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    Orientation-based mower control
    3.
    发明授权
    Orientation-based mower control 有权

    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.

    COVERAGE PLANNER
    4.
    发明申请
    COVERAGE PLANNER 有权

    公开(公告)号：US20220091613A1

    公开(公告)日：2022-03-24

    申请号：US17025583

    申请日：2020-09-18

    Applicant: Scythe Robotics, Inc.

    Inventor： Marc Christopher Alban ,  Zachary Austin Goins ,  Kristopher Charles Kozak ,  John Gordon Morrison

    IPC: G05D1/02 ,  A01D34/00

    Abstract: Systems and techniques for generating a set of connected segments for a device or system to traverse in order to reach every point of the region (a coverage plan). Nodes defining the region to be traversed define a polygon. The polygon is decomposed into a mesh and a graph of the mesh is generated. The graph may be used to determine a longest funneled path which, in turn, may be used to either optimize for a longest path or to divide the polygon for eroding sides. The longest path and/or erosions are used to define a set of segments. The segments are connected, which in some examples is done via an optimization to minimize an amount of time or energy to traverse all segments and connections. The resultant coverage plan is sent to a system configured to receive the plan and traverse the region.

    Orientation-Based Mower Control
    5.
    发明申请
    Orientation-Based Mower Control 有权

    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.

    ORIENTATION-BASED MOWER CONTROL
    6.
    发明公开
    ORIENTATION-BASED MOWER CONTROL 审中-公开

    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.

    COVERAGE PLANNER
    7.
    发明公开
    COVERAGE PLANNER 审中-公开

    公开(公告)号：US20230152815A1

    公开(公告)日：2023-05-18

    申请号：US18092548

    申请日：2023-01-03

    Applicant: Scythe Robotics, Inc.

    Inventor： Marc Christopher Alban ,  Zachary Austin Goins ,  Kristopher Charles Kozak ,  John Gordon Morrison

    IPC: G05D1/02 ,  A01D34/00

    CPC classification number: G05D1/0219 ,  A01D34/008 ,  G05D1/0217 ,  G05D2201/0201

    Abstract: Systems and techniques for generating a set of connected segments for a device or system to traverse in order to reach every point of the region (a coverage plan). Nodes defining the region to be traversed define a polygon. The polygon is decomposed into a mesh and a graph of the mesh is generated. The graph may be used to determine a longest funneled path which, in turn, may be used to either optimize for a longest path or to divide the polygon for eroding sides. The longest path and/or erosions are used to define a set of segments. The segments are connected, which in some examples is done via an optimization to minimize an amount of time or energy to traverse all segments and connections. The resultant coverage plan is sent to a system configured to receive the plan and traverse the region.

    Moisture and vegetative health mapping
    9.
    发明授权
    Moisture and vegetative health mapping 有权

    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.

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