US 12,384,026 B1
Machine-learning-enabled tool changer for mushroom crop management system
Peter Mankowski, Vernon (CA); Vijaya Sankar Velayudham Jayashree, Salmon Arm (CA); and Nathan Tomlinson, Enderby (CA)
Assigned to 4AG Robotics Inc., Salmon Arm (CA)
Filed by 4AG Robotics Inc., Salmon Arm (CA)
Filed on Oct. 2, 2024, as Appl. No. 18/904,925.
Claims priority of provisional application 63/551,215, filed on Feb. 8, 2024.
Int. Cl. B25J 9/16 (2006.01); A01G 18/69 (2018.01); A01G 18/70 (2018.01); B25J 15/04 (2006.01); B25J 15/06 (2006.01); G06Q 50/02 (2012.01)
CPC B25J 9/161 (2013.01) [A01G 18/69 (2018.02); A01G 18/70 (2018.02); B25J 9/1697 (2013.01); B25J 15/04 (2013.01); G06Q 50/02 (2013.01); B25J 15/0616 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robotic mushroom crop manager comprising:
at least one processor;
a communications interface; and
at least one computer-readable medium storing instructions executable by the at least one processor to cause the robotic mushroom crop manager:
to periodically or continuously receive mushroom bed data corresponding to a mushroom bed including growing mushrooms at a plurality of times;
to use a trained mushroom bed model to process the mushroom bed data to generate mushroom bed state vectors respectively characterizing corresponding states of the mushroom bed at the plurality of times;
to control crop management equipment to perform a crop management program comprising a sequence of actions to be performed by the crop management equipment comprising, for each current action in the sequence of actions, selecting, based on a corresponding current mushroom bed state vector, a selected crop management tool from a plurality of crop management tools, wherein selecting the selected crop management tool comprises:
accessing a selection library datastore storing predetermined tool selection data associating predetermined optimal ones of the plurality of crop management tools with respectively corresponding combinations of actions in the crop management program and preconfigured ranges of the mushroom bed state vectors;
for the current action, determining whether the selection library datastore stores predetermined tool selection data wherein the current mushroom bed state vector falls within one of the preconfigured ranges of the mushroom bed state vectors; and
when, for the current action, the selection library datastore stores predetermined tool selection data wherein the current mushroom bed state vector falls within one of the preconfigured ranges of the mushroom bed state vectors, using as the selected crop management tool to perform the current action the optimal one of the plurality of crop management tools identified by the predetermined tool selection data; and
to control the crop management equipment to use the selected crop management tool to perform the current action on the mushroom bed.