection via acoustic or electromagnetic waves may use a stereoscopic arrangement. In such a case, two or more detectors that are separated from each other in space can measure two or more different signals. This may involve detecting reflections from active transmissions from one or more transmitters and / or ambient waves. A stereoscopic sensor arrangement can provide additional information about the environment, e.g., capture three-dimensional spatial information.

[0037] The above example apparatuses can be used post-work, e.g., by emptying debris collected elsewhere into the measuring container. In other embodiments, the container that includes the volume measurement sensor can be carried on the vehicle or machine while it collects the debris into the container. This can allow for real-time volume measurements, such that a volume collection rate as a function of distance, location, and / ortime can be estimated. This type of data can provide more detailed measurements of the work region, e.g., turf field. For example, a map of the work region can be overlaid with a graphic (e.g., heatmap) that shows relatively high and low areas of debris collection using different colors or fills.

[0038] An estimate of volume flow can be obtained using volume data. For example, the change of volume (AV) between time ti and t2 can be used to estimate volume flow rate, V = AV / (t2 - ti). Such estimates may have errors due to debris settling / shifting during vehicle movement and time lags due to debris settling time. In other embodiments, a dedicated volume flow sensor may be used instead of or in addition to a volume measurement sensor. An example of such apparatuses 800, 840 are shown in the diagrams of FIG. 8 A and 8B.

[0039] The apparatuses 800, 840 in these examples are ground care work vehicles, e.g., a lawn mower. The apparatus 800 is configured as a rotary-type mower and apparatus840 is configured as a reel-type mower. Most of the discussion below is directed to apparatus 800, however any components, functions, and features shown in FIG. 8A may be similarly implemented in the embodiment shown in FIG. 8B. Some of the concepts in this example may apply to other types of work apparatus that involve a cutter or other movable element that collects and / or generates plant debris.

[0040] The apparatus 800 in FIG. 8A includes wheels 802, a chassis / frame 804, a cutter 806 and a motor 808 or other drive mechanism that drives the blade 806 (see motor841 in FIG. 8B). The illustrated cutter 806 is a rotary blade, although other cutters may be used, e.g., reel, disk, trimming line, flail, etc. (see reel cutter 842 in FIG. 8B). The apparatus 800 includes at least one debris collection path (flow path 810) coupled to a shroud 812 or other collection element that encloses the cutter 806. A container 814 is coupled to receive debris / clippings that are delivered from the flow path 810 (see also debris container 844 in FIG. 8B).

[0041] The illustrated apparatus 800 includes a volume flow sensor 816 that measures a volume flow 817 of the debris as it passes through the flow path 810 into the container 814 (see also volume flow sensor 846 in FIG. 8B). The volume flow sensor 816, 846 may also be used without a container, e.g., for a mower that discharges the debris backinto the work area. The location of the volume flow sensor 816, 846 within the apparatuses 800, 840 may vary from what is shown, and in some cases the volume flow sensors 816, 846 may comprise a multiple-application sensor (e.g., motor power sensor).

[0042] In one example, the volume flow sensor 816 may include one or more reflectivity sensors that measure reflectivity between an air intake 818 and air outlet 819 that are airflow-coupled to the cutter 806. Note that the location of the sensor 816, may also be considered an air outlet location. One or more of the reflectivity measurements (or a difference thereof) can be used to estimate clipping load. Generally, an increase in clipping load will increase the amount of airborne clippings in the airflow. Electromagnetic waves transmitted by the volume flow sensor 816 into the airflow will result in a greater reflection signal (e.g., as determined by time averaged amplitude) for greater amounts of airborne clippings, which corresponds to the volume flow rate.

[0043] In another embodiment, the reflectivity measurements detected by the volume flow sensor 816 may also or instead be made by acoustic waves. This measurement can be made using an active reflection (e.g., responsive to a sonic or ultrasonic waveform transmitted to the airflow) or it may be a measure of acoustics within the airflow. As an example of the latter, the airflow path may include a long, open-ended cylinder that will have a known acoustic signature (e.g., frequency response) that can be measured in non-working conditions (e.g., running the blade 806 while positioned over a clean surface) to get a reference response with clean airflow. The entrainment of clippings in the airflow during cutting will measurably change acoustic response within the cylinder, e.g., measurably depressing or boosting a frequency range. If possible, this range can be selected (e.g., by selecting acoustic properties of the flow path cylinder) so as not to be affected by other acoustic changes occurring elsewhere while the apparatus 800 is moving, e.g., change in pitch and / or amplitude of motor noise.

[0044] In another embodiment, the clipping amount can be estimated by measuring a power load on the motor 808. In FIG. 8A, this is indicated by power controller 820, which is provided on electronics section 822 of the apparatus 800. The power controller 820 provides electrical drive power to the motor 808 and may control other aspects of motor operation such as direction and / or speed. The power controller 820 may have builtin power measurement capability and / or be coupled to an external power measurement sensor (not shown). The power measurements circuits may read any combination of electrical current and electrical voltage. When the blade 806 encounters longer and / or thicker turf, its power load may increase due to the increase in size of the cuttings. The longer and / or thicker turf will result in more grass being cut such that more airborne particles are injected into the airflow by the blade, thus correspond to an increase in volume flow rate.

[0045] In another embodiment, the volume flow sensor 816 may measure a difference of turf height before mowing (height 824) and turf height after mowing (height 825). The after-mowing height 825 may be assumed, e.g., based on a known height of the blade 806 over the ground. A turf height measurement can be made with a wireless proximity sensor, LIDAR, etc. Turf height measurement may be supplemented by other measurements (motor current as described above) in order to account for variations in turf type, condition, thickness, etc.

[0046] The volume flow sensor 816 may be used together with a volume sensor 828 (see also volume sensor 848 in FIG. 8B) that makes measurements of volume 830 of clippings within the container 814. The volume sensors 828, 848 may be of any type previously described, and may be affixed to the apparatus 800 and / or container 814. For example, the volume sensors 828, 848 and container 814 may be user-removable as a unit for post-work measurements from the same or different work vehicle as described above. The volume measurements 830 may be stored together with the volume flow measurement 817 on a computer-readable storage medium 826. The computer-readable storage medium 826 may be a volatile memory, e.g., random access memory where the measurements 817, 830 are buffered before being transmitted elsewhere. The computer-readable storage medium 826 may be a non-volatile memory where the measurements 817, 830 are stored for later retrieval, e.g., after work has completed.

[0047] Either one of the volume flow sensors 816, 846 and volume sensor 828, 848 may be used alone on the respective apparatuses 800, 840. If used together, they may be operable to perform a cross-check on each other and / or to report different aspects of the debris collection. For example, the volume flow sensor 816 can be used to providemeasure of relative areal density of turf (which includes a combination of thickness, height, grass blade size, etc.) as it is being cut which can be used to map area of weak and strong turf growth in the region. The volume sensor 828 may be used to obtain a final measurement of volume 830 over the whole region, which can provide holistic indicators of the state of the work region and may provide a more accurate measure of volume 830 than, for example, numerical integration of the volume flow measurements 817 over time.

[0048] In FIG. 9, a block diagram shows a system according to an example embodiment. The system includes a sensor apparatus 900 that includes a sensor (sensor element(s) 902 and sensor interface 901) that measures a fill level of plant debris relative to a bottom of a container 930 and produces a signal in response thereto, e.g., an output voltage of the sensor element 902. One or more of the sensor elements 902 can also be used to measure volume of debris (e.g., clippings) within an airflow 932 through a flow path 931.

[0049] The signals provided the sensor elements 902 are processed by circuitry of the sensor interface 901, such as preamplifiers, filters, analog-to-digital converters (ADC), digital-to-analog converters (DAC), timing circuitry, etc. The output (e.g., digital data) of the sensor interface 901 is processed via other circuitry of the apparatus, including a central processing unit (CPU) 905 (or other digital processing circuit), memory 904 (which may include volatile and non-volatile memory), and an input / output (I / O) interface 903.

[0050] The various components of the sensor apparatus 900 can individually or collectively be considered a circuit that converts the signal to volume measurement data, which estimates volume of plant debris in the container 930. An external interface 906 communicates at least one of the signal and the volume measurement data outside of the sensor apparatus 900. For example, the external interface 906 could provide a conditioned analog signal representing the sensor reading, or a digital signal in which the volume measurement (or some other measurement from which volume can be derived) is represented by numeric (e.g., binary) representation.

[0051] The external interface 906 could be a wireless or wired data interface and / or a user interface (e.g., digital display, buttons). Examples of wireless data interfaces include WiFi, Bluetooth, cellular modem, inductive data interface, and NFC. Examples of wiredinterfaces include Universal Serial Bus (USB), Ethernet, Controller Area Network (CAN), Inter-Integrated Circuit (I2C), and serial line (e.g., RS-232, IEEE 1394). Also shown included in the apparatus 900 is a location sensor 908 such as a global navigation satellite system (GNSS) receiver. A power controller 909 is also shown, and may be coupled to the I / O interface 903, e.g., to show battery state of charge, report power faults, etc.

[0052] An external device 910 may be used to receive the signal and / or measurement data from external interface 906 of the sensor apparatus 900. The external device 910 may be used to control the sensor apparatus 900, e.g., configure the apparatus 900, trigger measurements, etc. The external device 910 could be a portable storage device (e.g., flash memory drive), mobile device (e.g., cell phone, portable device), a fixed device (e.g., shop computer), etc. Note that the external device 910 could be part of the sensor apparatus 900. For example, external device 910 could be a system controller for a work vehicle (not shown), and the sensor apparatus 900 could be a peripheral attachment for the work vehicle. In such a scenario, the sensor apparatus 900 and work vehicle (with its associated controller) could be considered to be an apparatus or system.

[0053] The external device 910 includes at least a data interface 916 that allows data communication with the external interface 906 of the sensor apparatus 900, and so may include any of the communication interfaces listed above for the external interface 906. The external device 910 may also include other computing circuitry, such as I / O circuit 913, memory 914, and CPU 915. Generally, the external device 910 may be used in proximity with the sensor apparatus 900, and so it may include its own location sensor 918. In this way, measurement data obtained by the sensor apparatus 900 can be augmented by location data determined by the external device 910.

[0054] Also shown in FIG. 9 is a networked device 920 that is accessible via a network 934. The network 934 may be a wired or wireless network, and may be a local area network (LAN) or a wide-area network (WAN). For example, the networked device 920 may be server accessed via the Internet. The networked device 920 may include computer circuitry such as such as I / O circuit 923, memory 924, CPU 925, and network interface 926. In some embodiments, the external device 910 may connect to both the sensor apparatus 900 and the networked device 920. For example, the external device 910may be a smart phone that locally collects the measurement data, and uploads it to the networked device 920, e.g., for cloud storage of the data.[00551 A computer-implemented modeling / tracking application 928 is shown operating on the networked device 920, although a same or similar application could run on the external device 910 and / or the apparatus 900. The modeling / tracking application 928 can track historical trends for work locations, and fuse the clipping data with other data, such as irrigation, fertilization, weather, etc., in order to model a current state of the work region, predict future states of the work region, and / or suggest actions to maintain a target state of the work region. Such states may include at least the health of turf, but may also be recommend actions that reduce or minimize costs, such as fuel, water, fertilizer, and human labor.

[0056] If the sensor apparatus 900 is integrated into a work vehicle, then charging of the apparatus 900 (if it includes an onboard battery) and data transfer from the apparatus 900 could be done simultaneously, e.g., using induction charging from shop floor, transport vehicle, docking station, or the like. If configured as an onboard device, the sensor apparatus 900 may collect the volume measurements at regular intervals (e.g., timebased interval), in response to some other change (e.g., location), and / or based on a user input. Generally, the less user input required to gather, store, and analyze the data, the more likely that the data will be collected and used for purposes such as described above.

[0057] In FIG. 10, a flowchart shows a method according to an example embodiment. The method involves collecting 1000 plant debris in a container with a bottom, an opening opposite the bottom, and at least one sidewall between the bottom and the opening. A fdl level of plant debris is measured 1001 relative to the bottom of the container via a sensor that produces a signal in response thereto. The signal is electronically converted 1002 to a volume measurement of the plant debris. At least one of the signal and the volume measurement are communicated 1003 from the apparatus.

[0058] In FIG. 11, a flowchart shows a method according to another example embodiment. The method involves generating 1100 plant debris while moving a cutter over a work region. The plant debris is collected 1101 via a flow path (e.g., forced through a flow path via an air flow). A volume flow of the plant debris through the flow path isdetected 1102 and a signal is produced in response thereto. A volume flow measurement based on the signal is produced 1103 via an electrical circuit. The volume flow measurement is stored 1104 to characterize the work region.

[0059] While the present disclosure is not so limited, an appreciation of various aspects of the disclosure will be gained through a discussion of the specific illustrative aspects provided below. Various modifications of the illustrative aspects, as well as additional aspects of the disclosure, will become apparent herein.

[0060] Example 1 is an apparatus comprising: a container with a bottom, an opening opposite the bottom, and at least one sidewall between the bottom and the opening; a sensor that measures a fill level of plant debris relative to the bottom of the container and produces a signal in response thereto; a circuit that converts the signal to a volume measurement of the plant debris; and an external interface that communicates at least one of the signal and the volume measurement from the apparatus.

[0061] Example 2 includes the apparatus of example 1, wherein the sensor comprises a time-of-flight sensor located at a measuring location proximate to the opening and measuring a time-of-flight between a top of the plant debris and the measuring location. Example 3 includes the apparatus of example 2, wherein the time-of-flight sensor comprises at least one of an optical time-of-flight sensor, an electromagnetic time-of-flight sensor, and an acoustic time-of-flight sensor. Example 4 includes the apparatus of example 1, wherein the sensor comprises a stereoscopic sensor.

[0062] Example 5 includes the apparatus of any previous apparatus example, wherein the sensor comprises a covering member that covers the plant debris and an electrical component that provides the signal in response to a location of the covering member between the bottom and the opening of the container. Example 6 includes the apparatus of example 5, wherein the electrical component includes one or more conductive paths extending between the bottom and the opening of the container, the covering member sliding along the one or more conductive paths, the location of the covering member changing an electrical voltage or current through the one or more conductive paths. Example 7 includes the apparatus of example 6, wherein the covering member changes at least one of a resistance and a capacitance of the conductive paths when moved betweenthe bottom and the opening of the container. Example 8 includes the apparatus of example 5, wherein the electrical component comprises a time-of-flight sensor.[00631 Example 9 includes the apparatus of example 1, wherein the sensor includes one or more conductive paths extending between the bottom and the opening of the container, the plant debris changing an electrical voltage or current through the one or more conductive paths based on the fill level. Example 9 A includes the apparatus of any previous apparatus example, further comprising a location sensor that measures a geolocation of the apparatus together with the volume measurement. Example 10 includes the apparatus of any previous apparatus example, further comprising: a vehicle that holds the container, the sensor, and the external interface; and a collection element that collects the plant debris and delivers the plant debris to the container. Example 11 includes the apparatus of example 10, wherein the signal updates the volume measurement as the plant debris is added to the container. Example 12 includes the apparatus of example 11, further comprising a location sensor that measures updated geolocations of the vehicle as the vehicle moves within a work region, and wherein the updated volume measurements are associated with the geolocations. Example 13 includes the apparatus of examples 10, 11, or 12, wherein the vehicle comprises a mower and the plant debris comprises grass clippings.

[0064] Example 14 includes the apparatus of any previous apparatus example, wherein the external interface comprises a wireless data interface. Example 15 includes the apparatus of example 14, wherein the wireless data interface comprises at least one of a Bluetooth interface, WiFi interface, and cellular data interface. Example 16 includes the apparatus of any previous apparatus example, wherein the external interface comprises a wired data interface. Example 17 includes the apparatus of example 16, wherein the wired data interface comprises a USB interface operable to connect a flash memory drive that stores the volume measurement.

[0065] Example 18 includes the apparatus of example 1, wherein the sensor comprises: one or more optical emitters that emit light at a different wavelengths between the bottom and the opening of the container; and at least one optical detector, wherein the signal indicates a spectrum of the light emitted from part of the one or more optical emitters that is not covered by the plant debris.

[0066] Example 19 is a ground care work vehicle, comprising: a cutter that generates plant debris while moving over a work region; a collection element that moves the plant debris through a flow path; a sensor that detects a volume flow of the plant debris through the flow path and produces a signal in response thereto; and a processing circuit used to produce a volume flow measurement based on the signal, the volume flow measurement being stored to characterize the work region.

[0067] Example 20 includes the work vehicle of example 19, wherein the sensor comprises a current sensor of a motor that drives the cutter. Example 21 includes the work vehicle of example 19 or 20, wherein the sensor comprises a reflectivity sensor that measures reflections from the plant debris as it moves. Example 22 includes the work vehicle of example 19, 20, Or 21, wherein the sensor comprises an acoustic sensor that detects a change in acoustic signature within the flow path.

[0068] Example 23 includes the work vehicle of any previous work vehicle example, further comprising: a container operable to hold the plant debris; and a second sensor that measures a fill level of the plant debris relative to a bottom of the container and produces a second signal in response thereto, the second signal indicative of a volume of the plant debris in the container.

[0069] Example 24 includes the work vehicle of any previous work vehicle example, wherein the volume flow measurement is used to estimate a volume of the plant debris collected over the work region. Example 25 includes the work vehicle of any previous work vehicle example, wherein the volume flow measurement is used to estimate an areal density of plants over the work region.

[0070] Example 26 is a method comprising: collecting plant debris in a container with a bottom, an opening opposite the bottom, and at least one sidewall between the bottom and the opening; measuring a fill level of the plant debris relative to the bottom of the container via a sensor that produces a signal in response thereto; electronically converting the signal to a volume measurement of the plant debris; and communicating at least one of the signal and the volume measurement from an apparatus.

[0071] Example 27 includes the method of example 26, wherein measuring the fill level comprises measuring a time-of-flight between a top of the plant debris and ameasuring location. Example 28 includes the method of example 27, wherein measuring the time-of-flight comprises measuring a reflection from at least one of an optical emission, an electromagnetic emission, and an acoustic emission.

[0072] Example 29 includes the method of any previous method example, wherein measuring the fdl level comprises making a stereoscopic measurement. Example 30 includes the method of any previous method example, wherein measuring the fdl level comprises: placing a covering member over the plant debris; and measuring a location of the covering member between the bottom and the opening of the container. Example 31 includes the method of example 30, wherein measuring the fdl level comprises sliding the covering member along one or more conductive paths extending between the bottom and the opening of the container, the location of the covering member changing an electrical voltage or current through the one or more conductive paths.

[0073] Example 32 includes the method of example 30, wherein measuring the fdl level comprises measuring a time-of-flight between the covering member and a measuring location. Example 33 includes the method of any previous method example, wherein measuring the fdl level comprises measuring a change in an electrical voltage or current through one or more conductive paths based on the fdl level, the one or more conductive paths extending between the bottom and the opening of the container.

[0074] Example 34 includes the method of any previous method example, wherein the container and the sensor are carried in a vehicle, the method further comprising collecting the plant debris and delivering the plant debris to the container via the vehicle. Example 35 includes the method of example 34, further comprising updating the volume measurement as the plant debris is added to the container. Example 36 includes the method of example 34 or 35, measuring locations of the vehicle as the vehicle moves within a work region, and wherein the updated volume measurements are associated with the locations.

[0075] Example 37 includes the method of any previous method example, further comprising: receiving the volume measurement at a computer-implemented application; and using the volume measurement to perform, via the computer-implemented application,at least one of modeling and tracking of a work region from which the plant debris is collected.[00761 Example 38 is a method, comprising: generating plant debris while moving a cutter over a work region; collecting the plant debris via a flow path; detecting a volume flow of the plant debris through the flow path and producing a signal in response thereto; and producing a volume flow measurement based on the signal via an electrical circuit, the volume flow measurement being stored to characterize the work region.

[0077] Example 39 includes the method of example 38, wherein detecting the volume flow of the plant debris comprises sensing a change of current of a motor that drives the cutter. Example 40 includes the method of example 38 or 39, wherein detecting the volume flow of the plant debris comprises measuring reflections from the plant debris as it moves. Example 41 includes the method of examples 38-40, wherein detecting the volume flow of the plant debris comprises detecting a change in acoustic signature within the flow path. Example 42 includes the method of examples 38-41, further comprising using the volume flow measurement to estimate a volume of the plant debris collected over the work region. Example 43 includes the method of examples 38-42, further comprising using the volume flow measurement to estimate an areal density of plants over the work region.

[0078] It is noted that the terms “have,” “include,” “comprises,” and variations thereof, do not have a limiting meaning, and are used in their open-ended sense to generally mean “including, but not limited to,” where the 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 machine is in an operating configuration. These terms are used only to simplify the description, however, and not to limit the interpretation of any embodiment described. As used herein, the terms “determine” and “estimate" may be used interchangeably depending on the particularcontext of their use, for example, to determine or estimate a position or pose of a vehicle, boundary, obstacle, etc.[00791 Further, it is understood that the description of any particular element as being connected to or coupled to another element can be directly connected or coupled, or indirectly coupled / connected via intervening elements.

[0080] Unless otherwise indicated, all numbers expressing feature sizes, amounts, and physical properties used in the specification and claims are to be understood as being modified in all instances by the term “about.” Accordingly, unless indicated to the contrary, the numerical parameters set forth in the foregoing specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by those skilled in the art utilizing the teachings disclosed herein. The use of numerical ranges by endpoints includes all numbers within that range (e.g., 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, and 5) and any range within that range.

[0081] The various embodiments described above may be implemented using circuitry, firmware, and / or software modules that interact to provide particular results. One of skill in the arts can readily implement such described functionality, either at a modular level or as a whole, using knowledge generally known in the art. For example, the flowcharts and control diagrams illustrated herein may be used to create computer-readable instructions / code for execution by a processor. Such instructions may be stored on a non- transitory computer-readable medium and transferred to the processor for execution as is known in the art. The structures and procedures shown above are only a representative example of embodiments that can be used to provide the functions described hereinabove.

[0082] Note that any components described herein using terms such as “processor,” “controller,” “logic circuit,” “CPU,” or the like may be implemented using a plurality of discrete units operating together. For example, a processer that performs a series of steps or operations may be construed as two or more processors operating cooperatively to perform the steps. Similarly, other processing hardware such as memory and input-output may perform the described functions with multiple discrete units operating cooperatively or being coordinated by another unit, e.g., by a central processor or processors.

[0083] The foregoing description of the example embodiments has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the embodiments to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. Any or all features of the disclosed embodiments can be applied individually or in any combination and are not meant to be limiting, but purely illustrative. It is intended that the scope of the invention be limited not with this detailed description, but rather determined by the claims appended hereto.

Claims

CLAIMS:

1. An apparatus comprising: a container with a bottom, an opening opposite the bottom, and at least one sidewall between the bottom and the opening; a sensor that measures a fill level of plant debris relative to the bottom of the container and produces a signal in response thereto; a circuit that converts the signal to a volume measurement of the plant debris; and an external interface that communicates at least one of the signal and the volume measurement from the apparatus.

2. The apparatus of claim 1, wherein the sensor comprises a time-of-flight sensor located at a measuring location proximate to the opening and measuring a time-of-flight between a top of the plant debris and the measuring location.

3. The apparatus of claim 2, wherein the time-of-flight sensor comprises at least one of an optical time-of-flight sensor, an electromagnetic time-of-flight sensor, and an acoustic time-of-flight sensor.

4. The apparatus of claim 1, wherein the sensor comprises a stereoscopic sensor.

5. The apparatus of claim 1, wherein the sensor comprises a covering member that covers the plant debris and an electrical component that provides the signal in response to a location of the covering member between the bottom and the opening of the container.

6. The apparatus of claim 5, wherein the electrical component includes one or more conductive paths extending between the bottom and the opening of the container, the covering member sliding along the one or more conductive paths, the location of the covering member changing an electrical voltage or current through the one or more conductive paths.

7. The apparatus of claim 6, wherein the covering member changes at least one of a resistance and a capacitance of the conductive paths when moved between the bottom and the opening of the container.

8. The apparatus of claim 5, wherein the electrical component comprises a time-of- flight sensor.

9. The apparatus of claim 1, wherein the sensor includes one or more conductive paths extending between the bottom and the opening of the container, the plant debris changing an electrical voltage or current through the one or more conductive paths based on the fill level.

10. The apparatus of any previous claim, further comprising a location sensor that measures a geolocation of the apparatus together with the volume measurement.

11. The apparatus of any previous claim, further comprising: a mower that holds the container, the sensor, and the external interface; and a collection element that collects the plant debris and delivers the plant debris to the container.

12. The apparatus of claim 11, wherein the signal updates the volume measurement as the plant debris is added to the container.

13. The apparatus of claim 12, wherein measured geolocations are updated with and associated with the volume measurements.

14. A method comprising: collecting plant debris in a container with a bottom, an opening opposite the bottom, and at least one sidewall between the bottom and the opening;measuring a fill level of the plant debris relative to the bottom of the container via a sensor that produces a signal in response thereto; electronically converting the signal to a volume measurement of the plant debris; and communicating at least one of the signal and the volume measurement from an apparatus.

15. The method of claim 14, wherein the container and the sensor are carried in a vehicle, the method further comprising: collecting the plant debris and delivering the plant debris to the container via the vehicle; and updating the volume measurement as the plant debris is added to the container.

16. The method of claim 15, further comprising measuring locations of the vehicle as the vehicle moves within a work region, and wherein the updated volume measurements are associated with the locations of the vehicle.

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