公开(公告)号：US11856883B2

公开(公告)日：2024-01-02

申请号：US17498303

申请日：2021-10-11

Applicant: Scythe Robotics, Inc.

Inventor： John Gordon Morrison ,  Davis Thorp Foster ,  Isaac Heath Roberts

IPC: A01C21/00 ,  G06T7/70 ,  G06T7/00 ,  G06T17/05 ,  G05D1/02 ,  A01B69/00 ,  A01C23/00 ,  A01C7/06 ,  A01C7/10 ,  A01M7/00 ,  G06N20/00

CPC classification number: A01C21/007 ,  A01B69/004 ,  A01C7/06 ,  A01C7/102 ,  A01C23/007 ,  A01M7/0089 ,  G05D1/0246 ,  G05D1/0257 ,  G06N20/00 ,  G06T7/0012 ,  G06T7/70 ,  G06T17/05 ,  G05D2201/0201 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/10044 ,  G06T2207/20081 ,  G06T2207/30188

Abstract: A vegetative health mapping system which creates two- or three-dimensional maps and associates moisture content, soil density, ambient light, surface temperature, and/or additional indications of vegetative health with the map. Moisture content is inferred using radar return signals of near-field and/or far-field radar. By tuning various parameters of the one or more radar (e.g. frequency, focus, power), additional data may be associated with the map from subterranean features (such as rocks, soil density, sprinklers, etc.). Additional sensors (camera(s), lidar, IMU, GPS, etc.) may be fused with radar returns to generate maps having associated moisture content, surface temperature, ambient light levels, additional indications of vegetative health (as may be determined by machine learned algorithms), etc. Such vegetative health maps may be provided to a user who, in turn, may indicate additional areas for the vegetative health device to scan or otherwise used to recommend and/or perform treatments.

公开(公告)号：US20220174865A1

公开(公告)日：2022-06-09

申请号：US17342200

申请日：2021-06-08

Applicant: Scythe Robotics, Inc.

Inventor： Robert Johnstone McCutcheon, IV ,  John Gordon Morrison ,  Isaac Heath Roberts ,  Kevin Peter McGlade ,  Davis Thorp Foster ,  Matthew Alexander Kaplan ,  Zachary Austin Goins ,  Matthew G. Quick

IPC: A01D34/00 ,  A01D34/82 ,  F21S43/14 ,  B60Q1/26 ,  F21S43/20

Abstract: An autonomous lawn mower is described. The autonomous lawn mower comprises a chassis supporting a podium that is raked forward with respect to a horizontal plane. In some examples, the podium comprises a top portion that may support one or more sensors, antennas and/or cameras that may be used to provide environmental information regarding the surroundings of the autonomous lawn mower. In additional or alternative examples, the podium may facilitate communication services to and/or from the autonomous lawn mower. Such a podium may improve the operation of the mower by a user when manually (or semi-autonomously controlled) while optimizing a field of view of such sensors with respect to the mowable area.

公开(公告)号：US11765992B2

公开(公告)日：2023-09-26

申请号：US16923178

申请日：2020-07-08

Applicant: Scythe Robotics, Inc.

Inventor： Davis Thorp Foster ,  Robert Johnstone McCutcheon, IV ,  John Gordon Morrison ,  Isaac Heath Roberts

IPC: A01D34/00 ,  A01D34/74 ,  G05D1/02

CPC classification number: A01D34/008 ,  A01D34/74 ,  G05D1/027 ,  G05D1/0257 ,  G05D2201/0208

Abstract: Systems and techniques for detecting a difference in orientation between a lawn mower and a surface on which the mower is mowing, or between portions of such surface, based on one or more of sensor data or map data are discussed. The difference in orientation may then be used to control the lawn mower by, for example, raising a deck height or idling a blade speed, though other actuations are contemplated. In some examples, an amount the deck height is raised may be based on the difference in orientation. Based on a subsequent difference detected being at or below a threshold difference, the mower may return to previous operating conditions including, but not limited to, returning a blade speed to a previous blade speed and/or returning the deck height to a previous deck height, among other controls.

公开(公告)号：US20220007571A1

公开(公告)日：2022-01-13

申请号：US16923178

申请日：2020-07-08

Applicant: Scythe Robotics, Inc.

Inventor： Davis Thorp Foster ,  Robert Johnstone McCutcheon, IV ,  John Gordon Morrison ,  Isaac Heath Roberts

IPC: A01D34/00 ,  A01D34/74 ,  G05D1/02

Abstract: Systems and techniques for detecting a difference in orientation between a lawn mower and a surface on which the mower is mowing, or between portions of such surface, based on one or more of sensor data or map data are discussed. The difference in orientation may then be used to control the lawn mower by, for example, raising a deck height or idling a blade speed, though other actuations are contemplated. In some examples, an amount the deck height is raised may be based on the difference in orientation. Based on a subsequent difference detected being at or below a threshold difference, the mower may return to previous operating conditions including, but not limited to, returning a blade speed to a previous blade speed and/or returning the deck height to a previous deck height, among other controls. Such techniques may prevent undercutting turf due to such differences.

公开(公告)号：US20230380340A1

公开(公告)日：2023-11-30

申请号：US18231827

申请日：2023-08-09

Applicant: Scythe Robotics. Inc.

Inventor： Davis Thorp Foster ,  Robert Johnstone McCutcheon, IV ,  John Gordon Morrison ,  Isaac Heath Roberts

IPC: A01D34/00 ,  A01D34/74 ,  G05D1/02

CPC classification number: A01D34/008 ,  A01D34/74 ,  G05D1/027 ,  G05D1/0257 ,  G05D2201/0208

Abstract: Systems and techniques for detecting a difference in orientation between a lawn mower and a surface on which the mower is mowing, or between portions of such surface, based on one or more of sensor data or map data are discussed. The difference in orientation may then be used to control the lawn mower by, for example, raising a deck height or idling a blade speed, though other actuations are contemplated. In some examples, an amount the deck height is raised may be based on the difference in orientation. Based on a subsequent difference detected being at or below a threshold difference, the mower may return to previous operating conditions including, but not limited to, returning a blade speed to a previous blade speed and/or returning the deck height to a previous deck height, among other controls. Such techniques may prevent undercutting turf due to such differences.

公开(公告)号：USD985624S1

公开(公告)日：2023-05-09

申请号：US29851704

申请日：2022-08-31

Applicant: Scythe Robotics, Inc.

Designer： Robert Johnstone McCutcheon, IV ,  John Gordon Morrison ,  Isaac Heath Roberts ,  Kevin Peter McGlade ,  Davis Thorp Foster ,  Matthew Alexander Kaplan ,  Zachary Austin Goins ,  Matthew G. Quick

Abstract: FIG. 1 is a perspective view of an autonomous lawn mower, embodying our new design, according to a first embodiment;
FIG. 2 is a front view of the design shown in FIG. 1;
FIG. 3 is a rear view of the design shown in FIG. 1;
FIG. 4 is a left side view of the design shown in FIG. 1;
FIG. 5 is a right side view of the design shown in FIG. 1;
FIG. 6 is a top view of the design shown in FIGS. 1; and,
FIG. 7 is a bottom view of the design shown in FIG. 1.
Portions of the autonomous lawn mower shown in broken lines in given embodiment(s) form no part of the claimed design.

公开(公告)号：US11140813B1

公开(公告)日：2021-10-12

申请号：US16254650

申请日：2019-01-23

Applicant: SCYTHE ROBOTICS, INC.

Inventor： John Gordon Morrison ,  Davis Thorp Foster ,  Isaac Roberts

IPC: G01C22/00 ,  G05D1/00 ,  A01C21/00 ,  G06T7/00 ,  G06T7/70 ,  G06T17/05 ,  G05D1/02 ,  A01B69/00 ,  A01C23/00 ,  A01C7/06 ,  A01C7/10 ,  A01M7/00 ,  G06N20/00 ,  G06F7/70 ,  G06F19/00 ,  G06G7/00 ,  G06G7/76

Abstract: A vegetative health mapping system which creates two- or three-dimensional maps and associates moisture content, soil density, ambient light, surface temperature, and/or additional indications of vegetative health with the map. Moisture content is inferred using radar return signals of near-field and/or far-field radar. By tuning various parameters of the one or more radar (e.g. frequency, focus, power), additional data may be associated with the map from subterranean features (such as rocks, soil density, sprinklers, etc.). Additional sensors (camera(s), lidar, IMU, GPS, etc.) may be fused with radar returns to generate maps having associated moisture content, surface temperature, ambient light levels, additional indications of vegetative health (as may be determined by machine learned algorithms), etc. Such vegetative health maps may be provided to a user who, in turn, may indicate additional areas for the vegetative health device to scan or otherwise used to recommend and/or perform treatments.

公开(公告)号：US20220174866A1

公开(公告)日：2022-06-09

申请号：US17342208

申请日：2021-06-08

Applicant: Scythe Robotics, Inc.

Inventor： Robert Johnstone McCutcheon, IV ,  John Gordon Morrison ,  Isaac Heath Roberts ,  Kevin Peter McGlade ,  Davis Thorp Foster ,  Matthew Alexander Kaplan ,  Zachary Austin Goins ,  Matthew G. Quick

IPC: A01D34/00 ,  A01D34/78 ,  A01D34/82 ,  A01D69/02 ,  G05D1/00 ,  G05D1/02 ,  B60Q9/00 ,  B60K7/00 ,  B60T7/16 ,  G08C17/02

Abstract: An autonomous lawn mower is described. The autonomous lawn mower comprises a chassis supporting a podium. In some examples, the podium comprises a top portion that may support one or more sensors, antennas and/or cameras that may be used to provide environmental information regarding the surroundings of the autonomous lawn mower. In additional or alternative examples, the autonomous lawn mower receives, via a wireless receiver, a signal from a remote controller, the signal comprising one or more of an emergency stop signal or a pause signal. Based at least in part on the signal comprising the emergency stop signal, causing the autonomous lawn mower to invoke an emergency stop procedure, or based at least in part on the signal comprising the pause signal, causing the autonomous lawn mower to invoke a pause procedure.

公开(公告)号：US20220030763A1

公开(公告)日：2022-02-03

申请号：US17498303

申请日：2021-10-11

Applicant: Scythe Robotics, Inc.

Inventor： John Gordon Morrison ,  Davis Thorp Foster ,  Isaac Heath Roberts

IPC: A01C21/00 ,  G06T7/00 ,  G06T7/70 ,  G06T17/05 ,  G05D1/02 ,  A01B69/00 ,  A01C23/00 ,  A01C7/06 ,  A01C7/10 ,  A01M7/00 ,  G06N20/00

Abstract: A vegetative health mapping system which creates two- or three-dimensional maps and associates moisture content, soil density, ambient light, surface temperature, and/or additional indications of vegetative health with the map. Moisture content is inferred using radar return signals of near-field and/or far-field radar. By tuning various parameters of the one or more radar (e.g. frequency, focus, power), additional data may be associated with the map from subterranean features (such as rocks, soil density, sprinklers, etc.). Additional sensors (camera(s), lidar, IMU, GPS, etc.) may be fused with radar returns to generate maps having associated moisture content, surface temperature, ambient light levels, additional indications of vegetative health (as may be determined by machine learned algorithms), etc. Such vegetative health maps may be provided to a user who, in turn, may indicate additional areas for the vegetative health device to scan or otherwise used to recommend and/or perform treatments.

公开(公告)号：US20210382476A1

公开(公告)日：2021-12-09

申请号：US16894379

申请日：2020-06-05

Applicant: Scythe Robotics, Inc.

Inventor： John Gordon Morrison ,  Isaac Heath Roberts ,  Kevin Peter McGlade ,  Davis Thorp Foster

IPC: G05D1/00 ,  G05D1/02 ,  A01D34/00 ,  G06Q10/00 ,  G06Q10/04 ,  G06Q10/06 ,  G06Q30/00 ,  G05B19/048 ,  G01S17/931 ,  G01S13/931 ,  G01S15/931

Abstract: An autonomous lawn mowing system and method comprising receiving data from at least one autonomous lawn mower of a fleet of autonomous lawn mowers. The data comprising at least sensor data from one or more sensors associated with the at least one autonomous lawn mower. The sensor data is captured while the at least one autonomous lawn mower traversed an environment in accordance with a mow pattern. Based at least in part on the data, generating information indicative of one or more of: a diagnostic of the at least one autonomous lawn mower, an attribute associated with the environment, or a metric associated with the at least one autonomous lawn mower performing a task, and providing the information to a user.