US 11,856,883 B2
Moisture and vegetative health mapping
John Gordon Morrison, Longmont, CO (US); Davis Thorp Foster, Boulder, CO (US); and Isaac Heath Roberts, Longmont, CO (US)
Assigned to Scythe Robotics, Inc., Longmont, CO (US)
Filed by Scythe Robotics, Inc., Longmont, CO (US)
Filed on Oct. 11, 2021, as Appl. No. 17/498,303.
Application 17/498,303 is a continuation of application No. 16/254,650, filed on Jan. 23, 2019, granted, now 11,140,813.
Claims priority of provisional application 62/621,255, filed on Jan. 24, 2018.
Prior Publication US 2022/0030763 A1, Feb. 3, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A01C 21/00 (2006.01); G06T 7/70 (2017.01); G06T 7/00 (2017.01); G06T 17/05 (2011.01); G05D 1/02 (2020.01); A01B 69/00 (2006.01); A01C 23/00 (2006.01); A01C 7/06 (2006.01); A01C 7/10 (2006.01); A01M 7/00 (2006.01); G06N 20/00 (2019.01)
CPC A01C 21/007 (2013.01) [A01B 69/004 (2013.01); A01C 7/06 (2013.01); A01C 7/102 (2013.01); A01C 23/007 (2013.01); A01M 7/0089 (2013.01); G05D 1/0246 (2013.01); G05D 1/0257 (2013.01); G06N 20/00 (2019.01); G06T 7/0012 (2013.01); G06T 7/70 (2017.01); G06T 17/05 (2013.01); G05D 2201/0201 (2013.01); G06T 2207/10004 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/10044 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/30188 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A device comprising:
one or more non-transitory computer readable media storing instructions, which, when executed by one or more processors, cause the one or more processors to perform operations comprising:
receiving a plurality of coordinates that define a bounded region of interest;
determining, based at least in part on the plurality of coordinates, a trajectory to sweep the bounded region of interest using at least one of minimal energy or minimal motion;
receiving sensor data from a sensor associated with the device;
determining, based at least in part on a portion of the sensor data, information about vegetation proximate the device;
determining, based at least in part on the information about vegetation, a location of the device; and
controlling, based at least in part on the location, the device to move along the trajectory.