US 12,093,049 B2
Coverage path planning
Robert Charles Fitch, Darlington (AU); Grant Parker Louat, Gindie (AU); Andrew James Bate, Gindie (AU); Jocelyn Ann Bate, Gindie (AU); and William John Philip McCarthy, Emerald (AU)
Assigned to SWARMFARM ROBOTICS PTY LTD, Gindie (AU)
Appl. No. 17/311,103
Filed by SWARMFARM ROBOTICS PTY LTD., Gindie (AU)
PCT Filed Dec. 4, 2018, PCT No. PCT/AU2018/051296
§ 371(c)(1), (2) Date Jun. 4, 2021,
PCT Pub. No. WO2019/136510, PCT Pub. Date Jul. 18, 2019.
Prior Publication US 2021/0333795 A1, Oct. 28, 2021
Int. Cl. G05D 1/00 (2024.01); A01B 79/00 (2006.01)
CPC G05D 1/0219 (2013.01) [A01B 79/005 (2013.01); G05D 1/0217 (2013.01); G05D 1/0088 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
planning a coverage path to cover an area divided into cells, the planning comprising using a computing arrangement, configured to receive a range of acceptable user-inputs, and iteratively:
generating a feasible coverage path based on the cells;
displaying at least some detail of the feasible coverage path; and
receiving user input within the range of acceptable user-inputs;
wherein, after a first iteration, the generating is based on the user input; and the range of acceptable user-inputs includes:
input identifying, and specifying a merger of, any adjacent two of the cells;
input identifying, and specifying a division of, one of the cells; and
input identifying, and specifying a revised ordering of, two of the cells.