Abstract: In one embodiment of the present invention, an apparatus and method for establishing the perimeter of a work site for a mobile machine capable of operating autonomously or semi-autonomously includes activating a learning mode, positioning the mobile machine at a plurality of locations on the perimeter, and recording position data at each location from a sensor system, such as GPS, that provide signals corresponding to the position of the mobile machine. The position data is stored and a data processor associated with a control system generates a display of the perimeter so that an operator may visually verify the size, location, and shape of the work area bounded by the perimeter. Means to allow the operator to modify the entered position data is also provided.

Abstract: In the operation of machines of the type that are typically designed to traverse terrain having deposits of debris, it is a common problem to have the debris become attached to the wheels of the machine and rotate therewith. In many instances this causes material to become entrained around the axles of the machine requiring continual maintenance and occasionally causing damage to the axle components. The present invention provides a guard member that is positioned about the axle assemblies to reduced the chance of material falling from the wheels onto the axle assemblies. The guard member defines a plurality of angled plates that are positioned in closely adjacent, parallel proximity to a plurality of wear strips that are positioned equidistantly about the wheel. The angled plates are positioned at angles that are offset from the each other and the wear strips and react in a scissoring manner with respect to one another to shear any material that may become lodged therebetween.

Abstract: In the operation of machines of the type that are typically designed to traverse terrain having deposits of debris, it is a common problem to have the debris become attached to the wheels of the machine and rotate therewith. In many instances this causes material to become entrained around the axles of the machine requiring continual maintenance and occasionally causing damage to the axle components. In the present invention a guard assembly is provided that defines a scraping member that is positioned in radially inner and laterally overlapping relation to an outer cylindrical surface defined by each wheel. The scraping member function to remove material that may become attached to the wheels during their movement over the terrain. Functioning as such, material is prevented from becoming entrained about the respective axle assemblies of the machine.