US 12,298,775 B2
Coverage planner
Marc Christopher Alban, San Antonio, TX (US); Zachary Austin Goins, Boulder, CO (US); Kristopher Charles Kozak, San Antonio, TX (US); and John Gordon Morrison, Longmont, CO (US)
Assigned to Scythe Robotics, Inc., Longmont, CO (US)
Filed by Scythe Robotics, Inc., Longmont, CO (US)
Filed on Jan. 3, 2023, as Appl. No. 18/092,548.
Application 18/092,548 is a continuation of application No. 17/025,583, filed on Sep. 18, 2020, granted, now 11,579,618.
Prior Publication US 2023/0152815 A1, May 18, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); A01D 34/00 (2006.01)
CPC G05D 1/0219 (2013.01) [A01D 34/008 (2013.01); G05D 1/0217 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system configured to generate a coverage plan, the system comprising:
one or more processors; and
one or more non-transitory computer readable media having instructions stored thereon which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
receiving a plurality of nodes indicative of a perimeter of a region;
determining, based at least in part on the plurality of nodes, a mesh;
determining a graph connecting elements of the mesh;
determining, based at least in part on the graph, a longest path between pairs of nodes of the plurality of nodes;
determining, based at least in part on the longest path, a set of segments;
performing an optimization associated with the set of segments to determine a coverage plan; and
transmitting the coverage plan to an autonomous lawn mower; and
controlling the autonomous lawn mower based at least in part on the coverage plan.